Committee, Power, Society - 2020 - IEEE Guide For Unmanned Aerial System For Transmission Lines

IEEE Guide for Unmanned Aerial
STANDARDS
Vehicle-Based Patrol Inspection
System for Transmission Lines
IEEE Power and Energy Society
Developed by the
Transmission and Distribution Committee
IEEE Std 2821™-2020
Authorized licensed use limited to: University of Manchester. Downloaded on January 14,2021 at 07:11:09 UTC from IEEE Xplore. Restrictions apply.
IEEE Std 2821™-2020

Developed by the
Transmission and Distribution Committee

of the
IEEE Power and Energy Society
Approved 24 September 2020
IEEE SA Standards Board
Abstract: Demonstrated in this document are the UAV-based patrol inspection systems applied in
operation and maintenance of transmission lines. The system compositions, application scenarios,
functions and performance, test methods, and guidance for field applications are provided. This
guide applies to the UAV systems used for patrol inspection on ac and dc overhead transmission
lines.
Keywords: 3D ac, dc, IEEE 2821™, infrared thermal imager, inspection, LiDAR, multicopter,
overhead line, patrol, powered fixed-wing plane, right-of-way, rotorcraft, scanner, single rotor
helicopter, tower, unmanned aerial vehicle, visual camera
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Participants
At the time this guide was completed, the Guide for Unmanned Aerial Vehicle-Based Patrol Inspection
System for Transmission Lines Working Group had the following entity membership:
Jinlong Zhao, Chair

Guifeng Zhang, Vice Chair
Feng Pan, Secretary
Organization Represented Name of Representative

Beijing Institute of Technology .............................................................................................................................. Jian Liu
........................................................................................................................................................................... Feng Pan
China Southern Power Grid Co., Ltd. ............................................................................................................... Zhiren Tian
................................................................................................................................................................. Guifeng Zhang
North China Electric Power University ................................................................................................................. Hua Wu
Southwest Jiaotong University................................................................................................................................ Kai Liu
State Grid Corporation of China (SGCC) .............................................................................................................. Wei Cui
.......................................................................................................................................................................... Jian Ding
.................................................................................................................................................................... Shaonan Gao
............................................................................................................................................................................ Rui Guo
..................................................................................................................................................................... Qingzhi Jian
...................................................................................................................................................................... Jianxiang Li
................................................................................................................................................................................. Li Li
.......................................................................................................................................................................... Liang Liu
.......................................................................................................................................................................... Tianli Liu
.....................................................................................................................................................................Yanhong Liu
........................................................................................................................................................................ Shiyou Mu
................................................................................................................................................................ Xiaogang Wang
..................................................................................................................................................................... Guanbin Wu
............................................................................................................................................................................. Wei Xu
........................................................................................................................................................................... Bo Yang
......................................................................................................................................................................... Fei Zhang
..................................................................................................................................................................... Jinlong Zhao
.................................................................................................................................................................... Dazhou Zhou
SZ DJI Technology Co., Ltd. ............................................................................................................................... Meng Cai
.................................................................................................................................................................. Pingping Chen
.................................................................................................................................................................. Zhiqiang Chen
The following members of the entity Standards Association balloting group voted on this guide. Balloters
may have voted for approval, disapproval, or abstention.
0xSenses Corporation North China Electric Power State Grid Corporation of China
Beijing Institute of Technology University (SGCC)
China Datang Corporation Shandong University SZ DJI Technology Co., Ltd.
China Southern Power Grid Co., Southwest Jiaotong University Yokosuka Telecom Research
Ltd. Park, Inc.
When the IEEE SA Standards Board approved this guide on 24 September 2020, it had the following
membership:
Gary Hoffman, Chair

Jon Walter Rosdahl, Vice Chair
Jean-Philippe Faure, Past Chair
Konstantinos Karachalios, Secretary
Ted Burse David J. Law Mehmet Ulema

J. Travis Griffith Howard Li Lei Wang
Grace Gu Dong Liu Sha Wei
Guido R. Hiertz Kevin Lu Philip B. Winston
Joseph L. Koepfinger* Paul Nikolich Daidi Zhong
John D. Kulick Damir Novosel Jingyi Zhou
Dorothy Stanley
*Member Emeritus
Introduction
This introduction is not part of IEEE Std 2821-2020, IEEE Guide for Unmanned Aerial Vehicle-Based Patrol Inspection
System for Transmission Lines.
Patrol and inspection of transmission lines are crucial to safe and reliable operation of power grids. As
technologies evolve forward, unmanned aerial vehicles have already been used in a few countries to carry
inspection devices to patrol and inspect transmission lines. Compared with foot patrol, the UAV-based patrol
inspection is safer, and more efficient and effective while more types of data and records can be maintained.
This guide is committed to providing basic but comprehensive information on UAV-based patrol inspection
systems as guidance for their effective implementation in operation and maintenance (O&M) of transmission
lines.
This guide first introduces the composition of UAV-based patrol inspection systems used for transmission
lines. The application scenarios are presented, such as acceptance patrol inspection, routine patrol inspection,
fault patrol inspection, and emergent patrol inspection. Main functions and performance requirements are
discussed, while test methods are also recommended. Patrol inspection procedures are provided as guidance
for field applications. In Annex A, a use case is given to show a complete process in patrol inspection on a
500 kV ac overhead line.
9
Contents
1. Overview�� 10
1.1 Scope�� 10
1.2 Purpose�� 10
1.3 Word usage�� 10
2. Normative references�� 11
3. Definitions, acronyms, and abbreviations�� 12

3.1 Definitions�� 12
3.2 Acronyms and abbreviations�� 12
4. System composition�� 13
4.1 Overview�� 13
4.2 UAV�� 13
4.3 Ground control station�� 14
4.4 Communication unit�� 14
4.5 Payload�� 14
4.6 Data processing and analysis module�� 16
4.7 Optional accessories�� 16
5. Applications�� 16
5.1 Scenarios�� 16
5.2 Detailed patrol inspection�� 17
5.3 Patrol inspection on rights-of-way�� 18
6. Functions and performance�� 18

6.2 UAV�� 19
6.3 Payload�� 19
6.4 Flight and control�� 20
6.5 Flight safety�� 21
6.6 Environmental adaptability�� 23
6.7 Electromagnetic compatibility�� 23
6.8 Transportability�� 23
7. Tests�� 23
7.1 Test types and items�� 23
7.2 General considerations�� 25
7.3 Test methods�� 26
8. UAV-based patrol inspection procedures�� 32

8.2 Process of patrol inspection�� 32
8.3 Offsite preparation�� 33
8.4 Onsite execution�� 33
8.5 After the event�� 35
Annex A (informative) A use case�� 36
Annex B (informative) Bibliography�� 46
10
1. Overview
1.1 Scope
This guide addresses the composition, general technical requirements, testing method, and testing rules of
UAV-based patrol inspection systems.
This guide applies to the UAV systems used for patrol inspection on ac and dc overhead transmission lines.
1.2 Purpose
Patrol inspection on transmission lines is an arduous task involving high electrical safety risks, harsh working
environments, and high workloads. The UAV-based patrol inspection is safer and easier than foot patrol
inspection to identify the defects and risks in transmission lines and the surrounding environment. With
optimized system functions and performance, UAV-based patrol inspection could realize high inspection
quality, consistency, efficiency, and coverage. The purpose of this guide is to provide information on the
system composition, applications, functions and performance, test methods, and operational procedures of the
UAV-based patrol inspection system for overhead transmission lines, and thus help utilities to choose and use
the right inspection system for a specific application.
1.3 Word usage

The word shall indicates mandatory requirements strictly to be followed in order to conform to the standard
and from which no deviation is permitted (shall equals is required to).1,2
The word should indicates that among several possibilities one is recommended as particularly suitable,
without mentioning or excluding others; or that a certain course of action is preferred but not necessarily
required (should equals is recommended that).
The word may is used to indicate a course of action permissible within the limits of the standard (may equals
is permitted to).
1
The use of the word must is deprecated and cannot be used when stating mandatory requirements, must is used only to describe
unavoidable situations.
2
The use of will is deprecated and cannot be used when stating mandatory requirements, will is only used in statements of fact.
11
IEEE Std 2821-2020
IEEE Guide for Unmanned Aerial Vehicle-Based Patrol Inspection System for Transmission Lines
The word can is used for statements of possibility and capability, whether material, physical, or causal (can
equals is able to).
2. Normative references
The following referenced documents are indispensable for the application of this document (i.e., they must
be understood and used, so each referenced document is cited in text and its relationship to this document is
explained). For dated references, only the edition cited applies. For undated references, the latest edition of the
referenced document (including any amendments or corrigenda) applies.
IEC 60068-2-1, Environmental testing—Part 2-1: Tests—Test A: Cold.3
IEC 60068-2-2, Environmental testing—Part 2-2: Tests—Test B: Dry heat.
IEC 60068-2-13, Basic environmental testing procedures—Part 2-13: Tests—Test M: Low air pressure.
IEC 60068-2-14, Environmental testing—Part 2-14: Tests—Test N: Change of temperature.
IEC 60068-2-27, Environmental testing—Part 2-27: Tests—Test Ea and guidance: Shock.
IEC 60068-2-31, Environmental testing—Part 2-31: Tests—Test Ec: Rough handling shocks, primarily for
equipment-type specimens.
IEC 60068-2-47, Environmental testing—Part 2-47: Test—Mounting of specimens for vibration, impact and
similar dynamic tests.
IEC 60068-2-53, Environmental testing—Part 2-53: Tests and guidance—Combined climatic (temperature/
humidity) and dynamic (vibration/shock) tests.
IEC 60529:2013, Degrees of protection provided by enclosures (IP Code).
IEC 60825-1:2014, Safety of laser products—Part 1: Equipment classification and requirements.
IEC 61000-4-2, Electromagnetic compatibility (EMC)—Part 4-2: Testing and measurement techniques—
Electrostatic discharge immunity test.
Radiated, radio-frequency, electromagnetic field immunity test.
Power frequency magnetic field immunity test.
Impulse magnetic field immunity test.
IEC 61960-3:2017, Secondary cells and batteries containing alkaline or other non-acid electrolytes—
Secondary lithium cells and batteries for portable applications—Part 3: Prismatic and cylindrical lithium
secondary cells and batteries made from them.
3
IEC publications are available from the Sales Department of the International Electrotechnical Commission, 3 Rue de Varembé, P.O.
Box 131, CH-1211, Geneva 20, Switzerland (https://www.iec.ch/). IEC publications are also available in the United States from the
Sales Department, American National Standards Institute, 25 West 43rd Street, 4th Floor, New York, NY 10036, USA (http://www.ansi
.org).
12
IEEE Std 2821-2020
IEC 62133-2:2017, Secondary cells and batteries containing alkaline or other non-acid electrolytes—Safety
requirements for portable sealed secondary lithium cells, and for batteries made from them, for use in portable
applications—Part 2: Lithium systems.
ISO 21384-3:2019, Unmanned aircraft systems—Part 3: Operational procedures.4
3. Definitions, acronyms, and abbreviations

