大型无人直升机电力线路智能巡检宽带卫星通信系统
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摘要
大型无人直升机载荷能力强、续航时间长,可满足长距离输电线路巡检需求,是无人机电力巡检重要研究和应用方向,但目前通信问题制约着无人机的巡检应用。在国内首次采用卫星中继通信技术解决大型无人直升机电力巡检通信问题,分析了无人机卫星通信若干关键技术需求,基于Z5型国产大型无人机平台完成宽带卫星通信系统研制,采用机载调制解调器突发通信模式防止无人机旋翼遮挡天线信号;同时介绍了系统调试中发现的问题和解决方法,经过设计、生产、试验和试飞等阶段,验证了系统的功能和性能。研制的机载卫通系统质量小于16 kg,机载天线直径0.3 m,开展了20余回110～500kV带电线路巡检试验和应用,无人机单架次最大巡检线路长度超过30 km,卫通系统达到了设计目标,无人机超低空、超视距巡检作业不受复杂地域条件限制。
Large unmanned helicopters which have better load capacity and flight duration can meet the demands of inspection of long distance transmission line, which is an important research and application direction. However, the communication problems have restricted the application of unmanned aerial vehicle(UAV) inspection. Consequently, we adopted satellite relay communication technology to solve communication problems of large unmanned helicopter in China for the first time, analyzed some key technologies of UAV satellite communication demand, and developed a broadband satellite communication system based on domestic large unmanned helicopter platform of Z5 type, in which the modem burst communication mode is applied to effectively prevent UAV rotor to shield antenna signal. The problems and solutions in the system debugging were introduced, the system functions and performances were fully verified through the design, production, test and flight test stages, and the application of power line inspection was practically carried out. The airborne SATCOM system weighs less than 16 kg, and the diameter of airborne antenna is 0.3 m. Moreover, patrol tests and application of more than 20 electrified lines with voltage class 110～500kV were carried out. The results show that the maximum inspection length of single sortie flight exceeds 30 km, satellite communication system achieves the design goal, and UAV inspection at low altitude and over the horizon is not limited by complicated geographical conditions.
Large unmanned helicopters which have better load capacity and flight duration can meet the demands of inspection of long distance transmission line, which is an important research and application direction. However, the communication problems have restricted the application of unmanned aerial vehicle(UAV) inspection. Consequently, we adopted satellite relay communication technology to solve communication problems of large unmanned helicopter in China for the first time, analyzed some key technologies of UAV satellite communication demand, and developed a broadband satellite communication system based on domestic large unmanned helicopter platform of Z5 type, in which the modem burst communication mode is applied to effectively prevent UAV rotor to shield antenna signal. The problems and solutions in the system debugging were introduced, the system functions and performances were fully verified through the design, production, test and flight test stages, and the application of power line inspection was practically carried out. The airborne SATCOM system weighs less than 16 kg, and the diameter of airborne antenna is 0.3 m. Moreover, patrol tests and application of more than 20 electrified lines with voltage class 110～500kV were carried out. The results show that the maximum inspection length of single sortie flight exceeds 30 km, satellite communication system achieves the design goal, and UAV inspection at low altitude and over the horizon is not limited by complicated geographical conditions.
引文
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[14]陈亮,王召.直升机环境下北斗信号旋翼遮挡问题研究[J].无线电工程,2015,45(1):80-82.CHEN Liang,WANG Zhao.Research on rotor blockage on BDS signal in helicopter environment[J].Radio Engineering,2015,45(1):80-82.
[15]董孝东.直升机卫星通信中旋翼遮挡问题及应对方法[J].现代电子技术,2014,37(7):50-52.DONG Xiaodong.Problem of rotor occlusion in helicopter SATCOMand the solution[J].Modern Electronics Technique,2014,37(7):50-52.
[16]董毅博,李海峰,周晓光.面向地灾应急的国产卫星观测能力分析[J].测绘工程,2016,25(7):51-56.DONG Yibo,LI Haifeng,ZHOU Xiaoguang.Observing capability analysis of domestic satellites in geological hazard oriented emergencies[J].Engineering of Surveying and Mapping,2016,25(7):51-56.
[17]刘云龙,朱贵冬.移动应急指挥调度系统设计[J].无线通信技术,2016,25(2):20-23.LIU Yunlong,ZHU Guidong.Design of mobile emergency command and dispatch system[J].Wireless Communication Technology,2016,25(2):20-23.
[18]蔡焕青,邵瑰玮,付晶,等.考虑海拔因素超、特高压输电线路带电作业保护间隙作业方式[J].高电压技术,2016,42(5):1675-1680.CAI Huanqing,SHAO Guiwei,FU Jing,et al.Protective gap operating type of live working for EHV and UHV transmission lines considering elevation factors[J].High Voltage Engineering,2016,42(5):1675-1680.
[19]彭向阳,钱金菊,吴功平,等.架空输电线路机器人全自主巡检系统及示范应用[J].高电压技术,2017,43(8):2582-2591.PENG Xiangyang,QIAN Jinju,WU Gongping,et al.Full automatic inspection system and its demonstration application based on robot for overhead transmission lines[J].High Voltage Engineering,2017,43(8):2582-2591.
[2]吴功平,曹珩,皮渊,等.高压多分裂输电线路自主巡检机器人及其应用[J].武汉大学学报(工学版),2012,45(1):96-102.WU Gongping,CAO Heng,PI Yuan,et al.An autonomous inspection robot for high voltage bundled transmission line and its application[J].Engineering Journal of Wuhan University,2012,45(1):96-102.
