CN104597907A - Method for accurately evaluating flight of UAV (unmanned aerial vehicle) inspection system of overhead transmission line - Google Patents
Method for accurately evaluating flight of UAV (unmanned aerial vehicle) inspection system of overhead transmission line Download PDFInfo
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Abstract
The invention provides a method for accurately evaluating flight of a UAV (unmanned aerial vehicle) inspection system of an overhead transmission line. The method comprises the steps of checking a measuring device; arranging markers on an UAV body; measuring the UAV body through the measuring device after the UAV takes off; analyzing the position of the UAV on real time; accurately evaluating the flight of the UAV inspection system. According to the method, the flight position and posture of the UAV body are measured to accurately evaluate the flight; the qualified UAV inspection system is screened, and the safety of devices in the line is ensured.
Description
Technical field
The present invention relates to a kind of evaluation method, be specifically related to a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method.
Background technology
In electric system, unmanned plane is mainly used in patrolling power transmission lines apparatus body and passage way, checkout equipment and channel defect.Unmanned plane is of a great variety, can be divided into fixed-wing unmanned plane, depopulated helicopter by type, and two kinds of types all have the application of different aspect in polling transmission line.Wherein, fixed-wing unmanned plane lay particular emphasis on carry out that electric transmission line channel is patrolled and examined, the condition of a disaster generaI investigation, the outer broken hidden danger such as passage internal fixtion or mobile operational process, mountain fire, the architecture against regulations can be found fast, disaster-stricken scope can be determined rapidly under disaster scenarios it, assess disaster-stricken situation.Depopulated helicopter lays particular emphasis on carries out transmission line of electricity list tower or section is patrolled and examined, fault is patrolled and examined, and is easy to find the above defect of overhead line structures bottleneck.
At present, polling transmission line unmanned plane mostly is middle-size and small-size unmanned plane, and namely empty weight is below 116 kilograms.Due to the reason such as military, political, unmanned plane importing technology is less, mostly is domestic production.Domestic unmanned plane body manufacturer mainly contains three classes, and one is the research institute possessing military project background, and the big-and-middle-sized unmanned aerial vehicle platform of main manufacture, possesses technical research, test experience, the system integration and quality management and control advantage; Two is take scientific research institutions as the enterprise of background, mainly manufactures middle-size and small-size unmanned aerial vehicle platform, has research application basis, but in productive capacity, quality management and control, the system integration, detection etc. Shortcomings; Three is the small-sized private enterprises from making small-sized model plane and growing up, the middle-size and small-size unmanned aerial vehicle platform of main manufacture, there is certain cost advantage, but in R&D and production ability, quality management and control, outsourcing device detection etc. Shortcomings, and do not possess system integration qualification and quality testing means.
Polling transmission line needs to carry out data acquisition to particular elements, and resolution requirement is high; Actual patrol and examine operation time, first course line and task device parameter are set on ground, then carry out flight and patrol and examine.Unmanned plane during flying accuracy is comparatively large to patrolling and examining Influence on test result quality, and flight accuracy is mainly reflected in horizontal level and the height and position of unmanned plane during flying.The factor affecting unmanned plane during flying accuracy mainly contains flight control system, navigation positioning module etc.But current domestic unmanned plane market is immature, and flight control system quality is uneven, and navigation positioning module is second-rate.Domestic overhead transmission line unmanned plane cruising inspection system development is also in the starting stage, temporarily without industry standard, national standard, temporarily without power transmission line unmanned machine cruising inspection system correlation test method.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, the flight position of unmanned plane body and attitude are measured, flight accuracy is assessed, screen qualified unmanned plane cruising inspection system, security system pipeline equipment safety.
In order to realize foregoing invention object, the present invention takes following technical scheme:
The invention provides a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, said method comprising the steps of:
Step 1: calibration is carried out to measurement equipment;
Step 2: arrange mark on unmanned plane body;
Step 3: after unmanned plane takes off, measurement equipment is measured unmanned plane body;
Step 4: real-time analysis is carried out to unmanned plane position;
Step 5: unmanned plane cruising inspection system flight accuracy is evaluated.