3.1 Definitions
For the purposes of this document, the following terms and definitions apply. The IEEE Standards Dictionary
Online should be consulted for terms not defined in this clause.5
powered fixed-wing plane: Aircraft lifted by power driven wings fixed on the vehicle body.
rotorcraft: Aircraft lifted by one or more power driven rotors on substantially vertical axis. See also: single
rotor helicopter. Contrast: powered fixed-wing plane.
NOTE—This type of aircraft is capable of taking off and landing vertically, and to hover.
single rotor helicopter: Rotorcraft lifted by one power driven rotor on substantially vertical axis.
NOTE—Rotorcrafts lifted by more than two power driven rotors are called multicopters. Refer to ISO 21895:2020 for the
term and definition.
3.2 Acronyms and abbreviations
ac alternating current
dc direct current
C rated capacity (of a battery)
C2 command and control
COMS complementary metal oxide semiconductor
GCS ground control station
HDMI high definition multimedia interface
IMU inertial measurement unit
IRT infrared thermal (imager)
LAN local area network
LiDAR light detection and ranging
O&M operation and maintenance
rpm revolutions per minute
UAV unmanned aerial vehicle
USB universal serial bus
4
ISO publications are available from the ISO Central Secretariat at https://www.iso.org/. ISO publications are available in the United
States from the American National Standards Institute at https://www.ansi.org/.
5
IEEE Standards Dictionary Online is available at: http://dictionary.ieee.org. An IEEE account is required for access to the dictionary,
and one can be created at no charge on the dictionary sign-in page.
13
IEEE Std 2821-2020
4. System composition
4.1 Overview
The UAV-based patrol inspection on transmission lines mainly aims at the acquisition and analysis of data
from the target equipment in transmission lines and the surrounding environment by using the payloads taken
by UAVs. At present, centralized control and autonomous patrol inspections are still challenging. In most
cases, it is necessary to use a ground control station (GCS) to manage and control the UAV and payloads.
Besides, analysis and recognition of defects are currently completed by manual interpretation or programmed
diagnosis. The UAV-based patrol inspection system for transmission lines mainly consists of a UAV, a GCS,
communication units, payloads, and a data processing and analysis model. Optional facilities may be added
according to actual needs. See Figure 1.
Figure 1—Composition of the UAV-based patrol inspection system for transmission lines
4.2 UAV
A UAV is mainly comprised of a fuselage, a power system, and necessary electronic devices. Navigation lights
and a flight recorder are required on the fuselage, and an onboard tracker is also recommended.
Multicopters, helicopters, and fixed wing planes are the most commonly used UAVs for patrol inspection
on transmission lines. With long flight endurance, high payload carrying capacity, and high wind-resistance
capability, helicopters are mostly used for surveillance and monitoring. Multicopters have become the
mainstream UAVs for tower inspection, owing to advantages such as small size, simple structure, low cost, and
short safety distance to a target. Fixed-wing planes feature high speed and long endurance, suitable for right-
of-way patrol inspection. The advantages and disadvantages of the above three types of UAVs are compared
in Table 1.
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IEEE Std 2821-2020
Table 1—Comparison of patrol inspection performance of commonly used UAVs

Type of UAV Payloads Advantages Disadvantages
Visual camera, infrared
Small size, simple structure,
thermal (IRT ) imager,
low cost, high flexibility, short
Multicopter 3D LiDAR scanner, Short flight endurance
safety distance to a target,
multi-camera system for
excellent hovering capability
oblique photograph, etc.
Visual camera, IRT Long flight endurance, high Heavy weight, large size,
Helicopter imager, 3D LiDAR load carrying capacity, high complicated structure, long
scanner, etc. wind-resistance capability safety distance to a target
3D LiDAR scanner,
High flying speed, long flight Unable to hover, long
Fixed-wing plane multi-camera system for
endurance, large range coverage safety distance to a target
oblique photograph, etc.
4.3 Ground control station

The GCS serves as the command center in UAV-based patrol inspection, mainly comprising the flight control
software and display unit. It is used to send commands, plan missions, operate and control the UAV and
payloads, display information, and make records by either sending uplink signals or receiving downlink
signals.
4.4 Communication unit

The communication unit consists of the C2-link (for sending commands), the telemetry data link (e.g., rpm
and temperature), and the image transmission link. Among them, the C2-link transmits very little data, but
it requires high real-time performance. The telemetry data link transmits little data, but it requires two-way
transmission as well as sufficient quality and distance margins. The image transmission link requires a high
bandwidth to transmit high-definition videos, which generally has a delay of one hundred milliseconds.
With increasingly higher integration of data links, many combinations of links have emerged, such as the
combination of C2-link and telemetry data link, the combination of telemetry data link and image transmission
link, and the combination of C2-link, telemetry data link, and image transmission link. The combination of
links is implementation dependent.
4.5 Payload
4.5.1 Overview
The typical payloads of the UAV-based patrol inspection system for transmission lines include visual cameras,
IRT imagers, and 3D LiDAR scanners. They are usually installed via a gimbal or an aircraft pod to expand
the range of information acquisition and increase the imaging stability. Other payloads such as multi-camera
systems for oblique photographs, ultraviolet scanners, and flame nozzles (for removing foreign objects) may
also be used in specific applications.
4.5.2 Visual camera
Visual cameras are the most frequently used payloads in UAV-based patrol inspection. They capture high-
resolution, high-definition photographs of transmission lines, line towers and right-of-ways for subsequent
analysis of defects and faults. Visual cameras can be classified into integrated cameras and cameras with
interchangeable lenses. See Table 2 for the advantages and disadvantages of the two types of cameras.
15
IEEE Std 2821-2020
Table 2—Comparison of integrated cameras and cameras with interchangeable lenses

Type of camera Advantages Disadvantages
High level of integration, lightweight,
Integrated cameras low cost, high practicability, Fixed lens, narrow zoom range
good protective performance
Interchangeable lenses of different
Cameras with Low level of integration, heavyweight, large
focal lengths, either fixed focus or
interchangeable lenses size, high cost, poor protective performance
variable focus; good imaging quality
4.5.3 IRT imager
IRT imagers can detect thermal radiation from the inspected targets within infrared waveband relying on
photoelectric techniques, convert the signals into distinguishable images, and compute the temperature values
of the targets according to the thermal radiation intensity in their images. Depending on working principles,
IRT imagers can be classified into cooled IRT imagers and uncooled IRT imagers. Uncooled IRT imagers are
used for UAV-based patrol inspection owing to a small size, acceptable precision, and low cost.
The selection of resolution and focal length determine the spatial resolution, field angle, and other indicators
of an IRT imager, which in turn would affect the imaging quality. For this reason, it is recommended to choose
an appropriate shooting distance and angle that allow naked eyes to identify, locate, and distinguish the targets
in the IRT images. Furthermore, the IRT imager requires regular calibration. The calibration needs to be
conducted by the manufacturer. When used several times or after a long period of time, calibration of the IRT
imager is suggested to obtain satisfactory precision.
4.5.4 3D LiDAR scanner
The 3D LiDAR scanner used in UAV-based patrol inspection systems mainly consists of a laser scanner, a
high-precision IMU, a high-definition visual camera, and a system control computer. It may be carried by
different UAV platforms to obtain high-accuracy laser and image data, which would be subsequently processed
to produce accurate ground surface models and other digital models. With smaller structural measurement
errors (as small as centimeters), it could accurately measure the structures of earth wires and line towers.
The onboard laser scanning system is mainly comprised of a 3D LiDAR system, an attitude measurement
navigation system, a digital camera, and data processing software.
The key technology of the LiDAR data processing is the automatic recognition of point cloud data. The laser
points in point clouds are usually recognized and grouped according to the semantic type. Depending on
the application, rapid recognition or detailed recognition is available. The categories, names, and coloring
requirements of point clouds need to be clearly identified. Ground, vegetation, conductors, and towers can be
rapidly recognized. In addition to rapidly recognized items, buildings, roads, railways, load carrying cables
or contact wires, rivers, pipelines, cableways, insulators, overhead earth wires, crossed power lines (above
the inspected lines) and spanned power lines (below the inspected lines), jumpers, and spanned towers can be
recognized in detail.
4.5.5 Multi-camera system for oblique photography
Oblique photography is used to generate 3D maps of transmission lines. This is a breakthrough compared
with the orthogonal photography using a single camera. In this technique, several high-resolution cameras
are carried by a UAV to capture clearer, more complete, and more accurate ground information. The oblique
photography systems used in UAV-based patrol inspection are divided into 2-camera, 3-camera, and 5-camera
systems. See Table 3 for their advantages and disadvantages.
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IEEE Std 2821-2020
Table 3—Comparison of oblique 2-camera, 3-camera, and 5-camera systems

