UAV Flight Control Algorithm based on Detection and Pose Estimation of the Mounting Position for Weather Station on Transmission Tower using Depth Camera

This paper presents simulation-based realisation of an autopilot algorithm for UAV to approach the mounting position for weather station on the transmission tower. The specified corner leg serves to install and maintain the sensor network in the electric grid, aims to build a weather-dependent capacity monitoring and forecasting system. The algorithm is used to detect the transmission tower while a UAV is approaching, divided into the following steps: with consideration of the mathematical attribute of mast corner legs, the line detection based on gradient and length filter is used to extract and describe its features; the relative initial pose of UAV with respect to specified mounting leg is determined to pursue the rough adjustment; the thresholds are set to trigger the safety algorithm, to prevent the deviation of tower outside the field of view of camera, while the UAV is approaching toward the target; the fine adjustment is considered based on the pose and depth estimation of the diverse cross-section profile of mast leg. In addition, the algorithm for collision avoidance and preservation of the target under the observation is integrated. ... mehrAs a result, the algorithm performs good in the gazebo simulator and achieves its initial purpose, in which the transmission towers, overhead lines, light source and other objects with real scale are added.