A novel inverse method for automatic UAV line patrolling with magnetic sensors

As the trunk of the power system, defects of the overhead transmission lines may result in failure of power system operation. Therefore, line patrolling, which means inspection of the transmission lines should be carried out in a regular routine. This article proposes a novel automatic transmission line patrolling method using UAV and magnetic sensors. Geometric relationship and relative position models are proposed to inverse the location and current of the conductor via optimization algorithms. A simulation platform of three-phase AC transmission lines is established and the feasibility of the two models is verified. A parabola fitting method is exploited to simulate the line sag of the transmission system. The inverse result can be used to guide UAV's patrolling around the line. This method makes UAV autonomous patrolling possible, which brings about lower cost, higher efficiency and broad prospect.