Type of
Advantages Disadvantages
camera
The work efficiency of 2-camera systems is not
high. They have to swing to acquire data from lateral
2-camera systems may imitate the
Oblique directions of buildings and complete a swing cycle for
5-camera systems by swinging back and
2-camera each target. That is to say, for each target, a 2-camera
forth to cover five directions of the target,
system system needs three shoots, but a 5-camera system needs
thereby reducing the weight of payload.
only one shoot. This slows down the speed of the UAV
and would considerably affect the work efficiency.
3-camera systems cover only three directions of the
target. To cover all five required directions, they
Oblique Similar to 2-camera systems, but
have to rotate or fly twice for each inspection area.
3-camera 3-camera systems do not need
However, the rotational photography needs a longer
system to swing back and forth.
exposure period, so the UAVs could not fly fast,
which would definitely affect the work efficiency.
5-camera systems can take photographs of
the target from five directions. They do not
Oblique
need to swing, which may otherwise result
5-camera 5-camera systems vary greatly in market price.
in unwanted abrasion. They may be used
system
with the faster UAVs. The photographs
have a higher overlapping ratio.
4.6 Data processing and analysis module

The data processing and analysis module generally refers to the software used to process and analyze the
inspection data, such as visual images, infrared images, and laser point clouds, and generate the required
inspection results.
The large amount of data acquired by payloads imposes challenges on manual analysis of defects and
hinders work efficiency. The data processing and analysis module enables the sorting, collation, and storage
of information collected from different transmission lines, missions, and targets. Defect detection and fault
diagnosis can be realized through the automatic analysis of the captured information. Currently, the conditions
of most inspection targets can be automatically identified, including conductors, earth wires, insulators,
fittings, towers, foundations, ancillary facilities, right-of-way, etc. However, work is needed to reconfirm
identified defects.
4.7 Optional accessories

Extra power supply, fuel oil tanks, oil pumps, standby batteries, battery chargers, frequency measuring
devices, and maintenance tools are optional. Large- and medium-sized UAV-based patrol inspection systems
are usually equipped with dedicated transport vehicles. Such transport vehicles are not required for small-
sized, lightweight, and miniature UAVs.
5. Applications
5.1 Scenarios
Currently, patrol inspections on overhead transmission lines are mainly completed by human inspectors,
manned helicopters, or UAVs. The inspection method is determined according to the geographical conditions
and the characteristics of inspection targets. A combination of any of these three methods could be used to
fulfill the inspection purpose. The selection and use of UAVs and payloads needs to be commensurate with the
application scenarios.
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IEEE Std 2821-2020
The routine patrol inspection aims to detect defects including broken strands, missing spacers, and ruptured
insulators. UAVs with high flight precision, generally rotorcrafts, are recommended.
The line acceptance refers to the acceptance of newly-built, repaired, and relocated lines by using UAVs,
usually multicopters. UAV-based patrol inspection on newly-built lines may be performed in cooperation with
foot inspection and focus on fittings and insulators.
The right-of-way patrol inspection aims to detect unauthorized buildings, vegetation, construction activities,
blasting and excavation, and other hazards within a right-of-way. Generally, rotorcrafts and fixed-wing planes
carrying visual cameras and 3D LiDAR scanners are recommended.
The patrol inspection in case of faults refers to the inspection on a faulty transmission line, with the key patrol
inspection sections, locations, and targets determined by fault analysis. It mainly aims to identify or confirm
faults, equipment damage, and other abnormalities. It is usually accompanied by foot inspection. First, carry
out an overall foot inspection to find out the possible ranges of the faults, then carry out a detailed UAV-
based inspection to locate each fault. In most cases, multicopters are recommended for the fault inspection.
In addition, right-of-way inspection is also needed to acquire data on the surrounding environment for cause
analysis.
Rotorcrafts and fixed-wing planes have also been used for inspection in special circumstances (e.g., after
natural disasters such as earthquake, landslide, mountain fire, and severe icing) or in response to special O&M
requirements. The special patrol inspection refers to inspection and evaluation of the equipment status and the
right-of-way environment in the affected areas.
According to the inspection requirements in different applications and the system characteristics, the UAV-
based patrol inspection can also be classified into the detailed patrol inspection and the right-of-way patrol
inspection. In the detailed patrol inspection, rotorcrafts are usually used to carry visual cameras or IRT
imagers to detect the defects in conductors, earth wires, and towers. In the right-of-way patrol inspection,
rotorcrafts or fixed-wing planes are usually used to carry visual cameras, 3D LiDAR scanners, etc. to inspect
the transmission lines and environmental conditions within a right-of-way, such as vegetation, construction
activities, and crossings.
5.2 Detailed patrol inspection

The purpose of detailed patrol inspection is to thoroughly inspect the main and auxiliary equipment of
transmission lines by using visual cameras or IRT imagers. High flight stability is required to ensure clear
images, and rotorcrafts are recommended. See Table 4 for details.
Table 4—Recommended combinations for detailed patrol inspection on transmission lines

Application
Inspection targets Inspection requirements UAV Sensing devices
scenario
Conductors, earth wires, Directional shooting at High-resolution
insulators, fittings, safe distance, clear and visual camera
Detailed patrol
towers, foundations, visible images, detection of Rotorcrafts with variable
inspection
ancillary facilities, abnormalities and defects in focus length,
and rights-of-way equipment as small as pins IRT imager
Currently, visual imaging is the major inspection method. In the visual patrol inspection, visible abnormalities
and defects in conductors, earth wires, insulators, fittings, towers, foundations, ancillary facilities, and
rights-of-way can be captured in the images. The keys to the patrol inspection on towers are capturing clear
photographs and avoiding deviated or undersized images of the inspection target. This requires the UAV to
hover close enough to the target and complete directional shooting at a safe distance. A data processing system
is recommended to assist the operators in sorting and preliminary diagnosis of the captured images.
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IEEE Std 2821-2020
Infrared thermography is used to identify abnormal insulator temperature, overheating of conductors or fittings,
and smoking or flaming of accessories. In a typical UAV-based infrared thermograph on a transmission line,
a UAV carries an IRT imager to capture thermal images of the designated parts such as conductors, fittings,
and accessories of the transmission lines, through programmed time lapse photography. Faults in these parts
are recognized by analyzing the thermal images. Defects may induce abnormal temperature changes and lead
to local overtemperature. The key to a successful IRT patrol inspection lies in the recognition of the inspected
targets, the precision of the IRT imager, and the imaging definition and accuracy for specific parts. In actual
applications, it is recommended to use rotorcrafts carrying IRT imagers to hover and capture thermal images
from the designated parts. During the flight, it is necessary for the IRT imagers to avoid direct sunlight, which
could affect the infrared radiation of the targets.
5.3 Patrol inspection on rights-of-way

The UAV-based patrol inspection system can be used to inspect the transmission lines and environmental
conditions within the right-of-way, keeping track of dynamic changes such as construction activities,
vegetation, and crossing. According to the type of payloads carried by UAV, the patrol inspection on right-of-
way is divided into rapid patrol inspection and scanning patrol inspection.
In the rapid patrol inspection, visual cameras and IRT imagers are usually used to quickly inspect the
equipment and right-of-way of the transmission line. The inspected targets mainly include the foreign objects
on conductors, earth wires and line towers, as well as vegetation, unauthorized buildings, and unauthorized
construction activities within the right-of-way.
The scanning patrol inspection could be completed by a 3D LiDAR scanner or an oblique photograph system.
A 3D LiDAR scanner is used to scan the equipment and line right-of-way to acquire 3D point cloud data.
The inspected targets mainly include the vegetation, unauthorized buildings, and unauthorized construction
activities within the right-of-way. It is suitable for the measurement of safe distance to the transmission line
and the 3D modeling of the entire right-of-way. Oblique photographing is used to establish large spliced
images and then 3D modeling of line right-of-way.
In case of right-of-way inspection in a large area, fixed-wing planes are recommended with long endurance,
carrying 3D LiDAR scanners, multi-camera systems for oblique photography, and/or visual cameras for
acquisition of point clouds or orthophotographs. The acquired data is subsequently processed by professional
software to form a planar map or a 3D map of the target area. As the fixed-wing planes generally fly at a high
altitude, the resolution of the acquired images and the accuracy of the resultant planar maps are relatively
low. In case of right-of-way inspection in a small area requiring high resolution and accuracy, for example,
to acquire the structural information (i.e., shape, position, distance) of earth wire, tower, and right-of-way
environment, multicopters that generally fly at a lower altitude are more suitable, and the same payloads as for
large area inspection could be used.
6. Functions and performance

