无人机最优高度控制下架空输电线路缺陷定位方法

Defect Localization Method for Overhead Transmission lines under Optimal Altitude Control of Unmanned Aerial Vehicles

中文关键词:光伏输电电缆缺陷定位  北斗定位技术  输电电缆边缘  三维点云模型  定位路径  定位高度

keywords:transmission lines（defect localization）  Beidou positioning technology  transmission line edge  3D point cloud model  location path  positioning height

中文摘要:针对输电线路缺陷定位中因无人机飞行高度不确定而导致定位精度不足的问题，提出一种基于无人机最优高度控制的缺陷定位方法。首先，采用双天线北斗技术精准测量天线载波相位，通过单差与双差算法优化无人机飞行过程中空中位置的精确度，以精确控制无人机在检测任务中的最优飞行高度；其次，采用Gamma校正技术改善无人机所采集图像的质量；最后，运用阈值分割技术获取光伏输电电缆的边缘信息，并以此为基础重构电缆的三维点云模型，实现精确、高效的缺陷定位。实验结果表明，所提方法能有效控制无人机飞行路径并缩短检测时长，其缺陷识别召回率与定位精度均超过75%，显著提升了光伏输电电缆缺陷检测的效率和准确性。

Abstract:To address the low localization accuracy resulting from uncertain flight altitude of unmanned aerial vehicles （UAVs） in defect detection of transmission lines，this paper proposes a defect localization method based on optimal UAV altitude control.First，dual-antenna Beidou technology is adopted to precisely measure carrier phase of antennas.Single-difference and double-difference algorithms are used to improve UAV positioning accuracy during flight，so as to accurately maintain the optimal flight altitude for inspection tasks.Second，Gamma correction is applied to improve the quality of images collected by UAVs.Finally，threshold segmentation is used to extract edge information of transmission lines.On this basis，a 3D point cloud model of lines is reconstructed to realize accurate and efficient defect localization.Experimental results demonstrate that the proposed method can effectively plan UAV flight paths and reduce inspection time.Its defect recall rate and localization accuracy are both higher than 75%，which greatly improves the efficiency and precision of defect detection for transmission lines.