Unmanned aerial vehicle autonomous inspection route automatic generation method suitable for ground wire sag change

The invention discloses an unmanned aerial vehicle autonomous inspection route automatic generation method suitable for ground wire sag change, and the method comprises the steps: carrying out the vectorization analysis and calculation of a classified ground wire based on a catenary equation, and obtaining a first vectorization ground wire; simulating sag changes of the ground wire under different temperature conditions to obtain a second vectorized ground wire under different temperature conditions; performing interpolation on the first vectorized ground wire and the second vectorized ground wire to generate complete ground wire point cloud data; acquiring a relative position relation between a ground wire endpoint and a tower based on the ground wire point cloud data, and further calculating a ground wire starting point and a ground wire ending point; calculating a waypoint distance; calculating the position of a waypoint according to the waypoint distance, the photographing direction and the compensation d