6.1 Overview
Certain functions and performance are required of the UAV-based patrol inspection system for transmission
lines to ensure efficiency and safety. This chapter introduces considerations for the UAV and payloads, flight
and control capability, flight safety, patrol inspection modes, environmental adaptability, electromagnetic
compatibility, and transportability.
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IEEE Std 2821-2020
6.2 UAV
6.2.1 UAV appearance
The UAV is required to be free from obvious defects. In general, the UAV wiring layout needs to be reasonable,
secure, and reliable; connectors and fasteners protected against loosening; coatings showing no bubbling,
cracking or peeling; and metal parts free from rusting and mechanical damage. The nose and tail of UAV are
required to be distinguished with visible marks, and the fuselage fitted with navigation lights.
6.2.2 Traction battery
The batteries need to be free of deformation, pin holes, bumps, cracks, etc. The anodes and cathodes are
required to be marked clearly or with obvious measures against faulty operation. Connectors are usually
protected from loosening, and anti-misplug connectors are recommended.
LiPo batteries are used for various UAVs, and they need a discharge capacity suitable for different
environments. The rapid discharge (discharged at 0.2 C) capacity is recommended to be tested at different
temperatures as follows:
a) Rapid discharge capacity at normal temperature: e.g., the rapid discharge capacity tested at 23 °C may
not be less than the rated value stated in the product specification, nor more than 110% of such rated
value;
b) Rapid discharge capacity at low temperature: e.g., the rapid discharge capacity tested at -20 °C may
not be less than 70% of the rated value stated in the product specification;
c) Rapid discharge capacity at high temperature: e.g., the rapid discharge capacity tested at 55 °C may
not be less than 95% of the rated value stated in the product specification.
When subjected to low air pressure, thermal abuse, vibration, overcharge, overdischarge, external short
circuit, crushing, mechanical shock, and drop, the batteries are required to be free of defects such as leakage,
cracking, fire, and explosion.
6.2.3 Ground control station
The GCS displays and records C2 data, telemetry data, and image data, such as the flight speed, altitude,
voltage, and orientation of the UAV’s nose, and generates an alarm in case of abnormalities. Maps are
downloaded and updated via wireless networks. It is recommended that the control software be loaded with at
least one type of 3D map that has zooming, ranging, skipping, and marking functions. Waypoints and routes
are set on maps, and the heading and trajectories are displayed in real time during a flight.
6.2.4 Link coverage
The radio transmission frequency and power need comply with radio regulations in the service locations. The
link coverage is recommended within the level II as specified in ISO 21895:2020, that is 1.5 km to 15 km. For
the C2, telemetry, and image links, the real-time omni-directional transmission distance, when unsheltered, is
recommended to be not less than 5 km for rotorcrafts and not less than 10 km for fixed-wing planes.
6.3 Payload
A gimbal or an aircraft pod is usually required to enable photographing at different angles either horizontally
or vertically.
A visual camera may be capable of both shuttering via remote control and time-lapse photographing as
programmed. A camera with replaceable lenses requires certain zoom capability and continuous
adjustment.
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IEEE Std 2821-2020
Automatic focusing is also preferred. Images need to be clear and with pixels acceptable for subsequent
processing.
For fixed-wing plane-based patrol inspection systems, the visual camera is recommended to be able to capture
images of 0.5 m x 0.5 m static targets and videos of 3 m x 3 m static targets, within 50 m on both sides
perpendicular to the flight route at a true altitude of 200 m.
For IRT imagers, a large measurement range is required, and a range between –20 °C and +150 °C is
recommended. The accuracy is recommended to be not less than ±2 °C or the measured value multiplied by
±2% (whichever is the greater absolute value. The heating points may be clearly shown in the images taken
within 10 m from the infrared thermal imager. At present, the infrared thermal imagers of 300 000 pixels and
above are widely applied in the industry. Featuring pseudo-color display, this type of imager can show thermal
images and related information, especially the location and temperature of the hottest point in real time in an
image.
A laser scanner may accurately measure temperature from more than 200 m away at a reflectivity of 60% and
generate a point cloud with a density of more than 20 points per square meter. Its accuracy could reach 20 mm
as a maximum for measurement of structural information, and its data storage space should be large enough
for at least one hour of continuous operation. The laser scanner is required to be eye safe and conform to
requirements for Class 1 laser products as given in IEC 60825-1:2014.
The oblique photography cameras are required to transmit real-time images that will then be displayed at
the GCS. The same type of high-speed interfaces, either USB, LAN, or HDMI, are recommended for
different devices for easy transmission of data. Shuttering via remote control and time-lapse photography as
programmed are both preferred. A single COMS should be large enough for modeling, and the overlap rate of
flight routes is recommended to be greater than 60%.
6.4 Flight and control

6.4.1 Self-check
The patrol inspection system is recommended to at least be capable of testing (which is also called self-check
functions) its traction battery voltage, C2 link capability, as well as navigation and positioning functions.
Nonconformity of any of these items will enable the GCS to display an alarm in the form of a distinct sound (or
light) signal or others. The GCS may be able to directly identify the fault location and causes.
6.4.2 Mission planning
Mission planning is also required for setting the take-off and landing mode, flight speed, and waypoints. In
general, the number of waypoints may not be less than 50 for rotorcrafts designed with the mission planning
function. In case of fixed-wing planes that are usually used for long-distance patrol inspection, the number of
waypoints is recommended to be not less than 250.
6.4.3 Take-off and landing
Vertical take-off, catapult or horizontal rollout take-off, and vertical landing, parachute recovery, or horizontal
rollout landing are mostly used in UAV-based patrol inspection of overhead lines. A combination of one take-
off method and one landing method is recommended for each UAV. With regard to safety, a backup may be
provided for emergency response for some UAVs. For example, a multicopter may be capable of both vertical
landing and parachute recovery. In normal conditions, vertical landing is given priority. However, when the
multicopter is out of control, the parachute recovery will be activated.
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IEEE Std 2821-2020
6.4.4 Control mode
The flight control modes are classified into the manual control mode, automatic control mode, and autonomous
control mode (see ISO 21895:2020). Flexible control mode switching is required while stable flight is
maintained.
The execution of UAV-based patrol inspection can be achieved by either manual, automatic, or autonomous
mode:
a) Manual mode: In this mode, the whole process of patrol inspection is completed by human workers,
including take-off, photographing, landing, etc. The operator locates the target with GCS display and
takes photos with automatic focusing.
b) Automatic mode: In this mode, both manual operation and automatic flight are needed. The operator
needs to set the flight route at the GCS, and the UAV will complete missions as programmed. At any
time, the operator can override the UAV and terminate the flight.
c) Autonomous mode: In this mode, the complete flight is performed without human help or interaction.
A typical scenario is a mission completed at a defined place at a defined time fully automatically, such
as flight to the line, inspection of the line, and return to a defined place. However, technologies and
emergency procedures are currently not mature enough for this type of patrol and inspection.
6.4.5 Flight performance
For fixed-wing planes, the maximum take-off mass is limited by the flight capability and influenced by carried
payloads. The endurance may be selected as needed. Since fixed-wing planes are mainly used for long-
distance patrol inspection, the endurance is recommended to be at least one hour for battery-powered ones and
two hours for oil-powered ones. The cruising speed may be within the range from 60 km/h to 130 km/h, the
maximum climb rate not less than 3 m/s, and minimum turn radius not more than 150 m.
The flight control parameters are recommended in Table 5 for different types of UAVs.
The UAV-based patrol inspection system is required to resist wind and rain to a certain degree, especially
wind gusts. In general, rotorcrafts are recommended to be able to work normally in 10 m/s winds or above and
maintain stable flight for at least 20 min at a precipitation intensity of no less than 25 mm/24 h. Fixed-wing
planes are recommended with resistance to 8 m/s winds or above and to rainfall of a precipitation intensity not
less than 25 mm/24 h. During vertical take-off and landing, if adopted, fixed-wing planes are recommended
with resistance to 6 m/s winds.
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Table 5—Comparison of flight control indicators
Navigation and
Flight control of rotorcrafts Hovering control of rotorcrafts Flight control of fixed-wing planes
positioning
Horizontal Vertical
Horizontal Vertical Horizontal Vertical Standard Horizontal Vertical Horizontal Vertical Standard
standard standard
deviation deviation deviation deviation deviation deviation deviation deviation deviation deviation
deviation deviation
≤ 2.5 m ≤3m ≤3m ≤4m ≤ 2.5 m ≤ 1.5 m ≤ 0.5 m ≤ 0.75 m ≤1m ≤5m ≤ 10 m ≤5m
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IEEE Std 2821-2020

IEEE Std 2821-2020
6.5 Flight safety

Safety measures are required for UAV operations, especially when under uncontrolled conditions or other
special circumstances. Currently, the following functions are available:
a) Virtual fence setting: The area in which the UAV flies can be set. An alarm can be generated when the
UAV flies outside the planned area.
b) Low voltage alarm: An alarm can be triggered at the GCS or remote controller when the voltage is
lower than the preset alarm value during a flight.
c) Position tracking: The position of the UAV can be sent to the operator automatically as scheduled or as
needed, independent of the on-board main power supply and data transmission radio.
d) One-key return: When this function is enabled, the UAV will immediately terminate the current task
and return.
e) Automatic return in case of a lost link: When either a C2 link or a telemetry link is interrupted, the
UAV will hover and wait for recovery of the communication signal. The waiting time can be set in
advance. If the communication signal is recovered within the waiting time, the UAV will continue its
mission; otherwise, it will return along the preset route.
6.6 Environmental adaptability

In addition to normal field conditions, the UAV-based patrol inspection system may also be able to work in
such harsh environments as on plateaus and hills where transmission lines may be erected. A minimum of 60%
of the rated endurance is necessary to ensure optimal coverage of the inspection. The temperature and altitude
at which a UAV flies are the key factors that may affect the endurance of the UAV. To get desirable endurance,
it is recommended to fly a UAV within a temperature range from -20 °C to 60 °C and at an altitude lower than
5000 m. A protection degree of IP43 or above is recommended as defined in IEC 60529:2013.
6.7 Electromagnetic compatibility

