AUTONOMOUS VEHICLE POWER LINE POSITION AND LOAD PARAMETER ESTIMATION

摘要

A system and method for providing autonomous navigation for an Autonomous Vehicle such as an Unmanned Air Vehicle (UAV) or an Autonomous Underwater Vehicle (AUV) in the vicinity of power lines or other signal carrying lines or underwater cable is presented. Autonomous navigation is achieved by measuring the magnitude and phase of the electromagnetic field at an unknown location within a space under excitation by a set of power cables of the power line with one or more orthogonal electromagnetic sensors formed on the AV; and estimating parameters related to a position and orientation of the AV, and load parameters of each cable based on the residual error between the measured set of complex electromagnetic field values corresponding to a combined model of the set of power cables.

主权项

1. A method for providing autonomous navigation for an automated underwater vehicle (AUV) in the vicinity of an underwater transmission cable, comprising:
measuring a set of complex magnetic field values of a magnetic field emitted by the underwater cable using one or more magnetic field sensors mounted on the AUV as the AUV is traversing the magnetic field at a position and an orientation relative to the underwater cable; modeling, by a processor, a set of expected complex magnetic field values of the magnetic field when the AUV is at the position and the orientation relative to the underwater cable based on a first model of the underwater cable; estimating a position and an orientation of the AUV relative to the cable, and magnitude and phase of current flowing in each conductor of the underwater cable, based on a residual error between the measured set of complex magnetic field values and the set of expected complex magnetic field values corresponding to the first model of the cable; estimating a phase offset of the current flowing in each of the conductors of the underwater cable relative to a local or grid timebase; and navigating the AUV using the parameters related to the position and the orientation of the AUV relative to each of the conductors of the underwater cable.