In described step 1, first arrange three-dimensional calibration field, use amount measurement equipment is taken three-dimensional calibration field, makes three-dimensional calibration field take view picture image; Then according to the known location constraint condition of three-dimensional calibration field, use Direct Transform method to resolve the elements of interior orientation of measurement equipment, comprise the principal point position of measurement equipment, main distance and lens distortion parameter, and determine shooting center with as flat relation of plane; Finally according to the relative position of two capture apparatus in the shooting baseline determined amounts measurement equipment of measurement equipment.
In described step 2, the shape of mark is chequered with black and white circle, and its diameter 5cm, has symmetry.
In described step 2, unmanned plane body is selected three location arrangements mark, the direction of motion of three positions and displacement and body are consistent, the face down of mark, and smooth.
For different unmanned planes, arrange mark in the following ways:
(1) to many rotor wing unmanned aerial vehicles, in ventral arranged beneath one mark, two horns are arranged a mark respectively or arrange two marks on organism frame diagonal position;
(2) to depopulated helicopter, in ventral arranged beneath two mark, tail end arranges a mark;
(3) to fixed-wing unmanned plane, arrange a mark at ventral, respectively arrange a mark at two wings.
Described step 3 comprises the following steps:
Step 3-1: select linear section as measurement zone, the geographic coordinate of two ends mid point in given test section, arranges unmanned plane during flying course line by two geographic coordinates, meets unmanned plane when airline operation, flying height is between 10 ~ 20m, and flying speed is 0 ~ 5m/s;
Step 3-2: in measurement equipment, the angle of pitch of two capture apparatus is upwards, horizontal view angle and default course line layout in a vertical angle, and according to weather condition setting light sensitivity and aperture;
Step 3-3: after unmanned plane takes off, it takes autonomous flight pattern, and by presetting airline operation;
Step 3-4: start measurement equipment, take with burst mode, and by image transmission to background processing system.
Described step 4 comprises the following steps:
Step 4-1: carry out pre-service to the image of shooting, extracts identification point;
Step 4-2: the image taken at synchronization two capture apparatus, carries out identification point coupling;
Step 4-3: the mode adopting relation control, with aircraft barycenter for initial point O, with fuselage direction for X-axis, with in same level perpendicular to fuselage direction for Y-axis, and with the direction perpendicular to XOY plane for Z axis, set up rectangular coordinate system in space, measure the pixel coordinate of identification point in this rectangular coordinate system in space;
Step 4-4: take pixel coordinate as measured value, in conjunction with three the mark relative position relations be arranged on unmanned plane, sets up collinearity equation, according to collinearity equation determination unmanned plane position;
Step 4-5: according to the unmanned plane determined in not position in the same time, draw unmanned plane during flying flight path.
In described step 5, unmanned plane during flying flight path and default course line are analyzed, evaluate with vertical accuracy with the horizontal quasi exactness of vertical accuracy estimating index to unmanned plane respectively by horizontal quasi exactness evaluation index.
Described horizontal quasi exactness evaluation index comprises maximum horizontal deviation and average horizontal departure; Described maximum horizontal deviation is deviation maximum in the horizontal direction on unmanned plane during flying flight path, and described average level deviation is unmanned plane at the root mean square of the not horizontal departure value of position in the same time;
Described vertical accuracy estimating index comprises maximum height deviation and average height tolerance; Described maximum height deviation is maximum deviation in vertical direction on unmanned plane during flying flight path, and described average height deviation is unmanned plane at the root mean square of the not height tolerance value of position in the same time.
Compared with prior art, beneficial effect of the present invention is:
(1) can detect the flight position of unmanned plane in real time under real flight conditions, not disturb the normal flight of unmanned plane.
(2) can carry out comprehensive evaluation to the flight accuracy of unmanned plane cruising inspection system entirety, be not the control accuracy of single module.
(3) quantitative evaluation can be carried out to the flight accuracy of unmanned plane cruising inspection system entirety, for actual patrol and examine operation time unmanned plane and the safe distance of line facility and periphery barrier ensure to provide technical basis, improve unmanned plane and patrol and examine operational security.
Accompanying drawing explanation
Fig. 1 is overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method flow diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As Fig. 1, the invention provides a kind of overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, said method comprising the steps of:
Step 1: calibration is carried out to measurement equipment;
Step 2: arrange mark on unmanned plane body;
Step 3: after unmanned plane takes off, measurement equipment is measured unmanned plane body;
Step 4: real-time analysis is carried out to unmanned plane position;
Step 5: unmanned plane cruising inspection system flight accuracy is evaluated.