While transmitting electricity, transmission lines produce electric and magnetic fields, which may affect the
functions of UAV-based patrol inspection systems. Such patrol inspection systems have high requirements
for electrostatic discharge immunity, pulse magnetic field immunity, and power-frequency magnetic field
immunity, for which the loss of any function or degradation of performance is not acceptable. With regard
to the radiated, radio-frequency, electromagnetic field immunity, the phenomena listed in (a) and (b) below
are not allowed; when any of the phenomena in (c), (d), and (e) occurs, all functions and performance may be
recovered without human intervention within 1 min after the interference ends:
a) Interruption or loss of signals;

b) No response of the UAV to signals or degradation of flight control performance;
c) Interruption or delay of data transmission, or mosaics, snowflakes, stripes, and ghosts in images;
d) No response of payloads to signals, or degradation of rotation, photography, or other control functions;
e) Loss or degradation of other functions or performance.
6.8 Transportability
If the UAV-based patrol inspection system experiences vibration or is dropped, inspect the unit for deformation,
cracks, and other damage. It is important for the equipment to be intact to maintain optimal performance.
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IEEE Std 2821-2020
7. Tests
7.1 Test types and items
Function and performance tests are conducted to ensure the quality of UAV systems. For this reason, type
tests, factory tests, and onsite (sampling) tests could be conducted during the design phase, production phase,
and acceptance phase of the UAV-based patrol inspection systems.
Type tests are recommended in any of the following cases:
a) Pilot production of a newly developed UAV or change of manufacturer for existing UAVs;
b) Major changes in the structure, materials, design, production process, and components of existing
UAVs;
c) Resumption of production after suspension for over one year;
d) Major differences between current sampling test results and the previous type test results;
e) After a three-year period from the last type test;
f) As required by the competent quality supervision authority.
The type tests, factory tests, and onsite tests of the UAV-based patrol inspection system may involve the
test items such as the environmental adaptability, flight control performance, payload performance, and
electromagnetic compatibility. The users may determine the needed test items according to Table 6, or
otherwise as agreed upon with the manufacturer.
Table 6—Test items of the UAV-based patrol inspection system

Factory
No. Test items Type test Onsite test
test
Rapid discharge capacity test
1 √ — —
at normal temperature
Rapid discharge capacity
2 √ — —
test at low temperature
Rapid discharge capacity test
3 √ — —
at high temperature
4 Cycle life test √ — —
5 Low air pressure test √ — —
6 Traction battery test Thermal abuse test √ — —
7 Vibration test √ — —
8 Overcharge test √ — —
9 Overdischarge test √ — —
10 External short-circuit test √ — —
11 Crush test √ — —
12 Mechanical shock test √ — —
13 Free fall test √ — —
14 GCS performance test √ — √
15 Link coverage test √ √ √
Table continues
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IEEE Std 2821-2020
Table 6—Test items of the UAV-based patrol inspection system (continued)

Factory
No. Test items Type test Onsite test
test
16 Photographing function test √ √ √
17 Visual imaging test √ √ √
Payload
18 Infrared imaging test (only for rotorcrafts) √ √ √
performance test
19 Laser scanning test √ √ √
20 Oblique photography test √ √ √
21 Self-check test √ √ √
22 Mission planning test √ √ √
23 Take-off/landing test √ √ √
24 Flight control mode switching test √ √ √
Maximum take-off mass test
25 √ √ √
(only for fixed-wing planes)
Cruising speed test, maximum rate of
26 √ √ √
climb test (only for fixed-wing planes)
Minimum turn radius test (only
27 √ √ √
for fixed-wing planes)
28 Navigation and location deviation test √ √ √
Flight performance test
29 Flight control deviation test √ √ √
Flight endurance test (only
30 √ √ √
for fixed-wing planes)
Hovering control deviation
31 √ √ √
test (only for rotorcrafts)
32 Wind resistance test √ √ —
33 Rain resistance test √ √ —
34 Virtual fence setting test √ √ √
35 Low voltage alarm test √ √ √
36 Safety strategy test Position tracking test √ √ √
37 One-key return test √ √ √
38 Lost-link return test √ √ √
39 Low temperature test √ — —
40 High temperature test √ — —
Combined (temperature,
41 Environmental √ — —
humidity and vibration) test
adaptability test
42 Altitude adaptability test √ — —
43 Water test √ — —
44 Dust test √ — —
Radiated, radio-frequency
45 √ — —
electromagnetic field immunity test
46 Electromagnetic Electrostatic discharge immunity test √ — —
47 compatibility test Pulse magnetic field immunity test √ — —
Power-frequency magnetic
48 √ — —
field immunity test
49 Vibration test √ — —
Transportability test
50 Free fall test √ — —
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IEEE Std 2821-2020
7.2 General considerations

Several general considerations are available for testing of UAV-based patrol inspection systems.
First, safety is given top priority. The test site and the distance from obstacles to the flight route conform to
safety requirements. Manufacturers and test agencies may take emergency procedures according to safety
regulations and requirements in their countries, such as setting up safety fences, wearing personal protective
equipment, and providing first aid kits.
Power the system on at a defined site and set the flight route at the GCS. The flight will not start unless the
system self-check functions are checked and function well.
Check the ambient environment, such as temperature, air pressure, wind speed, and altitude, and make sure
such conditions will not affect the test accuracy. Thorough records of the test methods should be kept.
Some of the test items can be completed in one flight. However, d ifferent te st it ems ar e su ggested to be
conducted separately, and the flight time for each test item needs to be long enough.
7.3 Test methods

7.3.1 Performance tests on traction batteries
7.3.1.1 Electrical performance tests
In rapid discharge capacity tests, the first step is to fully charge the battery. After standing the battery for a
certain period of time (no less than 16 h and no less than 4 h are respectively recommend for tests under low
temperature and high temperature), discharge the battery at a constant current down to the specified final
voltage.
The cycle life test is conducted to determine the cyclic endurance of a battery. When the battery voltage falls
below the specified value, record the number of cycles. A stand of 0.5 h to 1 h is usually needed for each cycle.
More information is given in IEC 61960-3:2017.
7.3.1.2 Environmental adaptability tests
To perform the low air pressure test, a battery is first fully charged, then placed in a vacuum chamber. The
pressure in the chamber is gradually reduced to the specified value and held at that value for a certain period
of time (6 h is recommended). The fluctuation of the test pressure is recommended to be not greater than
100 Pa/h.
A test chamber is also needed for the thermal abuse test. After a fully charged battery is placed in the chamber,
adjust the temperature inside the chamber to a specified value (a rate of 1°/min is recommended). It is suggested
the battery remain at the test temperature for no less than 4 h.
For the vibration test, the fully charged battery needs to be firmly secured to the vibration machine and then
be subjected to the specified vibration frequency for a certain period of time. This test may be repeated for
different directions.
More information is given in IEC 62133-2:2017, IEC 60068-2-13, IEC 60068-2-14, and IEC 60068-2-47.
7.3.1.3 Battery safety tests
Battery safety tests are usually performed using the methods given in Table 7.
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IEEE Std 2821-2020
Table 7—Methods for battery safety tests

Test item Test method
Overcharge test See IEC 62133-2:2017.
Fully charge the battery as specified in the battery specifications. Discharge the
battery at the maximum discharge current specified in the battery specifications.
For batteries without protective resistors or protective circuits, discharge them
Overdischarge test
to (n × 0.15) V (where, n is the number of cells). For batteries with protective
circuits, discharge them until the protective circuit acts. Let the battery stand
for 10 min, then fully charge it as specified in the battery specifications.
External short-circuit test See IEC 62133-2:2017.
Crush test See IEC 62133-2:2017.
The battery is secured to a test machine. The minimum mean acceleration
and the peak acceleration are respectively recommended to be 735 m/s2 and
Mechanical shock test
1225 m/s2 to 1715 m/s2. The pulse duration is recommended to be 6 ms ±
1 ms. See IEC 62133-2:2017 and IEC 60068-2-27 for more information.
Free fall test See IEC 62133-2:2017 and IEC 60068-2-31.
7.3.2 GCS performance test
Download the map wirelessly and set waypoints and the flight route on the map. Fly the UAV along the route,
observe the display of the C2 data such as the airspeed, voltage, heading, and trajectory. During the flight,
rotate the payload to adjust the photographing angle and the focal length, then take visual or infrared images.
Land the UAV and export the images and flight log.
7.3.3 Link coverage test
Fly the UAV along the test route. During the flight, control the payload to take photographs and observe
whether the C2, telemetry, and image data are normal. When the transmission of data is interrupted or lost
and the UAV and payloads no longer respond to control signals, record the distance between the UAV and the
GCS. When continued image interruption, image lag, mosaics, snowflakes, stripes, or ghosting occurs and
affects target recognition, record the distance between the UAV and the GCS.
7.3.4 Payload performance test
7.3.4.1 Photography function test
Arrange several measuring points in the field and record their longitudes, latitudes, and altitudes at an interval.
Satisfactory coordinate accuracy needs to be guaranteed. For any type of payload, in the autonomous flight
mode, the UAV hovers and takes photographs at all preset measuring points. In manual or automatic flight
mode, the operator controls the payload to rotate and take photographs.
7.3.4.2 Visual imaging test
For rotorcrafts: Arrange a standard field or a standard transmission line tower. The standard field is composed
of connection fittings of different sizes, the same as those of a standard transmission line tower. Place a UAV
so the lens of the visual camera is at an appropriate distance (generally within 10 m) from the center of the
target field. Set the focal length of the camera to the minimum value and keep it unchanged via the GCS or
remote controller. Align the camera with the target object and take photographs. Then set the focal length
of the camera to the maximum value and keep it unchanged, realign the camera with the target, and take
photographs. Measure and record the height of the target.
For fixed-wing planes: Arrange a standard target field, which is generally composed of standard squares sized
3 m × 3 m, 0.5 m × 0.5 m, and 0.3 m × 0.3 m. The squares may be added or reduced as needed. The test may be
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IEEE Std 2821-2020
performed as follows: Power on a UAV and fly it from the GCS or the remote controller. When it flies above
the target field, take photographs.
7.3.4.3 Infrared imaging test
Temperature range of IRT imagers: Arrange the precise blackbodies [A) low-temperature blackbody generally
not higher than –20 °C, and B) high-temperature blackbody generally not lower than 150 °C] so that their
radiation surfaces are in the same vertical plane. To start the test, place a UAV so that the visual axis of the
infrared payload is at the same height as the line passing through the centers of radiation surfaces of blackbodies
A and B, perpendicular to their radiation surfaces, and the plane passing through the lens is generally within
10 m of the line passing through the centers of radiation surfaces of the blackbodies. Set the temperature of
precise blackbody A to –20 °C and that of blackbody B to 150 °C, and keep them stable for a certain period of
time. Next, power on the UAV and adjust the parameters of the infrared payload. When both blackbodies fall
within the field of view, take images.
Precision of IRT imagers: Arrange several insulators similar as for blackbodies. Set the temperature of
neighboring insulators with 2 °C difference, then take images.
Compare the measured values with the setting and calculate the measurement precision.
7.3.4.4 Laser scanning test
Appropriate ground tests and flight tests may be carried out in line with the purpose of the specific laser
scanning device. If necessary, a standard test field may be built to include objects such as towers, conductors,
and simulated trees. Then, accurately measure the distances between these objects. Set a UAV to enable it to
accurately scan the objects in a simulated transmission line. Compare the measured distances as shown in
the scanned point clouds and the actual distances, and record the parameters such as measurement distances,
computing time, and point cloud density.
7.3.4.5 Oblique photography test
Build a standard test field with reference to the test field for laser scanning devices, and record data such as the
real-time video and photography control data. Meanwhile, compare the modeling with the actual targets, and
record the flight route overlap and the modeling accuracy.
7.3.5 Self-check test
Self-check the voltage of the traction battery, telemetry and telecontrol, navigation and location, and other
functions. Observe if there are any alarms and if the alarms are obviously different from normal conditions,
such as in display or color.
7.3.6 Mission planning test
Fly the UAV, then check if the settings function properly, such as take-off/landing mode, speed, and waypoints.
Check the number of waypoints that can be set. Set the UAV to automatic or autonomous flight control mode,
and fly the UAV along the test route at an appropriate speed. Modify waypoints on the test route at the GCS.
Check if the UAV changes its trajectory in compliance with the modification.
7.3.7 Take-off and landing test
Fly a UAV for a certain period along the test route, then land the UAV. Observe the take-off and landing of the
UAV, and record the distance between the landing and take-off locations.
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7.3.8 Flight control mode switching test
Fly the UAV along the test route. After stable flight is maintained, switch the flight control mode and observe
the flying status of the UAV. Land the UAV in the designated area.
7.3.9 Flight performance test
7.3.9.1 Maximum take-off mass test
In the maximum take-off mass test, weights can be carried by the UAV in place of payloads. Increase the
weights until the UAV reaches its nominal maximum take-off mass. Fly the UAV and observe whether it can
fly steadily.
7.3.9.2 Cruising speed test and maximum rate of climb test
First, plan a flight route in a field. Keep a safe distance from the surrounding obstacles to the route. Measure
and record the temperature, atmospheric pressure, wind speed, and altitude of the test field. Fly the UAV at the
maximum cruising speed and the minimum cruising speed respectively, and record the actual speeds. Fly the
UAV to a necessary height, set it to the maximum propulsion, and make it climb at different angles. Record the
maximum rate of climb.
7.3.9.3 Minimum turn radius test
Set the flight route and fly the UAV at the minimum turn radius. Record the true airspeed, bank angle, and local
acceleration of gravity at the time of turning. Calculate the minimum turn radius R according to Equation (1).
_ v  2
R =     (1)
g × tan α
where

