Safe flight envelope for overhead line inspection

Abstract

The present work aims to improve the safety of overhead power line inspection and similar tasks. Due to the proximity of objects imposed by the inspection missions, the appliance of Extended Kalman Filter for quadrotor attitude control in a supervised environment was proposed. Verification of electrical lines and their infrastructure is an essential activity to ensure the undisturbed operation of the electrical grid and supply energy to final consumers. Development of versatile monitoring systems to inspect high voltage overhead lines represents an invaluable element for the maintenance of these, for corrective actions and especially preventive.