WO2023201919A1 - Aerial-terrestrial integrated joint orientation method applied to panoramic and transparent user's application for installation of low-voltage line in distribution network - Google Patents

Aerial-terrestrial integrated joint orientation method applied to panoramic and transparent user's application for installation of low-voltage line in distribution network Download PDF

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WO2023201919A1
WO2023201919A1 PCT/CN2022/107176 CN2022107176W WO2023201919A1 WO 2023201919 A1 WO2023201919 A1 WO 2023201919A1 CN 2022107176 W CN2022107176 W CN 2022107176W WO 2023201919 A1 WO2023201919 A1 WO 2023201919A1
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images
positioning
orientation
aerial
ground
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PCT/CN2022/107176
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French (fr)
Chinese (zh)
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黄旭波
虢韬
禹天润
吴寿长
方曦
张宇红
龙燕
李菲
范春红
姚林朋
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贵州电网有限责任公司
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications

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  • the invention relates to the technical field of low-voltage lines in distribution networks, and in particular to an integrated air-ground joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks.
  • Electric power users have put forward higher requirements for improving the power supply reliability, power quality, work efficiency and quality services of the distribution network.
  • the power supply department has made great efforts in the planning and transformation of the power grid, operation and maintenance, power supply marketing and rapid response in case of faults.
  • new demands have been put forward for information technology and information tools.
  • due to the lack of on-site information and visual information on distribution network equipment repeated on-site inspections are required when carrying out various distribution network business work, and the information obtained during on-site inspections cannot be electronically and digitally achieved, resulting in a heavy workload and low efficiency. , which is not conducive to the requirements for refined management of distribution networks.
  • the intelligent newspaper installation system has the ability for users to put forward newspaper packaging requirements.
  • the newspaper packaging location combined with two-dimensional electronic maps, three-dimensional topography and landforms, and based on the rated capacity of the newspaper packaging requirements, designers select accessible access points in nearby station areas and draw line routes. It determines the reasonable transmission radius and completes the functions related to power distribution line selection.
  • the location information of equipment is often collected manually, which is inefficient and inconvenient to manage, affecting the overall intelligence.
  • the purpose of the present invention is to solve the shortcomings in the existing technology and propose an integrated air-ground joint orientation method that is applied to panoramic transparent user installation of low-voltage lines in distribution networks.
  • This air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks includes the following steps:
  • S1 Integrate the chip-level high-precision positioning device on the distribution network equipment to achieve real-time location information acquisition of each equipment. It can automatically add, delete and self-maintain the electrical connection methods of the topology connection diagram based on the location information associated with equipment types and attributes. operation, and at the same time, optimize the precise location description of fixed-point operation information;
  • S2 Import multiple data sources including point clouds, panoramic images, aerial oblique images, and ground close-up images to achieve automatic aerial triangulation, dense matching, component TIN grids, automatic cultural mapping, fully automatic result output, and aerial oblique Images and ground close-up images are multi-angle photos. The photos undergo data transmission, data processing, modeling, storage and release, and are connected to terminal devices through the Internet.
  • S3 Carry out traditional surveying and mapping of the measurement area, obtain control points and correct the image, import the control point data, and mark the control points, thereby comprehensively improving the quality of the near-ground part of the real-life 3D model, and jointly and automatically orienting the air and ground data sources.
  • Users interact with and visualize imagery captured from any angle in a 2D map or 3D scene, including tilts, bubbles, street-side locations, inspections, and 360-degree imagery.
  • Directional imagery can represent different image sources from different optical cameras. , including mobile cameras, drones or ground sensors, viewing these images in a map context amplifies their informational value;
  • the positioning module sends a precise positioning information packet to the positioning base station.
  • the positioning base station receives the precise positioning information packet and performs precise positioning.
  • the precise positioning means that the positioning base station calculates the precise position information based on the received precise positioning information packet.
  • Dual-plane time difference and frequency difference positioning is a system that uses the time difference and frequency difference generated by the radiation source signals propagated to two UAVs for positioning. Since the radiation source is different from the two UAVs, Due to the different distances, the propagation of the radiation source signal to the two UAVs will produce a time difference. Due to the Doppler effect caused by the relative motion of the UAV and the radiation source, a frequency difference will also occur when the signal propagates to the two UAVs. , the positioning equation can be solved simultaneously by using the time difference and frequency difference to realize the positioning of the radiation source target.
  • the time difference between two UAVs receiving radiation source signals can be expressed as:
  • the frequency difference between two UAVs receiving radiation source signals can be expressed as:
  • the chip in step S1 integrates a baseband processor, front-end equipment, storage equipment, communication components, and external components so as to be embedded in equipment and portable safety equipment to achieve reliable positioning in complex power application environments.
  • marking the control point in step S3 includes marking a point with the same name in the open space, selecting an existing marked point, selecting a marked point with the same name, and confirming the marking information.
  • the joint automated orientation in step S3 includes supporting joint orientation of aerial and ground image data collected from multiple data sources and in multiple ways.
  • the joint automated orientation in step S3 includes rapid orientation with POS data input or images without POS data.
  • the joint automated orientation in step S3 also includes supporting the internal parameters of the image EXIF.
  • the internal parameters of the image can also be manually input.
  • step S3 supports multi-engine calculation, and the program organizes and manages the data so that it can be processed by different engines.
  • step S3 supports aerial triangulation and modeling in station mode.
  • the joint automated orientation in step S3 supports a CPU-GPU heterogeneous parallel computing solution, which can use GPU parallel computing to accelerate the computing process, massive data processing, and support data processing at the level of more than 100 billion pixels.
  • the joint automated orientation in step S3 can be used to query orientation results by multiple view functions, including three-dimensional views and image views.
  • the aerial triangulation results are merged into blocks to form the initial fused image orientation results and point clouds, and the connection points between the aerial images and the near-ground images are selected to make the position and attitude relationship of the air-ground images more stable and fixed, and the submission is strict.
  • the registered robust beam method adjustment is used to optimize the fusion aerial triangulation results.
  • the selection of connection points must meet the intersection position or obvious inflection point that is clear and easy to interpret on aerial and close-range images.
  • the distribution should be as uniform as possible to ensure that each connection The point has a certain number of aerial images and near-ground images.
  • the invention supports multiple data sources such as point clouds, panoramic images, aerial oblique images, ground close-range images, etc., and can be used for air-ground integrated multi-source data joint orientation and modeling; the air-ground integrated joint orientation system combines close-range images collected on the ground with aerial image data Carry out aerial three-dimensional joint adjustment and automatic real-scene 3D model reconstruction, thereby comprehensively improving the quality of the near-ground part of the real-scene 3D model, supporting multiple data sources and multi-mode collection of aerial and ground image data for joint orientation; supporting the current mainstream oblique aerial photogrammetry system data and Ground close-up image data processing, with built-in POS data input or rapid orientation of images without POS data; at the same time, it supports the built-in parameters of image EXIF.
  • the air-ground integrated joint orientation system combines close-range images collected on the ground with aerial image data Carry out aerial three-dimensional joint adjustment and automatic real-scene 3D model reconstruction, thereby comprehensively improving the quality of the near-ground part of the real-scene 3D model,
  • the present invention has the characteristics of miniaturization, integration, standardization and low power consumption, and can be easily embedded into equipment or portable safety equipment to achieve reliable positioning in complex power application environments.
  • Figure 1 is a flow chart of an air-ground integrated joint orientation method proposed by the present invention and applied to panoramic transparent user installation of low-voltage lines in distribution networks.
  • Figure 2 is an integrated structural diagram of the chip-level high-precision positioning device used in step S1 of the air-ground integrated joint orientation method for panoramic transparent user installation of low-voltage lines in distribution networks proposed by the present invention.
  • Figure 3 is an organizational flow chart of marking control points in step S3 of the air-ground integrated joint orientation method for panoramic transparent user installation of low-voltage lines in distribution networks proposed by the present invention.
  • Figure 4 is a positioning scene diagram of a space-ground integrated joint orientation method proposed by the present invention that is applied to panoramic transparent user installation of low-voltage lines in distribution networks.
  • Figure 5 is a characteristic diagram of the joint automated orientation in step S3 of the air-ground integrated joint orientation method proposed by the present invention and applied to the panoramic transparent user installation of low-voltage lines in the distribution network.
  • a space-ground integrated joint orientation method for panoramic transparent user installation of low-voltage lines in distribution networks of the present invention includes the following steps:
  • S1 Integrate the chip-level high-precision positioning device on the distribution network equipment to achieve real-time location information acquisition of each equipment. It can automatically add, delete and self-maintain the electrical connection methods of the topology connection diagram based on the location information associated with equipment types and attributes. Operation, at the same time, optimize the electronic management and control of personnel operations in the distribution network system, and accurately describe the location of fixed-point operation information;
  • S2 Import multiple data sources, including point clouds, panoramic images, aerial oblique images, and ground close-up images, to achieve automatic aerial triangulation, dense matching, component TIN grids, automatic cultural mapping, fully automatic result output, and aerial oblique images .
