CN111487619A - Method for detecting ground inclination angle of transmission tower by utilizing SAR-X high-resolution bunching mode - Google Patents
Method for detecting ground inclination angle of transmission tower by utilizing SAR-X high-resolution bunching mode Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The application provides a method for detecting the ground inclination angle of a transmission tower by utilizing an SAR-X high-resolution bunching mode. The method comprises the following steps: acquiring a main image intensity map of a power transmission corridor and a power grid tower which take a tower coordinate as a center and have a radius of more than 5 times of a root length of the tower; according to a segmentation threshold value, segmenting a ground corridor part on the main image intensity image; calculating the backscattering coefficient sum of the ground corridor part; extracting the pole tower ground plane part in the main image intensity graph according to the backscattering coefficient sum, and outputting the coordinates of the ground corridor pixel points from the main image intensity graph; converting the coordinates of the pixel points of the ground corridor to the coordinates of the geocentric system; calculating the final coordinates of the ground corridor pixel points according to the coordinates of the ground center system; and calculating the ground inclination angle of the transmission tower according to the final coordinate. The utility model belongs to the technical field of power grid transmission line characteristic quantity monitoring, need not to erect the instrument, use not influenced by topography, have convenient and fast, characteristics that measurement accuracy is high.
Description
Technical Field
The application relates to the technical field of power grid transmission line characteristic quantity monitoring, in particular to a method for detecting a ground inclination angle of a transmission tower by utilizing an SAR-X high-resolution bunching mode.
Background
The ground inclination angle is an important parameter for protecting the overhead line from lightning strike, the shielding effect of the ground on the side phase conductor during the lightning strike is represented, and according to the shielding failure electrical geometric model principle, the corresponding impact distance is increased along with the increase of the lightning current amplitude, and the shielding failure exposed surface is reduced. When the lightning current value reaches the shielding failure critical lightning current, the shielding failure exposure arc surface is zero, at the moment, the lightning guide cannot develop towards the lead, the probability that the lightning current directly hits the lead is very low, and the possibility of hitting the ground is very high. The smaller the ground inclination angle, the better the shielding effect of the ground on the wire when the lightning stroke occurs, and the weaker the ground inclination angle is, the weaker the ground inclination angle is. The ground inclination angle is different according to the landform where the transmission tower is located and the line trend. In the calculation of the overhead line shielding failure critical lightning current, the ground inclination angle is a parameter which must be acquired first, so that the accurate measurement of the ground inclination angle is particularly important.
The development of Synthetic Aperture Radar (SAR), which is an active microblog sensor, provides a new technology for solving the problem, and the SAR acquires scattering information of a target by transmitting and receiving specific electromagnetic waves. The SAR can be free from the limitation of cloud, fog, sleet, night and other conditions, can monitor the target all weather and all day long, and has obvious superiority under the condition of large-scale natural disasters. With the continuous development of the SAR technology, the application of SAR remote sensing is deepened and expanded continuously, the SAR remote sensing system can be used for identifying and classifying targets such as roads, bridges, buildings, vehicles and the like, can also be used for forest vegetation and ice and snow monitoring, topographic survey, urban overall monitoring, disaster early warning and the like, and has great application potential in the fields of civil use, national defense construction and the like.
The total station used in the prior art is a surveying and mapping tool playing a key role in surveying and mapping, is simple to use, and has the characteristics of high speed measurement and high precision. However, in the practical application process, the test accuracy is affected when vibration occurs, and when the instrument is used under strong sunlight, the instrument needs to be put on an umbrella and a sun cover is arranged, and after the instrument is used, a specially-assigned person needs to be arranged for protection.
Disclosure of Invention
In order to solve the problems, the application provides a method for detecting the ground inclination angle of the transmission tower by utilizing an SAR-X high-resolution bunching mode, so as to solve the problems of more use limitation and difficult maintenance of a surveying and mapping instrument in the prior art.