In described step 1, first arrange three-dimensional calibration field, use amount measurement equipment is taken three-dimensional calibration field, makes three-dimensional calibration field take view picture image; Then according to the known location constraint condition of three-dimensional calibration field, use Direct Transform method to resolve the elements of interior orientation of measurement equipment, comprise the principal point position of measurement equipment, main distance and lens distortion parameter, and determine shooting center with as flat relation of plane; Finally according to the relative position of two capture apparatus in the shooting baseline determined amounts measurement equipment of measurement equipment.
The shape of mark is chequered with black and white circle, and its diameter 5cm, has symmetry.
Unmanned plane body is selected three location arrangements mark, and the direction of motion of three positions and displacement and body are consistent, not independently moving; Should not be arranged on blade.Need ensure when arranging mark that mark is smooth, and the face down of mark.Three on body identify not in one plane, and the span of identification point is large as far as possible, also need to ensure that flight course mark is firmly pasted all the time on unmanned plane body.
For different unmanned planes, arrange mark in the following ways:
(1) to many rotor wing unmanned aerial vehicles, in ventral arranged beneath one mark, two horns are arranged a mark respectively or arrange two marks on organism frame diagonal position;
(2) to depopulated helicopter, in ventral arranged beneath two mark, tail end arranges a mark;
(3) to fixed-wing unmanned plane, arrange a mark at ventral, respectively arrange a mark at two wings.
Described step 3 comprises the following steps:
Step 3-1: select linear section as measurement zone, the geographic coordinate of two ends mid point in given test section, arranges unmanned plane during flying course line by two geographic coordinates, meets unmanned plane when airline operation, flying height is between 10 ~ 20m, and flying speed is 0 ~ 5m/s;
Step 3-2: in measurement equipment, the angle of pitch of two capture apparatus is upwards, horizontal view angle and default course line layout in a vertical angle, and according to weather condition setting light sensitivity and aperture;
Step 3-3: after unmanned plane takes off, it takes autonomous flight pattern, and by presetting airline operation;
Step 3-4: start measurement equipment, take with burst mode, and by image transmission to background processing system.
Described step 4 comprises the following steps:
Step 4-1: carry out pre-service to the image of shooting, extracts identification point;
Step 4-2: the image taken at synchronization two capture apparatus, carries out identification point coupling;
Step 4-3: the mode adopting relation control, with aircraft barycenter for initial point O, with fuselage direction for X-axis, with in same level perpendicular to fuselage direction for Y-axis, and with the direction perpendicular to XOY plane for Z axis, set up rectangular coordinate system in space, measure the pixel coordinate of identification point in this rectangular coordinate system in space;
Step 4-4: take pixel coordinate as measured value, in conjunction with three the mark relative position relations be arranged on unmanned plane, sets up collinearity equation, according to collinearity equation determination unmanned plane position;
Step 4-5: according to the unmanned plane determined in not position in the same time, draw unmanned plane during flying flight path.
In described step 5, unmanned plane during flying flight path and default course line are analyzed, evaluate with vertical accuracy with the horizontal quasi exactness of vertical accuracy estimating index to unmanned plane respectively by horizontal quasi exactness evaluation index.
Described horizontal quasi exactness evaluation index comprises maximum horizontal deviation and average horizontal departure; Described maximum horizontal deviation is deviation maximum in the horizontal direction on unmanned plane during flying flight path, and described average level deviation is unmanned plane at the root mean square of the not horizontal departure value of position in the same time;
Described vertical accuracy estimating index comprises maximum height deviation and average height tolerance; Described maximum height deviation is maximum deviation in vertical direction on unmanned plane during flying flight path, and described average height deviation is unmanned plane at the root mean square of the not height tolerance value of position in the same time.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; those of ordinary skill in the field still can modify to the specific embodiment of the present invention with reference to above-described embodiment or equivalent replacement; these do not depart from any amendment of spirit and scope of the invention or equivalent replacement, are all applying within the claims of the present invention awaited the reply.
