Dynamic Error Compensation Method for Binocular Ranging of Transmission Lines Integrating IMU Data

This paper proposes a dynamic error compensation method that integrates inertial measurement unit (IMU) data. The initial distance is obtained based on the binocular vision triangulation ranging principle. By analyzing the dynamic error sources such as camera movement, cable vibration and environmental interference, the IMU multi-sensor is integrated to collect the system's motion, attitude and environmental parameters in real time. The IMU data is integrated and processed to calculate the compensation amount of multi-source errors. With the help of the PID controller, the proportional-integral-derivative operation and linear combination of the total compensation amount are carried out to achieve effective compensation of dynamic errors. Experiments show that this method can significantly improve the ranging stability under different working conditions, and the coefficient of variation is always lower than 0.2.