In order to achieve the purpose, the method is realized by the following technical scheme:
randomly selecting a two-dimensional SAR image of a power transmission corridor at a certain time;
obtaining a main image intensity image by interfering the two-dimensional SAR image of the power transmission corridor;
dividing a ground corridor part on the main image intensity image according to a division threshold value;
calculating the backscattering coefficient sum of the ground corridor part;
extracting a pole tower ground plane part in the main image intensity graph according to the backscattering coefficient sum, and outputting a ground corridor pixel point coordinate on the main image intensity graph;
converting the coordinates of the pixel points of the ground corridor to the coordinates of a geocentric system;
calculating the final coordinate of the ground corridor pixel point according to the geocentric system coordinate;
and calculating the ground inclination angle of the position where the tower is located according to the final coordinates of the ground corridor pixel points.
Further, the two-dimensional SAR image of the power transmission corridor takes a pole tower coordinate as a center, and the length of a pole tower root opening which is more than 5 times of the pole tower root opening is taken as a radius.
Further, the step of segmenting the ground corridor part on the main image intensity map according to the segmentation threshold value comprises the following specific steps:
calculating the intensity average value of each point of the main image intensity map;
marking the point with the intensity smaller than the average value in the main image intensity image as a noise point;
all the noise points are removed to obtain calculation points;
and calculating the intensity average value of all the calculation points, and determining the intensity average value as a segmentation threshold value.
Dividing the main image intensity map according to the segmentation threshold;
and determining the part of the main image intensity image with the intensity larger than the segmentation threshold value as a ground corridor part, and determining the part of the main image intensity image with the intensity smaller than or equal to the segmentation threshold value as a background part.
Further, the step of calculating the backscattering coefficient sum of the ground corridor part comprises the following steps:
obtaining structural parameters of the ground corridor part: the center point coordinates and the radius length of the tower, wherein the radius length is 5 times of the tower root opening length at minimum;
determining the backscattering coefficient of all circular circumferences of the ground corridor part with integral multiple of the pole tower root opening length as the radius to the maximum circular circumference according to the structural parameters;
the sum of the backscatter coefficients for all the terrestrial corridor sections is calculated.
Further, the specific step of outputting the coordinates of the ground corridor pixel points on the main image intensity map includes:
marking the pixel points of the ground corridor part as a first color, and outputting a marking point coordinate on the main image intensity graph;
traversing the coordinates of the mark points according to a preset template;
determining points, the matching degree of which is in accordance with a preset matching threshold value, of the preset template as fine extraction points;
marking the fine extraction point as a second color, and outputting the fine extraction point coordinates on the main image intensity map.
Further, the step of converting the coordinates of the pixel points of the ground corridor to the coordinates of the geocentric system further comprises:
and fitting a satellite orbit equation according to the 12 position vectors and the velocity vector of the required satellite in the geocentric coordinate system:
wherein Xsf, Ysf and XZf are satellite position vectors, Vxsf, VYsf and VZsf are satellite velocity vectors, i is the number of rows of pixel points on an image, PRF is pulse repetition frequency, t is time interval, a0、a1、a3、b1、b2、b3、c1、c2、c3A set of fixed unknown parameters that need to be solved for.
Further, the specific step of establishing the functional relationship between the slant range image coordinate and the earth center system coordinate is as follows;
determining a distance equation according to:
F1＝(Xsf-Xgf)2+(Ysf-Ygf)2+(Zsf-Zgf)2-R2
wherein Xgf, Ygf and Zgf are position vectors of ground points in a geocentric coordinate system, and R is a slope distance;
determining the doppler equation according to:
wherein V is the wave velocity of incident wave, lambda is the wavelength of incident wave, fDCIs the Doppler frequency shift;
determining an earth ellipsoid equation according to:
wherein N is the semiaxis of the ellipse of the earth, N (1-e)2) Is the short semi-axis of the earth ellipse, and h is the elevation of the ground point.