Claims (9)
1. an overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method, is characterized in that: said method comprising the steps of:
Step 1: calibration is carried out to measurement equipment;
Step 2: arrange mark on unmanned plane body;
Step 3: after unmanned plane takes off, measurement equipment is measured unmanned plane body;
Step 4: real-time analysis is carried out to unmanned plane position;
Step 5: unmanned plane cruising inspection system flight accuracy is evaluated.
2. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, it is characterized in that: in described step 1, first arrange three-dimensional calibration field, use amount measurement equipment is taken three-dimensional calibration field, makes three-dimensional calibration field take view picture image; Then according to the known location constraint condition of three-dimensional calibration field, use Direct Transform method to resolve the elements of interior orientation of measurement equipment, comprise the principal point position of measurement equipment, main distance and lens distortion parameter, and determine shooting center with as flat relation of plane; Finally according to the relative position of two capture apparatus in the shooting baseline determined amounts measurement equipment of measurement equipment.
3. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, it is characterized in that: in described step 2, the shape of mark is chequered with black and white circle, and its diameter 5cm, has symmetry.
4. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, it is characterized in that: in described step 2, unmanned plane body is selected three location arrangements marks, the direction of motion of three positions and displacement and body are consistent, the face down of mark, and smooth.
5. the overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1 or 4, is characterized in that: for different unmanned planes, arrange mark in the following ways:
(1) to many rotor wing unmanned aerial vehicles, in ventral arranged beneath one mark, two horns are arranged a mark respectively or arrange two marks on organism frame diagonal position;
(2) to depopulated helicopter, in ventral arranged beneath two mark, tail end arranges a mark;
(3) to fixed-wing unmanned plane, arrange a mark at ventral, respectively arrange a mark at two wings.
6. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, is characterized in that: described step 3 comprises the following steps:
Step 3-1: select linear section as measurement zone, the geographic coordinate of two ends mid point in given test section, arranges unmanned plane during flying course line by two geographic coordinates, meets unmanned plane when airline operation, flying height is between 10 ~ 20m, and flying speed is 0 ~ 5m/s;
Step 3-2: in measurement equipment, the angle of pitch of two capture apparatus is upwards, horizontal view angle and default course line layout in a vertical angle, and according to weather condition setting light sensitivity and aperture;
Step 3-3: after unmanned plane takes off, it takes autonomous flight pattern, and by presetting airline operation;
Step 3-4: start measurement equipment, take with burst mode, and by image transmission to background processing system.
7. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, is characterized in that: described step 4 comprises the following steps:
Step 4-1: carry out pre-service to the image of shooting, extracts identification point;
Step 4-2: the image taken at synchronization two capture apparatus, carries out identification point coupling;
Step 4-3: the mode adopting relation control, with aircraft barycenter for initial point O, with fuselage direction for X-axis, with in same level perpendicular to fuselage direction for Y-axis, and with the direction perpendicular to XOY plane for Z axis, set up rectangular coordinate system in space, measure the pixel coordinate of identification point in this rectangular coordinate system in space;
Step 4-4: take pixel coordinate as measured value, in conjunction with three the mark relative position relations be arranged on unmanned plane, sets up collinearity equation, according to collinearity equation determination unmanned plane position;
Step 4-5: according to the unmanned plane determined in not position in the same time, draw unmanned plane during flying flight path.
8. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 1, it is characterized in that: in described step 5, unmanned plane during flying flight path and default course line are analyzed, evaluate with vertical accuracy with the horizontal quasi exactness of vertical accuracy estimating index to unmanned plane respectively by horizontal quasi exactness evaluation index.
9. overhead transmission line unmanned plane cruising inspection system flight evaluation of the accuracy method according to claim 8, is characterized in that: described horizontal quasi exactness evaluation index comprises maximum horizontal deviation and average horizontal departure; Described maximum horizontal deviation is deviation maximum in the horizontal direction on unmanned plane during flying flight path, and described average level deviation is unmanned plane at the root mean square of the not horizontal departure value of position in the same time;
Described vertical accuracy estimating index comprises maximum height deviation and average height tolerance; Described maximum height deviation is maximum deviation in vertical direction on unmanned plane during flying flight path, and described average height deviation is unmanned plane at the root mean square of the not height tolerance value of position in the same time.
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