[3]周立辉,张永生,孙勇,等.智能变电站巡检机器人研制及应用[J].电力系统自动化,2011,35(19):84-88.ZHOU Lihui,ZHANG Yongsheng,SUN Yong,et al.Development and application of equipment inspection robot for smart substations[J].Automation of Electric Power Systems,2011,35(19):84-88.
[4]王柯,麦晓明,许志海,等.无人机在湛江电网台风应急巡检中的应用[J].广东电力,2015,28(9):107-112.WANG Ke,MAI Xiaoming,XU Zhihai,et al.Application of unmanned aerial vehicle in emergency inspection on Zhanjiang Power Grid[J].Guangdong Electric Power,2015,28(9):107-112.
[5]彭向阳,陈驰,徐晓刚,等.基于无人机激光扫描的输电通道安全距离诊断技术[J].电网技术,2014,38(11):3254-3259.PENG Xiangyang,CHEN Chi,XU Xiaogang,et al.Transmission corridor safety distance diagnosis based on point cloud and unmanned aerial vehicle loaded airborne laser scanning[J].Power System Technology,2014,38(11):3254-3259.
[6]于德明,武艺,陈方东,等.直升机特高压交流输电线路巡视中的应用[J].电网技术,2010,34(2):29-32.YU Deming,WU Yi,CHEN Fangdong,et al.Application of helicopter patrol technology in UHV AC transmission line[J].Power System Technology,2010,34(2):29-32.
[7]汤明文,戴礼豪,林朝辉,等.无人机在电力线路巡视中的应用[J].中国电力,2013,46(3):35-38.TANG Mingwen,DAI Lihao,LIN Chaohui,et al.Application of unmanned aerial vehicle in inspecting transmission lines[J].Electric Power,2013,46(3):35-38.
[8]彭向阳,钱金菊,麦晓明,等.大型无人直升机电力线路全自动巡检技术及应用[J].南方电网技术,2016,10(2):24-31.PENG Xiangyang,QIAN Jinju,MAI Xiaoming,et al.Automatic power line inspection technology of large unmanned helicopter and its application[J].Southern Power System Technology,2016,10(2):24-31.
[9]LI Z,LIU Y,HAYWARD R,et al.Knowledge-based power line detection for UAV surveillance and inspection systems[C]∥23rd International Conference on Image and Vision Computing.Christchurch,New Zealand:[s.n.],2008:1-6.
[10]彭向阳,钟清,饶章权,等.基于无人机紫外检测的输电线路电晕放电缺陷智能诊断技术[J].高电压技术,2014,40(8):2292-2298.PENG Xiangyang,ZHONG Qing,RAO Zhangquan,et al.Intelligent diagnostic techniques of transmission lines corona discharge defect based on UAV ultraviolet detection[J].High Voltage Engineering,2014,40(8):2292-2298.
[11]MOYO T,PLESSIS F D.The use of the travelling salesman problem to optimize power line inspections[C]∥Proceedings of 2013 6th Robotics and Mechatronics Conference(ICIRA 2013).Busan,South Korea:[s.n.],2013:99-104.
[12]谷聚娟,张亚生.宽带卫星网络用户的移动性研究[J].无线电工程,2016,46(6):9-12.GU Jujuan,ZHANG Yasheng.Research on mobility over broadband satellite network[J].Radio Engineering,2016,46(6):9-12.
[13]晋东立,武传昱,杨雪梅.直升机载宽带卫星通信技术及其在航天领域的应用研究[J].飞行器测控学报,2009,28(5):41-44.JIN Dongli,WU Chuanyu,YANG Xuemei.Space applications of helicopter-borne broadband satellite communication technology[J].Journal of Spacecraft TT&C Technology,2009,28(5):41-44.
[14]陈亮,王召.直升机环境下北斗信号旋翼遮挡问题研究[J].无线电工程,2015,45(1):80-82.CHEN Liang,WANG Zhao.Research on rotor blockage on BDS signal in helicopter environment[J].Radio Engineering,2015,45(1):80-82.
[15]董孝东.直升机卫星通信中旋翼遮挡问题及应对方法[J].现代电子技术,2014,37(7):50-52.DONG Xiaodong.Problem of rotor occlusion in helicopter SATCOMand the solution[J].Modern Electronics Technique,2014,37(7):50-52.
[16]董毅博,李海峰,周晓光.面向地灾应急的国产卫星观测能力分析[J].测绘工程,2016,25(7):51-56.DONG Yibo,LI Haifeng,ZHOU Xiaoguang.Observing capability analysis of domestic satellites in geological hazard oriented emergencies[J].Engineering of Surveying and Mapping,2016,25(7):51-56.
[17]刘云龙,朱贵冬.移动应急指挥调度系统设计[J].无线通信技术,2016,25(2):20-23.LIU Yunlong,ZHU Guidong.Design of mobile emergency command and dispatch system[J].Wireless Communication Technology,2016,25(2):20-23.
[18]蔡焕青,邵瑰玮,付晶,等.考虑海拔因素超、特高压输电线路带电作业保护间隙作业方式[J].高电压技术,2016,42(5):1675-1680.CAI Huanqing,SHAO Guiwei,FU Jing,et al.Protective gap operating type of live working for EHV and UHV transmission lines considering elevation factors[J].High Voltage Engineering,2016,42(5):1675-1680.
[19]彭向阳,钱金菊,吴功平,等.架空输电线路机器人全自主巡检系统及示范应用[J].高电压技术,2017,43(8):2582-2591.PENG Xiangyang,QIAN Jinju,WU Gongping,et al.Full automatic inspection system and its demonstration application based on robot for overhead transmission lines[J].High Voltage Engineering,2017,43(8):2582-2591.