Design of the Navigation System for the Inspecting Robot in the Unattended Operation Substation

摘要

The navigation and positioning system is the key technology for the inspecting robot in the transformer substation to inspect the equipment.Therefore,the author made up the hardware system,which consists of the fiber optic-gyro(FOG)、milemeter、accelerometer、DGPS receiver and the navigation computer.Also,the software of this integrated navigation and orientation system was designed based on the differential GPS(DGPS) and Dead Reckoning(DR) principle,the system adopts the method of the self-north-seeker and switching-integrated navigation.The method is simple and easily feasible,meanwhile,the system has good practicability.The experiment indicates that this system provides to the robot of inspecting the equipment in the transformer substation with continuous,real-time,high accuracy navigation and positioning.