  • Ground close-up images are multi-angle photos. The photos are copied through WIFI or mobile phones, data processed, modeled, stored and released, and connected to terminal devices through the Internet.
  • S3 Carry out traditional surveying and mapping of the measurement area, obtain control points and correct the image, import the control point data, and mark the control points, thereby comprehensively improving the quality of the near-ground part of the real-life 3D model, and jointly and automatically orienting the air and ground data sources.
  • Users interact with and visualize imagery captured from any angle in a 2D map or 3D scene, including tilts, bubbles, street-side locations, inspections, and 360-degree imagery.
  • Directional imagery can represent different image sources from different optical cameras. , including mobile cameras, drones or ground sensors, viewing these images in a map context amplifies their informational value;
  • the positioning module sends a precise positioning information packet to the positioning base station.
  • the positioning base station receives the precise positioning information packet and performs precise positioning.
  • the precise positioning means that the positioning base station calculates the precise position information based on the received precise positioning information packet.
  • Dual-plane time difference and frequency difference positioning is a system that uses the time difference and frequency difference generated by the radiation source signals propagated to two UAVs for positioning. Since the radiation source is different from the two UAVs, Due to the different distances, the propagation of the radiation source signal to the two UAVs will produce a time difference. Due to the Doppler effect caused by the relative motion of the UAV and the radiation source, a frequency difference will also occur when the signal propagates to the two UAVs. , the positioning equation can be solved simultaneously by using the time difference and frequency difference to realize the positioning of the radiation source target.
  • the time difference between two UAVs receiving radiation source signals can be expressed as:
  • the frequency difference between two UAVs receiving radiation source signals can be expressed as:
  • the chip in step S1 integrates a baseband processor, front-end equipment, storage device, communication components and external components so as to be embedded into equipment and portable safety tools to achieve reliable positioning in complex power application environments.
  • Marking control points in step S3 includes marking points with the same name in open space, selecting existing marker points, selecting marker points with the same name, and confirming marker information;
  • joint automated orientation includes supporting multiple data sources and multiple methods of collecting aerial and ground image data for joint orientation, and also includes automatic Quick orientation of images with POS data input or without POS data, and support for image EXIF's built-in parameters. In the case of missing EXIF information, you can also manually enter image parameters, support multi-engine calculation, and the program organizes and manages the data. Can be processed by different engines.
  • Joint automated orientation can be used to query orientation results with multiple view functions, including 3D view and image view.
  • the joint automated orientation in step S3 also supports aerial triangulation and modeling according to the camera station mode. Specifically, it refers to merging the aerial triangulation results into blocks to form an initial fused image orientation result and point cloud.
  • aerial images and near-ground images Carry out connection point selection to make the position and attitude relationship of the air-ground image more stable and fixed, submit a robust beam method adjustment solution with strict registration, and optimize the fusion aerial triangulation results.
  • the connection point selection must be clear on both aerial and close-range images. , the easy-to-interpret intersection position or obvious inflection point should be distributed as evenly as possible to ensure that each connection point has a certain number of aerial images and near-ground images.
  • control points are added for absolute orientation. Calculate the precise outer orientation elements of all images to obtain the final aerial triangulation results in the geographical coordinate system after fusion.
  • the joint automated orientation in step S3 supports CPU-GPU heterogeneous parallel computing solutions, which can use GPU parallel computing to accelerate the computing process, massive data processing, and support data processing at the level of more than 100 billion pixels.
  • the invention supports multiple data sources such as point clouds, panoramic images, aerial oblique images, ground close-range images, etc., and can be used for air-ground integrated multi-source data joint orientation and modeling; the air-ground integrated joint orientation system combines close-range images collected on the ground with aerial image data Carry out aerial three-dimensional joint adjustment and automatic real-scene 3D model reconstruction, thereby comprehensively improving the quality of the near-ground part of the real-scene 3D model, supporting multiple data sources and multi-mode collection of aerial and ground image data for joint orientation; supporting the current mainstream oblique aerial photogrammetry system data and Ground close-up image data processing, with built-in POS data input or rapid orientation of images without POS data; at the same time, it supports the built-in parameters of image EXIF.
  • the air-ground integrated joint orientation system combines close-range images collected on the ground with aerial image data Carry out aerial three-dimensional joint adjustment and automatic real-scene 3D model reconstruction, thereby comprehensively improving the quality of the near-ground part of the real-scene 3D model,
  • the present invention has the characteristics of miniaturization, integration, standardization and low power consumption, and can be easily embedded into equipment or portable safety equipment to achieve reliable positioning in complex power application environments.