R is the minimum turn radius at the time of turning, in m
V is the true airspeed at the time of turning, in m/s
g is the acceleration of gravity at the time of turning, in m/s2
α is the bank angle at the time of turning, in degrees
7.3.9.4 Navigation and location deviation test
Arrange measuring points and record coordinates the same as for the photography function test. Place the
UAV at the first measuring point with the center of its horizontal plane coinciding with the measuring point.
Read and record its position coordinates (including longitude, latitude, and altitude) at the GCS. Place the
UAV at the 2nd, …, nth measuring points in sequence and repeat the above steps. Compare the measured values
with the standard value.
7.3.9.5 Flight control deviation test
Set the flight route and make sure a safe distance is maintained from the flight route to surrounding obstacles. In
the same coordinate system as for route setting, generate the actual flight route with chronologically measured
coordinates of each spatial position of the UAV during the test. Compare the above measured coordinates with
the setting to compute the deviation and standard deviation of the flight trajectory.
7.3.9.6 Flight endurance test
In the flight endurance test, fly the UAV along the test route. Keep flying and land the UAV when an
undervoltage alarm is given. Record the duration from take-off to landing as the endurance.
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7.3.9.7 Hovering control deviation test
Build a test field the same as that for the navigation and location deviation test. Fly the UAV and make it hover
at the first measuring point. After steady hovering is maintained, measure and record the coordinates of its
position at an interval (a total minimum of three minutes is recommended). Place the UAV at the remaining
measuring points in sequence and repeat the steps above.
7.3.9.8 Wind resistance test
This test for rotorcrafts requires a relatively small field and therefore can be conducted in a simulated
environment. It is recommended to locate the wind field simulation system and position capturing system
indoors to avoid the interference of natural winds. Then fly a UAV and make it hover at the designated location
and height. Gradually raise the wind scale. Record the highest wind scale that the UAV can resist. In addition
to hovering, wind resistance in forward, backward, and other flight directions may be tested as appropriate.
Change the wind direction relative to the UAV and repeat the steps above.
Fixed-wing planes require a large test field, so a simulated environment is relatively infeasible. The wind
resistance test for fixed-wing planes measuring take-off, landing, and turning data is usually conducted in the
natural environment.
7.3.9.9 Rain resistance test
This test for rotorcrafts requires a relatively small field and can therefore be conducted in a simulated
environment. Arrange a rainfall test system in the test field to simulate a rainfall environment. Regulate the
rainfall test system so that the rainfall intensity in the field reaches the target level. Fly the UAV in the field at a
certain speed to test its rain resistance capability.
Fixed-wing planes require a large test field, s o a s imulated e nvironment i s r elatively infeasible. T he rain
resistance test for fixed-wing planes are usually conducted in the natural environment.
7.3.10 Tests on flight safety strategies
7.3.10.1 Virtual fence setting test
First, set a flight area to which the flying of the UAV is restricted. Program at the GCS a test flight route, part
of which goes beyond the preset flight area. Fly the UAV along the programmed route. Observe if an alarm
is produced, and measure the actual trajectories to see if the UAV flies beyond the preset flight area. Then,
switch the programmed control to manual control. Observe if an alarm is produced and measure the actual
trajectories to see if the UAV flies beyond the preset flight area. The steps are the same for testing the flight
height restriction function.
7.3.10.2 Low voltage alarm test
Set the alarm threshold voltage for the battery. Fly the UAV and check if an alarm is generated at the GCS or
remote controller when the battery voltage is lower than the preset threshold.
7.3.10.3 Position tracking test
Place the UAV at the first measuring point with the center of its horizontal plane coinciding with such point.
Power it on and complete the self-check. Then switch off the on-board power supply and the data transmission
radio, observe the transmission mode of the UAV’s position coordinates, and record the position coordinates
(including longitude, latitude, and altitude). Place the UAV at the remaining measuring points in sequence and
repeat the steps above.
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7.3.10.4 Return function test
For either one-key return test or lost-link return test, fly a UAV at a speed along a defined flight route. Activate
the one-key return function or cut off the communication links and check if the UAV returns. After the UAV
returns, verify the return waypoints, trajectory, and speed.
7.3.11 Environmental adaptability tests
7.3.11.1 Temperature tests
The low temperature test (cold test), high temperature test (dry heat test), and combined (temperature, humidity,
and vibration) test are usually conducted in a test chamber. Secure the UAV to a device that can simulate the
UAV flight. Adjust the test parameters to reach the specified values, and maintain those conditions for a certain
duration. Then power on the remote controller, payloads, and GCS, and open the test chamber to observe if the
UAV works well.
More information is provided in IEC 60068-2-1, IEC 60068-2-2, and IEC 60068-2-53.
7.3.11.2 Altitude adaptability test
The altitude adaptability test is to test the UAV at low air pressure. Secure the UAV in a test chamber, adjust the
test pressure and temperature to the specified values, and maintain these values within required fluctuations
for a certain duration. Then power on the remote controller, payloads, and GCS, and open the test chamber to
observe if the UAV works well.
More information is given in IEC 60068-2-13.
7.3.11.3 Protection degree tests
To conduct the water test, the right test tube or nozzle is used in accordance with the specified degree of
protection, and radius is the key. A distance of 200 mm is suggested from the tested UAV to the internal side of
the tube or nozzle. Power on the chamber and adjust the water flow and swinging angle of the tube or nozzle.
The dust test is made in a chamber where dust materials (e.g., talcum powder) are used. The test chamber
needs to be adjusted to the specified relative humidity and dust content.
Both the water test and dust test are performed for a certain duration. After each test is completed, fly the UAV
to verify its functions.
See IEC 60529:2013 for more information.
7.3.12 Electromagnetic compatibility tests
The methods for electromagnetic interference immunity tests are given in IEC 61000-4 as follows:
a) The radiated, radio-frequency, electromagnetic field immunity test: The test levels and methods are
specified in IEC 61000-4-3. Test level 4 is recommended.
b) The electrostatic discharge immunity test: The test levels and methods are specified in IEC 61000-4-2.
Test level 4 is recommended.
c) The pulse magnetic field immunity test: The test levels and methods are specified in IEC 61000-4-9.
Test level 5 is recommended.
d) The power frequency magnetic field immunity test: The test levels and methods are specified in
IEC 61000-4-8. Test level 5 is recommended.
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7.3.13 Transportability tests
The fundamental considerations for the vibration test and the free fall test are respectively specified in
IEC 60068-2-47 and IEC 60068-2-31.
The vibration test is performed on a test apparatus that could generate vibration. The test vibration frequency
and power spectral density are set as specified and the test lasts for a certain duration.
In the free fall test, the height, direction, and number of tests are the key parameters to be considered.
After the vibration or free fall test is completed, visually check the UAV, then fly it to verify its functions.
8. UAV-based patrol inspection procedures

