Research on UAV Sag Measurement System Based on 3D Lidar

Sag is an important condition to ensure the safe operation of power transmission lines. In this paper, a sag measurement technique based on 3D lidar and UAV(unmanned aerial vehicle) is proposed. The technology by UAV 3d lidar scanning was carried out on the wires of the transmission line and scan to obtain data in the process of correction and selection, through the on-board computer control over the plane, computing the point cloud data and the UAV is put forward in this paper the control of the line profile, records many times on the line after the RTK(Real - time kinematic) data, fitting out of the line model, coupled with sag measurement algorithm to calculate the wire sag, thus formed a set of sag measurement system and method. Field experiments show that the system can effectively improve the accuracy and efficiency of wire sag measurement, and is conducive to realizing the informationization, intelligence and safety of transmission line inspection.