da Silva Mathaus Ferreira, Honório Leonardo M, Marcato Andre Luis M, Vidal Vinicius F, Santos Murillo F
Department of Energy Systems, UFJF, José Lourenço Kelmer Street, Juiz de Fora, Brazil.
Department of Energy Systems, UFJF, José Lourenço Kelmer Street, Juiz de Fora, Brazil.
ISA Trans. 2020 May;100:322-333. doi: 10.1016/j.isatra.2019.11.007. Epub 2019 Nov 18.
Strong electromagnetic fields such as those generated by power stations and transmission lines cause disturbances that affect the on-board sensors of an autonomous unmanned aerial vehicles (AUAVs) and may lead to aircraft instability. To mitigate this effect, we use an extended Kalman filter with colored noise. In addition to the traditional aircraft dynamics, this approach considers the electromagnetic fields of transmission lines and their position, electrical current, and tower topology. In this way, the filter can predict and correct the interference in the aircraft sensors, thereby guaranteeing flight stability even when the AUAV is very close to the electromagnetic sources. This approach enables the AUAV to operate closer to the transformers and transmission lines, thereby paving the way for better autonomous inspection performed by electrical companies and further development of new technologies. To prove the effectiveness of this approach, theoretical and practical results involving a survey of transmission lines are demonstrated.
强电磁场，如发电站和输电线路产生的电磁场，会造成干扰，影响自主无人驾驶飞行器（AUAV）的机载传感器，并可能导致飞机不稳定。为减轻这种影响，我们使用了带有有色噪声的扩展卡尔曼滤波器。除了传统的飞机动力学外，这种方法还考虑了输电线路的电磁场及其位置、电流和杆塔拓扑结构。通过这种方式，该滤波器可以预测并校正飞机传感器中的干扰，从而即使在AUAV非常靠近电磁源时也能保证飞行稳定性。这种方法使AUAV能够在更靠近变压器和输电线路的地方运行，从而为电力公司更好地进行自主检测以及新技术的进一步发展铺平道路。为证明这种方法的有效性，展示了涉及输电线路勘测的理论和实际结果。
