Three-dimensional GIS-based Trajectory Planning for UAV

doi:10.13296/j.1001-1609.hva.2017.08.014

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Three-dimensional GIS-based Trajectory Planning for UAV

更新时间：2025-04-26

- Three-dimensional GIS-based Trajectory Planning for UAV
- High VoltageApparatus Vol. 53, Issue 8, Pages: 81-86+93(2017)
- 作者机构：
  
  1. 南瑞集团公司(国网电力科学研究院)
  2. 2. 国网电力科学研究院武汉南瑞有限责任公司
- 作者简介：
- 基金信息：
- DOI：10.13296/j.1001-1609.hva.2017.08.014
  CLC： TM755
- Published：2017
- 稿件说明：
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[1]冯智慧,张雪峰,方书博,龚浩,刘春翔.基于三维GIS的无人机巡检航迹规划研究[J].高压电器,2017,53(08):81-86+93.

Three-dimensional GIS-based Trajectory Planning for UAV[J]. High voltageapparatus, 2017, 53(8): 81-86+93.
[1]冯智慧,张雪峰,方书博,龚浩,刘春翔.基于三维GIS的无人机巡检航迹规划研究[J].高压电器,2017,53(08):81-86+93. DOI： 10.13296/j.1001-1609.hva.2017.08.014.

Three-dimensional GIS-based Trajectory Planning for UAV[J]. High voltageapparatus, 2017, 53(8): 81-86+93. DOI： 10.13296/j.1001-1609.hva.2017.08.014.

摘要

目前多旋翼无人机已在电力系统巡线中得到了广泛应用

结合无人机航迹规划研究现状

提出基于工频电磁场干扰研究的三维GIS无人机巡检航迹规划系统

通过建立导线对无人机工频电场和工频磁场干扰仿真模型

计算工频电磁场对无人机机身及机载设备影响

确定了安全飞行最小安全距离

并以确定的最小安全距离、线路杆塔三维模型及巡检任务相关信息实现在三维GIS上的无人机巡线路径规划、航迹跟踪和手动导航等功能

通过现场实际应用验证了航迹规划对巡检工作的重要性。

Abstract

The multi-rotor unmanned aerial vehicles（UAVs）have been widely used in the power system patrol inspection. In this study

a 3D GIS-based patrol trajectory planning system of UAV was proposed based on the electromagnetic field interference researches.The influences of the power frequency electromagnetic field on the UAV fuselage and airborne equipment were calculated

and the minimum safe flight distance was determined. The minimum safe distance

the 3D line tower model and the patrol task related information were used to realize 3D GISbased UAV patrol trajectory planning

trajectory tracking

and manual navigation.Practical application verified the importance of the trajectory planning to the patrol inspection.

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