Integrated aerial surveillance system for the Corona discharge detection in high voltage power lines 

Integrated aerial surveillance system for the Corona discharge detection in high voltage power lines 

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The paper presents an inertial navigation algorithm used for an Unmanned Aerial Vehicle (UAV) boarding an optical detection system for the detection of the Corona discharge in high voltage power lines. The developed algorithm may be used both on real-time positioning, but also in the debriefing process after the flight test, when the in-flight acqu...

Contexts in source publication

Context 1
... and autonomous aerial surveillance. One research direction of this project was reserved to the detection of the Corona discharge by developing an integrated surveillance system based on an Unmanned Aerial Vehicle (UAV) and on a boarded optical detection system with two CCD (charge coupled device) image sensors used in UV and visible spectrum (Fig. 1). Once the images captured, the data are recorded and transmitted to the ground. Simultaneously, the UAV transmits to the ground the telemetry data related to the flight monitoring. All of these data are received by a Ground Control Station (GCS) and real time transmitted to a data processing unit - Ground Mission Analysis System ...
Context 2
... After this preliminary step, the designer should establish the reference frames implied in the evaluation of the solution of navigation provided to the user. Considering the navigation requirements imposed by our aerial systems, our team chosen as needed reference frame the next ones ( [7], [12]): 1) Earth- Centered-Earth-Fixed (ECEF) frame (OX (Fig. 3 ...
Context 3
... The approximation is a good one, having in mind the very small variation of these parameters during a step time. Software implementation and evaluation For the attitude algorithm were built Matlab/Simulink multilayer blocks, accessed by the user based on S-functions implementing the mathematical models. The block from layer 1 (Fig. 5 [12]), "Attitude", has as inputs the angular speed readings ) , , ( (Fig. 6 [12]), there are two blocks: 1) "Attitude L2", which implements an S- function and 2) "Rotation Angles to DCM", which implements the equations (10) For the "Attitude" block was realised an interface which allows user to set the sample time and the initial values of ...
Context 4
... small variation of these parameters during a step time. Software implementation and evaluation For the attitude algorithm were built Matlab/Simulink multilayer blocks, accessed by the user based on S-functions implementing the mathematical models. The block from layer 1 (Fig. 5 [12]), "Attitude", has as inputs the angular speed readings ) , , ( (Fig. 6 [12]), there are two blocks: 1) "Attitude L2", which implements an S- function and 2) "Rotation Angles to DCM", which implements the equations (10) For the "Attitude" block was realised an interface which allows user to set the sample time and the initial values of the attitude angles. For this numerical integration was realised the ...

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