Rapid positioning method of power line inspection unmanned aerial vehicle assisted by BeiDou ground-based augmentation station. (November 2021)

• Record Type: Journal Article
• Authors: Bo, Wen; Wang, Donglai; Zhao, Yan; Li, Quanzheng; Liu, Qian; Wang, Yuri
• Is Part Of: Energy reports. Volume 7(2021)Supplement 7
• Page Start: 1139
• Page End: 1148
• Publication Date: 2021-11
• Subjects: BeiDou Navigation Satellite System -- Power line inspection -- Least squares method -- Extended Kalman filter -- High-precision positioning; Power resources -- Periodicals; Energy industries -- Periodicals; Power resources; Periodicals; Electronic journals; 621.04205
• DOI: 10.1016/j.egyr.2021.09.153
• Languages: English
• ISSNs: 2352-4847

Abstract

Abstract: BeiDou high-precision power line inspection can improve the efficiency and automation level of inspection operations, reduce labor intensity, and save inspection costs. However, although the satellite-based augmentation technology can solve the problem of large-scale positioning, it will introduce too many parameters into the positioning system through the method of parameter estimation. As a result, the behavior of the equation deteriorates, which makes it difficult to separate some parameters, and the convergence time of ambiguity parameters is too long. Under normal circumstances, the satellite-based augmentation standard positioning service needs at least about 30 min to converge to the centimeter level, and the ground-based augmentation system can provide an accurate model. This paper proposes a fast positioning method for satellite-based augmentation assisted by the BeiDou ground-based augmentation station. The receiver adopts the least square method, combined with the extended Kalman filter positioning, to achieve the improvement of the regional positioning effect of the satellite-based augmentation system. Positioning accuracy error does not exceed 1.6 meters. The error in the three directions of X, Y, and Z can be converged to the centimeter level in about 8 min. It can significantly improve the convergence time of satellite-based augmentation, and maintain continuous, stable and high-precision positioning of unmanned aerial vehicle in power line inspection.