【摘要】：隨著電力系統(tǒng)自動(dòng)化的不斷發(fā)展,作為電網(wǎng)中負(fù)責(zé)轉(zhuǎn)換電壓、匯聚電流和分配電能等功能的重要結(jié)點(diǎn),變電站不斷向少人化和無(wú)人化的方向發(fā)展,使用機(jī)器人巡檢替代人工巡檢經(jīng)驗(yàn)證是較好的解決方案之一,機(jī)器人巡檢的好處在于：可以克服人工巡檢因技術(shù)經(jīng)驗(yàn)和工作態(tài)度等的不同而導(dǎo)致的檢測(cè)結(jié)果的差異；并且可以在規(guī)定的時(shí)間內(nèi)進(jìn)行標(biāo)準(zhǔn)化巡檢和記錄。其中,導(dǎo)航和定位系統(tǒng)的實(shí)現(xiàn)是后期巡檢工作順利完成的基礎(chǔ)和保障。 巡檢機(jī)器人導(dǎo)航控制系統(tǒng)的硬件組成有：工控機(jī)、全球定位系統(tǒng)接收機(jī)、接收天線、捷聯(lián)式慣性導(dǎo)航器件、超高頻電子標(biāo)簽閱讀器、ARM單片機(jī)信息處理模塊、控制電路板及電源供電模塊等。軟件系統(tǒng)的實(shí)現(xiàn)主要在單片機(jī)和工控機(jī)中完成,包括信息的采集與處理,以及和外部計(jì)算機(jī)之間的通信,其中工控機(jī)上所安裝的系統(tǒng)為L(zhǎng)inux操作系統(tǒng)。在使用慣性系統(tǒng)解算姿態(tài)、速度和位置的過(guò)程中,選用雙子樣算法,并設(shè)計(jì)實(shí)驗(yàn)分析圓錐誤差、旋轉(zhuǎn)誤差和劃槳誤差對(duì)慣性導(dǎo)航系統(tǒng)位置解算結(jié)果的影響,通過(guò)對(duì)誤差進(jìn)行補(bǔ)償,可提高導(dǎo)航和定位精度。另外,完成對(duì)PCB控制電路板的設(shè)計(jì),實(shí)現(xiàn)對(duì)多傳感器信息的處理,并設(shè)計(jì)實(shí)驗(yàn)進(jìn)行測(cè)試。 通過(guò)建立姿態(tài)、速度和位置的誤差模型,設(shè)計(jì)和使用Kalman濾波算法和擴(kuò)展Kalman濾波算法對(duì)導(dǎo)航數(shù)據(jù)進(jìn)行融合,并利用電子射頻標(biāo)簽輔助定位,以提高導(dǎo)航系統(tǒng)的精度和抗干擾能力。另外,在陀螺儀初始化環(huán)節(jié)增加精對(duì)準(zhǔn)過(guò)程,設(shè)計(jì)相應(yīng)的Kalman濾波器對(duì)粗對(duì)準(zhǔn)過(guò)程計(jì)算得到的姿態(tài)角進(jìn)行修正,進(jìn)一步提高對(duì)準(zhǔn)精度。通過(guò)設(shè)計(jì)相關(guān)的實(shí)驗(yàn)對(duì)上述算法的有效性和準(zhǔn)確性進(jìn)行測(cè)試,取得了預(yù)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.
【學(xué)位授予單位】：西南交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM63;TN966

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