变电站巡检机器人嵌入式导航系统研究

发布时间：2019-05-22 04:21

【摘要】：随着电力系统自动化的不断发展,作为电网中负责转换电压、汇聚电流和分配电能等功能的重要结点,变电站不断向少人化和无人化的方向发展,使用机器人巡检替代人工巡检经验证是较好的解决方案之一,机器人巡检的好处在于：可以克服人工巡检因技术经验和工作态度等的不同而导致的检测结果的差异；并且可以在规定的时间内进行标准化巡检和记录。其中,导航和定位系统的实现是后期巡检工作顺利完成的基础和保障。巡检机器人导航控制系统的硬件组成有：工控机、全球定位系统接收机、接收天线、捷联式惯性导航器件、超高频电子标签阅读器、ARM单片机信息处理模块、控制电路板及电源供电模块等。软件系统的实现主要在单片机和工控机中完成,包括信息的采集与处理,以及和外部计算机之间的通信,其中工控机上所安装的系统为Linux操作系统。在使用惯性系统解算姿态、速度和位置的过程中,选用双子样算法,并设计实验分析圆锥误差、旋转误差和划桨误差对惯性导航系统位置解算结果的影响,通过对误差进行补偿,可提高导航和定位精度。另外,完成对PCB控制电路板的设计,实现对多传感器信息的处理,并设计实验进行测试。通过建立姿态、速度和位置的误差模型,设计和使用Kalman滤波算法和扩展Kalman滤波算法对导航数据进行融合,并利用电子射频标签辅助定位,以提高导航系统的精度和抗干扰能力。另外,在陀螺仪初始化环节增加精对准过程,设计相应的Kalman滤波器对粗对准过程计算得到的姿态角进行修正,进一步提高对准精度。通过设计相关的实验对上述算法的有效性和准确性进行测试,取得了预期的效果。
[Abstract]:With the continuous development of power system automation, as an important node responsible for converting voltage, aggregating current and distributing electric energy in power grid, substations continue to develop in the direction of less people and no man. Using robot inspection instead of manual inspection is one of the better solutions. The advantages of robot inspection are as follows: it can overcome the differences of detection results caused by the different technical experience and working attitude of manual inspection; And can carry on the standardized inspection and the record within the specified time. Among them, the realization of navigation and positioning system is the basis and guarantee for the successful completion of the later inspection work. The hardware composition of the navigation control system of inspection robot is as follows: industrial control computer, global positioning system receiver, receiving antenna, strapdown inertial navigation device, ultra-high frequency electronic label reader, ARM single chip microcomputer information processing module. Control circuit board and power supply module, etc. The realization of the software system is mainly completed in the single chip microcomputer and the industrial control computer, including the collection and processing of the information, as well as the communication with the external computer, in which the system installed on the industrial control computer is the Linux operating system. In the process of using inertial system to calculate attitude, speed and position, the Gemini algorithm is selected, and the influence of cone error, rotation error and paddle error on the position calculation results of inertial navigation system is designed and analyzed. By compensating the error, the navigation and positioning accuracy can be improved. In addition, the design of PCB control circuit board is completed, the processing of multi-sensor information is realized, and the experiment is designed to test. By establishing the error model of attitude, speed and position, the Kalman filtering algorithm and the extended Kalman filtering algorithm are designed and used to fuse the navigation data, and the electronic radio frequency tag is used to assist the positioning in order to improve the accuracy and anti-interference ability of the navigation system. In addition, the precise alignment process is added to the gyroscope initialization link, and the corresponding Kalman filter is designed to correct the attitude angle calculated in the rough alignment process to further improve the alignment accuracy. The effectiveness and accuracy of the above algorithms are tested by design related experiments, and the expected results are obtained.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM63;TN966

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