Research on Obstacle Avoidance System of UAV Based on Multi-sensor Fusion Technology

In view of the low efficiency and inspecting dead zone of inspecting in 500kV substation, a new inspection method is proposed, which is using UAV carrying multi-sensor detection devices instead of traditional manual inspection and robot inspection. The structure, the composition of obstacle avoidance system, route planning and the method of identifying the defect of substation equipment of multi-rotor UAV for 500 kV substation equipment inspection are introduced in detail. In order to overcome the strong electromagnetic interference in substation, reasonable design of circuit layout, grounding design, filter design and shielding are designed, and carrier phase differential GPS satellite positioning system is chosen to realize the accurate positioning of UAV and surrounding equipment and improve UAV inspection and navigation accuracy in substation. The UAV patrol route is planned to ensure the safety inspection. the UAV carries visible light imaging device and infrared camera double patrol to distinguish substation equipment defects.