论文标题
基于磁场强度的两线电力线无人机定位的验证
Validation of two-wire power line UAV localization based on the magnetic field strength
论文作者
论文摘要
在本文中，我们根据磁场强度扩展了以前的无人机定位工作。该方法基于两个非常长，薄且平行的传输线附近的磁通量分布。无人机配备了4个磁力计，可以定位，因此获得的测量值为优化问题提供了独特的解决方案，用于找到无人机相对于导体的相对位置和方向。在实验室设置上进行的几组实验，确认了该方法对两种溶液的有效性 - 分析和数值优化。与高精度运动捕获系统相比，获得的结果在标准RTK定位范围内。
In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.
