Unmanned aerial vehicle binocular vision positioning method and system for power transmission line operation scene

The invention discloses a power transmission line operation scene-oriented unmanned aerial vehicle binocular vision positioning method and system, and relates to the technical field of aviation aircraft robots, and the method comprises the steps: deducing an optimization model of unmanned aerial vehicle binocular vision positioning according to a positioning mode, and optimizing the positioning method through employing a pose optimization technology. The method has high positioning precision and environment approaching performance, has wide application value, and can realize robust positioning of the unmanned aerial vehicle in various power transmission line operation scenes, including broken strand repair, wire coating, stockbridge damper repair, strain clamp detection, maintenance operation and the like. 本发明公开了面向输电线路作业场景的无人机双目视觉定位方法及系统，涉及航空飞行器机器人技术领域，包括根据定位方式推导无人机双目视觉定位的优化模型，利用位姿优化技术对定位方法进行优化。本发明具有较高的定位精度和环境靠拢性，具有广泛的应用价值，可实现无人机在多种输电线路作业场景中的鲁棒定位，包括断股修复、导线涂覆、防震锤修复、耐张线夹检测以及维护作业等。