Further, according to the distance equation, the Doppler equation and the earth ellipsoid equation, calculating the position of the pixel point of the ground corridor part in the geocentric coordinate system to obtain the following formula:
Δx＝B-1·F(Xk)
wherein, Deltax is the correction amount,
b is F (X)k) The value obtained by deriving Xgf, Ygf, Zgf is the B value according to the following formula:
calculating an absolute value of the correction amount;
if the absolute value of the correction amount is larger than or equal to the preset correction amount threshold, carrying out correction calculation again until the absolute value of the correction amount is smaller than the preset correction amount threshold;
and determining that the corresponding Xk value when the absolute value of the correction amount is smaller than the preset correction amount threshold is the final coordinate of the pixel point of the ground corridor part.
Compared with the prior art, the beneficial effects of this application are:
the method is a method for detecting the ground inclination angle of a transmission tower by utilizing an SAR-X high-resolution bunching mode, and compared with the prior art, 1. the method does not need to erect related instruments on a surveying and mapping site, is not limited by terrain and climate, and saves labor cost; 2. the method has the advantages of high measurement precision, high accuracy and wide test range.
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In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart of a method for detecting a transmission tower ground inclination angle by using an SAR-X high resolution bunching mode.
Detailed Description
Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as exemplifications of systems and methods consistent with certain aspects of the application, as recited in the claims.
Referring to fig. 1, a flowchart of a method for detecting a transmission tower ground inclination angle by using an SAR-X high resolution bunching mode is shown. The technical scheme of the application is as follows:
randomly selecting two power transmission corridor two-dimensional SAR images of a certain time phase with the radius of 1 kilometer and taking the coordinates of a line tower as the center; and obtaining a main image intensity image by interfering the two-dimensional SAR images of the power transmission corridor.
The steps of determining the segmentation threshold are as follows:
calculating the intensity average value of each point of the main image intensity map;
marking the point with the intensity smaller than the average value in the main image intensity image as a noise point;
all the noise points are removed to obtain calculation points;
and calculating the intensity average value of all the calculation points, and determining the intensity average value as a segmentation threshold value.
According to a segmentation threshold value, the specific steps of segmenting the ground corridor part on the main image intensity map comprise:
dividing the main image intensity map according to the segmentation threshold;
and determining the part of the main image intensity image with the intensity larger than the segmentation threshold value as a ground corridor part, and determining the part of the main image intensity image with the intensity smaller than or equal to the segmentation threshold value as a background part.
Calculating the backscattering coefficient sum of the ground corridor part, and the specific steps are as follows:
obtaining structural parameters of the ground corridor part: the center point coordinates and the radius length of the tower, wherein the radius length is 5 times of the tower root opening length at minimum;
determining the backscattering coefficient of all circular circumferences of the ground corridor part with integral multiple of the pole tower root opening length as the radius to the maximum circular circumference according to the structural parameters;
the sum of the backscatter coefficients for all the terrestrial corridor sections is calculated.
According to the backscattering coefficient sum, extracting a pole tower ground plane part in the main image intensity graph, and outputting coordinates of ground corridor pixel points on the main image intensity graph, wherein the method specifically comprises the following steps:
marking the pixel points of the ground corridor part as a first color, and outputting a marking point coordinate on the main image intensity graph;
traversing the coordinates of the mark points according to a preset template;
determining points, the matching degree of which is in accordance with a preset matching threshold value, of the preset template as fine extraction points;
marking the fine extraction point as a second color, and outputting the fine extraction point coordinate, namely the ground corridor pixel point coordinate, on the main image intensity map.
Converting the coordinates to geocentric system coordinates:
and fitting a satellite orbit equation according to the 12 position vectors and the velocity vector of the required satellite in the geocentric coordinate system:
wherein Xsf, Ysf and XZf are satellite position vectors, Vxsf, VYsf and VZsf are satellite velocity vectors, i is the number of rows of pixel points on an image, PRF is pulse repetition frequency, t is time interval, a0、a1、a3、b1、b2、b3、c1、c2、c3A set of fixed unknown parameters that need to be solved for.