8.1 Overview
To fulfill UAV-based patrol inspection, in addition to choosing suitable inspection devices, establishing
standardized procedures and methods is also important. In this guide, several considerations are given for
reference. The main content includes recommendations for the patrol inspection process, personnel, safety,
environment, data acquisition methods, data processing and analysis, and system maintenance. In addition,
applicable rules and regulations defining airspace areas or special zones need to be followed. See ISO 21384-
3:2019 for more information on operational procedures for unmanned aircraft systems.
8.2 Process of patrol inspection

The UAV-based patrol inspection on transmission lines may be carried out following the process shown in
Figure 2.
Figure 2—Process of UAV-based patrol inspection
Before patrol inspection starts, qualified personnel, stock-out check of the UAV, weather and environmental
conditions, route planning, and mission setting need be considered. Measures are prepared for safety and
emergent events.
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When the operators have arrived at the work site, they set the field layout, check the system conditions, and
determine the data acquisition methods. During the patrol inspection, the inspection points and the operation
of the payloads could be adjusted as necessary to ensure effective implementation.
After the operation ends, the patrol inspection system is reclaimed for stock-in, and a flight log is maintained.
The payload data will be subjected to manual analysis or uploaded to data processing software for automatic
diagnosis, and a report may be produced when necessary. Regular system maintenance is essential for future
applications.
8.3 Offsite preparation

The operators are recommended to have experience and especially safety knowledge in the O&M of high-
voltage transmission lines, and master the UAV-based patrol and inspection procedures, methods, and
techniques. Also, the operators should be familiar with all necessary information about the target transmission
lines.
The UAV-based patrol inspection system needs to have passed the required tests. The system integrity is
checked for stock-out.
It is advisable that the patrol inspection is performed under good weather conditions. Avoid unfavorable
weather such as fog, snow, heavy rain, wind gales, and hail. Where the target transmission line lies in a narrow
area or an area featuring a large span, large height difference, or unfavorable microclimate, the operators are
required to judge whether to perform the patrol and inspection according to the performance of the UAV and
the meteorological conditions.
Field reconnaissance is necessary. The operations need to be kept away from areas that may affect the flight of
UAVs, such as blasting areas, shooting areas, smoking areas, flaming areas, airports, densely populated areas,
tall buildings, military jurisdictions, and radio interference areas. UAVs may not fly over substations or power
plants.
The flight route may be planned either before execution of patrol inspection or onsite by experienced operators.
When large helicopters or UAVs capable of automatic or autonomous inspection are used, the flight route
and missions are usually set in advance. The flight route is plotted based on the coordinates and heights of
towers, altitudes, required safety distances (horizontal and vertical) between a UAV and the inspection targets,
and the patrol inspection mode. The flight route needs to avoid high obstacles (such as tall buildings and
high mountains). For the flight route around a tower, it is suggested to select the photographing positions in
accordance with the layout and structure of related equipment. If possible, it is recommended that the same
targets be inspected during each operation and a standardized flight route library be established. The flight
route library stores information such as the name of line, tower number, the type of tower, the type of wiring,
the geographical coordinates of the tower, and the imaging parameters of inspection targets.
ISO 21384-3:2019 may be referred to for safety management.
8.4 Onsite execution

8.4.1 Field preparation
Prior to take-off, make sure that the wind speed on site is within the wind resistance capability of the UAV
to be used. Personnel not critical to the flight need to stay away from the operation site, the take-off and
landing locations, as well as the take-off and landing routes. Where necessary, safety warning zones may be
established.
At the operation site, appropriate safety protection measures such as fire extinguishing are recommended,
and smoking and flames are strictly prohibited. The oil brought to the site should be stored separately. Oil
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IEEE Std 2821-2020
draining is to be performed by operators wearing antistatic gloves in non-thunderstorm weather, after the
UAV-based patrol inspection system is powered off and the engine stops working. Electronic devices that may
bring interference to the communication links of patrol inspection system may not be used on site.
The take-off a nd l anding l ocations o f UAVs n eed a s afety d istance f rom t he t ransmission l ine a nd other
facilities and equipment. The wind direction needs to be favorable at the time of take-off or landing.
8.4.2 System check
In addition to the system’s self-check, technicians carry out certain preflight procedures. For example,
technicians should check the surface and tightness of the blades, clean the payload lenses, and ensure the
onboard batteries and payload batteries are fully charged for power consumption during the entire flight
process.
8.4.3 Selection of patrol and inspection methods
UAV-based patrol inspection can be performed by flight on one side of, two sides of, or up above the overhead
lines and towers.
In line sections inconvenient for double-sided patrol inspection (e.g., when inspecting one side of the
transmission line, the UAV has to fly above factories, residential houses, highways, bridges, or other
transmission lines for an extended period), only inspect the convenient side if the field of view of the payloads
can capture each entire target. In the patrol inspection on a single side, a UAV approaches the towers at a low
speed, hovers near them where necessary, and uses payloads to capture inspection data. Note that steady flight
of the UAV is necessary to help ensure effective and integral data.
If the field of view of the payloads cannot cover the entire target in single-sided patrol inspection, the double-
sided patrol inspection method is used. The heading of the UAV is recommended to be parallel with the
line. The horizontal distance between the UAV and the conductor on the inspection side may be adjusted as
appropriate depending on the performance of the UAV, the voltage rating of the line, and the experience of the
operators. The UAV flies over the line at a desirable safety distance to inspect the line from the other side.
In case of patrol inspection conducted over lines and towers, a greater safety distance to the line is required
for fixed-wing planes and a lower value for rotorcrafts. Such distance and flight speed may be adjusted
appropriately according to the accuracy of the payload, as long as safety can be guaranteed. For LiDAR
scanners, the point cloud density needs to at least meet the modeling requirements.
8.4.4 Implementation of patrol inspection
UAV-based patrol inspection is usually performed in either manual mode, automatic mode, or autonomous
mode.
In manual mode, two operators are recommended for each operation. One person manually and remotely flies
the UAV to the designated position for photographing, while keeping a safe distance between the UAV and
the line or tower. The other keeps an eye on the display returned from payloads and operates the payloads to
manually focus and take photos at the designated position. After the mission is completed, the first person
manually lands the UAV.
In the automatic mode, the flight route and mission are set at the GCS. After self-check, the UAV will
automatically fly along the designated flight route to the designated position, then the payloads will
automatically take photos via shuttering. In case of an emergency, the operator can manually terminate the
flight at any time. After the mission is completed, the UAV will automatically return and land at the designated
location.
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In the autonomous mode, the entire patrol inspection process needs no human intervention. After the UAV is
placed at a designated location, it will automatically take off at the designated time, then perform the patrol
inspection along the designated route, and finally land at the designated location. Currently, technologies and
emergency procedures are not mature enough for this type of patrol inspection.
8.4.5 Emergency response
During the operation, unobstructed communication is kept between operators. At the time of take-off or
landing, the operators are required to maintain a sufficiently safe distance from the UAV, rather than standing
in front of the take-off or landing location or right under the flight route.
The operators are also required to observe the display at the GCS to check for abnormal environment, pose
of UAV, flight route, weather, etc. When any faults or emergent events are identified, UAV return or landing
will be activated as programmed. If necessary, the operator needs to properly operate the UAV to avoid high-
voltage overhead lines, villages, and crowds to help ensure safety.
8.5 After the event

After the patrol inspection is completed, the entire system will be reclaimed and returned to the hanger as well
as comprehensively checked and maintained for future operations. In addition, a flight log is recommended.
The patrol and inspection data are exported from the payloads in a timely manner. Abnormalities, if identified,
will be sorted, filed, and recorded. The defects in visual and IRT images can be identified through labor work.
While featuring a large volume, the data acquired by LiDAR scanners and oblique photography cameras need
to be processed with dedicated software. Through 3D reconstruction, the software can produce visual images.
Human workers will then check the visual images for faults or defects and prepare a report. When major
defects are identified or uncertainty exists, an onsite visit can be made for reconfirmation. Finally, all identified
defects will be handled by the maintenance crew. After additional defect screening, the crew will arrange
defect elimination or repair.
It is recommended that the UAV be regularly maintained. If unused for a long period of time, the batteries
should be charged and the UAV started and inspected on a regular basis. If there are any abnormalities, prompt
adjustment and repair are needed.
A use case for UAV-based patrol inspection is given in Annex A.
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Annex A
(informative)
A use case
This annex provides the method for using a quadrotor UAV-based patrol inspection system to carry out routine
visual inspection on a cup-shaped tangent tower of a 500 kV ac single-circuit line as well as the inspection
results.
A.1 Ambient conditions
Average wind speed: ≤ 7 m/s
Altitude: 1000 m
Atmospheric temperature: 20 °C
Weather: Sunny
Relative humidity: 40% to 75%
A.2 Selection of payloads

Patrol inspection system: Quadrotor UAV-based patrol inspection system
The redundancy design of the patrol inspection system provides an all-around guarantee for flight safety. The
stereoscopic vision systems at both the front and lower parts and the infrared sensing system at the upper part
realize avoidance of obstacles at front, top, and bottom. The battery capacity is around 8000 mAh, supporting
up to 35 min of flight endurance. Other flight performance of the UAV also meets the technical requirements
in this guide.
Camera: Zoom camera
A gimbal controller is integrated into the camera to provide protection and prevent drift.
Controllable range of the gimbal: tilt +40° to -130°; pan ±320°; roll ±20°
Effective pixels: 20.8 megapixels
Focal length: 9 mm to 45 mm
Equivalent focal length on a 35 mm film camera: 18 mm to 90 mm.
A.3 Photographing methods

The UAV inspects the tower following the route indicated in Figure A.1.
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A-1 Overall view of tower

