Research on Navigation Positioning System for Intelligent Substation Inspection Robot

In order to keep the intelligent substation inspection robot moving along a predetermined trajectory to inspect the performance of substation high-voltage equipment, this paper deals with the navigation and positioning problems of intelligent substation inspection robot and comes up with an integrated navigation positioning system based on dead reckoning and GPS. This system utilizes dead reckoning to remedy the real-time problem and signal instability of GPS in the environment of substation. Meanwhile the GPS technology can avoid the error accumulation of dead reckoning. Data fusion of these two technologies is achieved by Federal Kalman filter, which maximizes the advantages of both methods. Experiments have verified that the timeliness, reliability, continuity and accuracy of this integrated system can satisfy the navigation and positioning requirements of substation inspection robots.