The specific steps of establishing the functional relationship between the slant range image coordinates and the coordinates of the earth center system are as follows:
determining a distance equation according to:
F1＝(Xsf-Xgf)2+(Ysf-Ygf)2+(Zsf-Zgf)2-R2
wherein Xgf, Ygf and Zgf are position vectors of ground points in a geocentric coordinate system, and R is a slope distance;
determining the doppler equation according to:
wherein V is the wave velocity of incident wave, lambda is the wavelength of incident wave, fDCIs the Doppler frequency shift;
determining an earth ellipsoid equation according to:
wherein N is the semiaxis of the ellipse of the earth, N (1-e)2) Is the short semi-axis of the earth ellipse, and h is the elevation of the ground point.
Calculating the position of the pixel point of the ground corridor part in the geocentric coordinate system according to the distance equation, the Doppler equation and the earth ellipsoid equation to obtain the following formula:
Δx＝B-1·F(Xk)
wherein, Deltax is the correction amount,
b is F (X)k) The value obtained by deriving Xgf, Ygf, Zgf is the B value according to the following formula:
calculating an absolute value of the correction amount;
if the absolute value of the correction amount is larger than or equal to the preset correction amount threshold, carrying out correction calculation again until the absolute value of the correction amount is smaller than the preset correction amount threshold;
and determining that the corresponding Xk value when the absolute value of the correction amount is smaller than the preset correction amount threshold is the final coordinate of the pixel point of the ground corridor part.
And calculating the ground inclination angle of the position where the tower is located according to the final coordinate.
The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.
Claims (9)
1. The method for detecting the ground inclination angle of the transmission tower by utilizing the SAR-X high-resolution bunching mode is characterized by comprising the following steps of:
randomly selecting a two-dimensional SAR image of a power transmission corridor at a certain time phase;
obtaining a main image intensity image by interfering the two-dimensional SAR image of the power transmission corridor;
dividing a ground corridor part on the main image intensity image according to a division threshold value;
calculating the backscattering coefficient sum of the ground corridor part;
extracting a pole tower ground plane part in the main image intensity graph according to the backscattering coefficient sum, and outputting a ground corridor pixel point coordinate on the main image intensity graph;
converting the coordinates of the pixel points of the ground corridor to the coordinates of a geocentric system;
calculating the final coordinate of the ground corridor pixel point according to the geocentric system coordinate;
and calculating the ground inclination angle of the position where the tower is located according to the final coordinates of the ground corridor pixel points.
2. The method for detecting the ground inclination angle of the transmission tower by utilizing the SAR-X high-resolution bunching mode as claimed in claim 1, wherein the two-dimensional SAR image of the transmission corridor takes the coordinates of the tower as the center and the root length of the tower which is more than 5 times as the radius.
3. The method for detecting the ground inclination angle of the transmission tower by using the SAR-X high-resolution bunching mode as claimed in claim 1, wherein the step of determining the segmentation threshold comprises the steps of:
calculating the intensity average value of each point of the main image intensity map;
marking the point with the intensity smaller than the average value in the main image intensity image as a noise point;
all the noise points are removed to obtain calculation points;
and calculating the intensity average value of all the calculation points, and determining the intensity average value as a segmentation threshold value.
4. The method for detecting the ground inclination angle of the transmission tower by using the SAR-X high resolution bunching mode as claimed in claim 1, wherein the specific step of dividing the ground corridor part on the main image intensity map according to the division threshold value is as follows:
dividing the main image intensity map according to the segmentation threshold;
and determining the part of the main image intensity image with the intensity larger than the segmentation threshold value as a ground corridor part, and determining the part of the main image intensity image with the intensity smaller than or equal to the segmentation threshold value as a background part.
5. The method for detecting the ground inclination angle of the transmission tower by using the SAR-X high resolution bunching mode as claimed in claim 1, wherein the step of calculating the backscattering coefficient sum of the ground corridor part comprises the following steps:
obtaining structural parameters of the ground corridor part: the center point coordinates and the radius length of the tower, wherein the radius length is 5 times of the tower root opening length at minimum;
determining the backscattering coefficient of all circular circumferences of the ground corridor part with integral multiple of the pole tower root opening length as the radius to the maximum circular circumference according to the structural parameters;
the sum of the backscatter coefficients for all the terrestrial corridor sections is calculated.