B-2 Tower head
C-3 Tower body
D-4 Tower number plate
E-5 Tower foundation
F-6 Suspension point of left-phase conductor
F-7 Left-phase insulator string
F-8 Suspension point of left-phase crossarm
G-9 Left-phase earth wire
H-10 Suspension point of middle-phase left crossarm
H-11 Middle-phase left insulator string
H-12 Suspension point of middle-phase conductor
H-13 Middle-phase right insulator string
H-14 Suspension point of middle-phase right crossarm
I-15 Right-phase earth wire
J-16 Suspension point of right-phase crossarm
J-17 Right-phase insulator string
J-18 Suspension point of right-phase conductor
K-19 Right-of-way on power sending side
K-20 Right-of-way on power receiving side
Figure A.1—Route planning for UAV-based patrol inspection on a single-circuit cup-shaped

tangent tower of an ac transmission line
See Table A.1 for the photographing methods.
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Table A.1—Photographing methods for UAV-based patrol inspection on a single-circuit cup-

shaped tangent tower of an ac transmission line
Hovering Photographing Photographing quality
point no. position recommendations
Photograph at a The tower is completely
large distance, reflected in the photo.
higher than the The material composition
Overall view At an angle of
A 1 tower, so that the and angle of the tower are
of the tower depression
tower is completely clearly visible. The height
reflected in of the tower takes up at least
the image. 80% of that of the photo.
Photograph at an
At an angle of The entire tower head can
B 2 Tower head inclined angle
depression be seen in the photo.
above the tower.
Photograph at an Full view of all parts of
Horizontally/
inclined angle the tower other than the
C 3 Tower body at an angle of
slightly lower than head and the foundation
depression
the tower head. can be seen in the photo.
Photograph Horizontally/ The identifications on
Tower number
D 4 horizontally or an at an angle of the number plate are
plate
angle of depression. depression clearly visible.
Photograph at an
The ground around the
Tower angle of depression At an angle of
E 5 tower foundation and the
foundation at the front or lateral depression
guys are clearly visible.
side of right-of-way.
The small fittings such as
bolts, nuts, and lock pins and
Photograph the
Suspension vibration dampers are easy
entire fittings Horizontally/
point of to recognize. Where there
F 6 facing toward the at an angle of
left-phase are overlapped ones, take
installation side of depression
conductor photos from multiple angles,
the locking pins.
with each photo containing at
least one piece of insulator.
The insulator string is
Photograph above completely covered. Multiple
Left-phase the center position photos may be taken so that
F 7 Horizontally
insulator string directly facing the the surface damages and
insulator string. connection status of each
insulator are clearly visible.
Photograph from bolts, nuts, and lock pins and
Suspension the lateral side at vibration dampers are easy
Horizontally/
point of a small horizontal to recognize. Where there
F 8 at an angle of
left-phase angle, at the same are overlapped ones, take
depression
crossarm height as the photos from multiple angles,
suspension point. with each photo containing at
Photograph from The installation status of
the lateral side at various fittings and the
a small horizontal aluminum armor tapes at
angle, at the same Horizontally/ the contact points with earth
Left-phase height as the at an angle of wire can be judged from the
G 9
earth wire suspension point of depression/ photo. The objects as small
earth wire or at an elevation as nuts and pins are easy to
angle of depression recognize. Where there are
of not greater than overlapped ones, take photos
30° with such point. from multiple angles.
Table continues
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Table A.1—Photographing methods for UAV-based patrol inspection on a single-

circuit cup-shaped tangent tower of an ac transmission line (continued)
H 10 Horizontally
middle-phase angle, at the same are overlapped ones, take
left crossarm height as the photos from multiple angles,
Middle-phase
the center position photos may be taken so that
H 11 left insulator Horizontally
directly facing the the surface damage and
string
H 12 Horizontally
middle-phase angle, at the same are overlapped ones, take
conductor height as the photos from multiple angles,
Middle-phase
the center position photos may be taken so that
H 13 right insulator Horizontally
directly facing the the surface damage and
string
Suspension Photograph
Horizontally/ The lock pins and other
point of directly facing the
H 14 at an angle of fittings at the suspension
middle-phase suspension point
depression point are clearly visible.
right crossarm of the crossarm.
Photograph from The installation status of
the lateral side at various fittings and the
a small horizontal aluminum armor tapes at
angle, at the same the contact points with earth
Right-phase height as the At an angle of wire can be judged from the
I 15
earth wire suspension point of depression photo. The objects as small
earth wire or at an as nuts and pins are easy to
angle of depression recognize. Where there are
of not greater than overlapped ones, take photos
30° with such point. from multiple angles.
J 16 Horizontally
right-phase angle, at the same are overlapped ones, take
crossarm height as the photos from multiple angles,
Table continues
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Table A.1—Photographing methods for UAV-based patrol inspection on a single-

circuit cup-shaped tangent tower of an ac transmission line (continued)
completely covered. If not,
Photograph above the insulator may be divided
Right-phase the center position into not more than two parts
J 17 Horizontally
insulator string directly facing the for photographing so that
insulator string. the surface damage and
connection status of each
J 18 Horizontally
right-phase angle, at the same are overlapped ones, take
conductor height as the photos from multiple angles,
Photograph from
All the objects such as
the lateral side of
Right-of-way buildings, trees, crossings,
the tower; first the
K 19 on power Horizontally and crossovers within the
power sending side,
sending side right-of-way in the vicinity of
and then the power
the tower are clearly visible.
receiving side.
Photograph from
All the objects such as
the lateral side of
Right-of-way buildings, trees, crossings,
the tower; first the
K 20 on power Horizontally and crossovers within the
power sending side,
receiving side right-of-way in the vicinity of
and then the power
the tower are clearly visible.
receiving side.
NOTE—The photographing angle and the number of photos are determined according to the actual work environment,
so that the required details can be clearly imaged. A rotor UAV carrying a visible light camera could be used to take
visible light photos of each inspected part on the premise of keeping the minimum safety distance (generally within
10 m). Make sure photos are clear enough for easy recognition of the parts as small as bolts and cotter pins as well as
identification of defects in the tower.
A.4 Results of patrol inspection

The photos taken in patrol inspection are generally sorted in the same sequence as in the above table. Some
photos are shown in Figure A.2 through Figure A.11.
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Figure A.2—Overall view of tower
Figure A.3—Tower body
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Figure A.4—Tower number plate
Figure A.5—Tower foundation
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Figure A.6—Suspension insulator string of tangent tower
Figure A.7—Suspension point of a suspension insulator string on crossarm side
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Figure A.8—Suspension point of a suspension insulator string on conductor side
Figure A.9—Right-of-way
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Figure A.10—Crossarm end of a suspension insulator string (magnified)
Figure A.11—Conductor end of a suspension insulator string (magnified)
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Annex B
(informative)
Bibliography
Bibliographical references are resources that provide additional or helpful material but do not need to be
understood or used to implement this standard. Reference to these resources is made for informational use
only.
[B1] CIGRE WG B2.52, Technical Brochure No. 731, 2018, The use of robotics in assessment and maintenance
of overhead lines.
[B2] IEEE Std 524™-2016, IEEE Guide for the Installation of Overhead Transmission Line Conductors.
[B3] IEEE Std 1441™-2004, IEEE Guide for Inspection of Overhead Transmission Line Construction.
[B4] ISO 21384-4:2020, Unmanned aircraft systems—Part 4: Vocabulary.
[B5] ISO 21895:2020, Categorization and classification of civil unmanned aircraft systems.
47
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Committee, Power, Society - 2020 - IEEE Guide For Unmanned Aerial System For Transmission Lines

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IEEE Guide for Unmanned Aerial

IEEE Power and Energy Society

IEEE Std 2821™-2020

IEEE Guide for Unmanned Aerial

Transmission and Distribution Committee

Approved 24 September 2020

IEEE SA Standards Board

The Institute of Electrical and Electronics Engineers, Inc.

Copyright © 2020 by The Institute of Electrical and Electronics Engineers, Inc.

PDF: ISBN 978-1-5044-7076-6 STD24418

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Jinlong Zhao, Chair

Organization Represented Name of Representative

Gary Hoffman, Chair

Ted Burse David J. Law Mehmet Ulema

1.3 Word usage

IEC 60068-2-1, Environmental testing—Part 2-1: Tests—Test A: Cold.3

IEC 60068-2-2, Environmental testing—Part 2-2: Tests—Test B: Dry heat.

IEC 60068-2-14, Environmental testing—Part 2-14: Tests—Test N: Change of temperature.

IEC 60068-2-27, Environmental testing—Part 2-27: Tests—Test Ea and guidance: Shock.

IEC 60529:2013, Degrees of protection provided by enclosures (IP Code).

IEC 60825-1:2014, Safety of laser products—Part 1: Equipment classification and requirements.

ISO 21384-3:2019, Unmanned aircraft systems—Part 3: Operational procedures.4

3. Definitions, acronyms, and abbreviations

3.2 Acronyms and abbreviations

Table 1—Comparison of patrol inspection performance of commonly used UAVs

4.3 Ground control station

4.4 Communication unit

4.5.2 Visual camera

Table 2—Comparison of integrated cameras and cameras with interchangeable lenses

4.5.3 IRT imager

4.5.4 3D LiDAR scanner

4.5.5 Multi-camera system for oblique photography

Table 3—Comparison of oblique 2-camera, 3-camera, and 5-camera systems

4.6 Data processing and analysis module

4.7 Optional accessories

5.2 Detailed patrol inspection

Table 4—Recommended combinations for detailed patrol inspection on transmission lines

5.3 Patrol inspection on rights-of-way

6. Functions and performance

6.2.2 Traction battery

6.2.3 Ground control station

6.2.4 Link coverage

6.4 Flight and control

6.4.2 Mission planning

6.4.3 Take-off and landing

6.4.4 Control mode

6.4.5 Flight performance

Copyright © 2020 IEEE. All rights reserved.

6.5 Flight safety

6.6 Environmental adaptability

6.7 Electromagnetic compatibility

a) Interruption or loss of signals;

Type tests are recommended in any of the following cases:

Table 6—Test items of the UAV-based patrol inspection system

Table 6—Test items of the UAV-based patrol inspection system (continued)

7.2 General considerations

7.3 Test methods

7.3.1.1 Electrical performance tests