6. The method for detecting the ground inclination angle of the transmission tower by using the SAR-X high resolution bunching mode as claimed in claim 1, wherein the specific step of outputting the coordinates of the pixel points of the ground corridor on the main image intensity map comprises:
marking the pixel points of the ground corridor part as a first color, and outputting a marking point coordinate on the main image intensity graph;
traversing the coordinates of the mark points according to a preset template;
determining points, the matching degree of which is in accordance with a preset matching threshold value, of the preset template as fine extraction points;
marking the fine extraction point as a second color, and outputting the fine extraction point coordinates on the main image intensity map.
7. The method for detecting the ground inclination angle of the transmission tower by using the SAR-X high resolution bunching mode as claimed in claim 1, wherein the step of converting the coordinates of the pixel points of the ground corridor to the coordinates of the geocentric system further comprises:
and fitting a satellite orbit equation according to the 12 position vectors and the velocity vector of the required satellite in the geocentric coordinate system:
wherein Xsf, Ysf and XZf are satellite position vectors, Vxsf, VYsf and VZsf are satellite velocity vectors, i is the number of rows of pixel points on an image, PRF is pulse repetition frequency, t is time interval, a0、a1、a2、a3、b1、b2、b3、c1、c2、c3A set of fixed unknown parameters that need to be solved for.
8. The method for detecting the ground inclination angle of the transmission tower by utilizing the SAR-X high-resolution bunching mode as claimed in claim 1, wherein the specific step of establishing the functional relationship between the slant range image coordinate and the earth center system coordinate is as follows;
determining a distance equation according to:
F1＝(Xsf-Xgf)2+(Ysf-Ygf)2+(Zsf-Zgf)2-R2
wherein Xgf, Ygf and Zgf are position vectors of ground points in a geocentric coordinate system, and R is a slope distance;
determining the doppler equation according to:
wherein V is the wave velocity of incident wave, lambda is the wavelength of incident wave, fDCIs the Doppler frequency shift;
determining an earth ellipsoid equation according to:
wherein N is the semiaxis of the ellipse of the earth, N (1-e)2) Is the short semi-axis of the earth ellipse, and h is the elevation of the ground point.
9. The method for detecting the ground inclination angle of the transmission tower by using the SAR-X high resolution bunching mode as claimed in claim 1, wherein the position of the pixel point of the ground corridor part in the geocentric coordinate system is calculated according to the distance equation, the Doppler equation and the earth ellipsoid equation, and the following formula is obtained:
Δx＝B-1·F(Xk)
wherein, Deltax is the correction amount,
b is F (X)k) The value obtained by deriving Xgf, Ygf, Zgf is the B value according to the following formula:
calculating an absolute value of the correction amount;
if the absolute value of the correction amount is larger than or equal to the preset correction amount threshold, carrying out correction calculation again until the absolute value of the correction amount is smaller than the preset correction amount threshold;
determining X corresponding to the absolute value of the correction amount smaller than the preset correction amount thresholdkAnd the value is the final coordinate of the pixel point of the ground corridor part.
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| CN109085588A (en) * | 2018-09-26 | 2018-12-25 | 云南电网有限责任公司电力科学研究院 | Based on the inclined monitoring method of Terra SAR-X high-resolution beam bunching mode data power grid iron tower |
| CN109085588B (en) * | 2018-09-26 | 2022-06-07 | 云南电网有限责任公司电力科学研究院 | Method for monitoring power grid iron tower inclination based on Terra SAR-X high-resolution bunching mode data |
| CN112684449A (en) * | 2021-03-22 | 2021-04-20 | 北京东方至远科技股份有限公司 | Water area power line sag inversion method and device based on SAR technology |
| CN112684449B (en) * | 2021-03-22 | 2021-07-16 | 北京东方至远科技股份有限公司 | Water area power line sag inversion method and device based on SAR technology |
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