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Abstract

An aerial-terrestrial integrated orientation method applied to panoramic and transparent user's application for installation of a low-voltage line in a distribution network. A chip-level high-precision positioning device is integrated in power distribution network equipment, and electronic control of operations of the power distribution network and accurate position description of fixed-point operation information are optimized; multiple data sources including point clouds, panoramic images, aerial oblique images, and terrestrial close-range images are further imported; conventional surveying and mapping are performed on a measurement area, control points are obtained and images are corrected, and the control points are imported and marked; further, a positioning module sends a precise positioning information packet to a positioning base station, and the positioning base station performs precise positioning after receiving the precise positioning information packet; further, dual-UAV time difference and frequency difference positioning is used, and a positioning equation is solved simultaneously by using the time difference and frequency difference generated by a radiation source signal transmitted to the two UAVs, to implement positioning of a radiation source target.

Description

一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution network 技术领域Technical field
本发明涉及配网低压线路技术领域，尤其涉及一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法。The invention relates to the technical field of low-voltage lines in distribution networks, and in particular to an integrated air-ground joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks.
背景技术Background technique
电力用户对提高配电网的供电可靠性、电能质量、工作效率和优质服务方面都提出了更高的要求，供电部门在电网的规划改造、运行维护、供电营销以及故障情况下的快速反应等方面，都对信息技术和信息工具提出了新的需求。现阶段，由于缺乏配网设备现场信息、可视化信息，在开展各项配网业务工作时，都需要反复现场勘查，且现场勘查掌握的信息无法实现电子化、数字化成果，工作量大、效率低，不利于配网精细化管理要求。Electric power users have put forward higher requirements for improving the power supply reliability, power quality, work efficiency and quality services of the distribution network. The power supply department has made great efforts in the planning and transformation of the power grid, operation and maintenance, power supply marketing and rapid response in case of faults. In all aspects, new demands have been put forward for information technology and information tools. At this stage, due to the lack of on-site information and visual information on distribution network equipment, repeated on-site inspections are required when carrying out various distribution network business work, and the information obtained during on-site inspections cannot be electronically and digitally achieved, resulting in a heavy workload and low efficiency. , which is not conducive to the requirements for refined management of distribution networks.
智能报装系统具备用户提出报装需求，根据报装位置，结合二维电子地图、三维地形地貌，根据报装需求的额定容量，设计人员选择附近台区的可接入点，绘制线路路径，确定合理输电半径，完成配电选线相关工作的功能，目前在实际的操作中对设备的位置信息等常常是人工采集，效率低，且不便于管理，影响了整体的智能化。The intelligent newspaper installation system has the ability for users to put forward newspaper packaging requirements. According to the newspaper packaging location, combined with two-dimensional electronic maps, three-dimensional topography and landforms, and based on the rated capacity of the newspaper packaging requirements, designers select accessible access points in nearby station areas and draw line routes. It determines the reasonable transmission radius and completes the functions related to power distribution line selection. Currently, in actual operations, the location information of equipment is often collected manually, which is inefficient and inconvenient to manage, affecting the overall intelligence.
发明内容Contents of the invention
本发明的目的是为了解决现有技术中存在的缺点，而提出的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法。The purpose of the present invention is to solve the shortcomings in the existing technology and propose an integrated air-ground joint orientation method that is applied to panoramic transparent user installation of low-voltage lines in distribution networks.
为了实现上述目的，本发明采用了如下技术方案：In order to achieve the above objects, the present invention adopts the following technical solutions:
该种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，包括以下步骤：This air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks includes the following steps:
S1：将芯片级高精度定位装置集成在配电网设备上，实现各设备的实时位置信息获取，可根据定位信息关联设备类型和属性，自动对拓扑连接图电气连接方式进行增加、删除自维护操作，同时，优化定点作业信息精确位置化描述；S1: Integrate the chip-level high-precision positioning device on the distribution network equipment to achieve real-time location information acquisition of each equipment. It can automatically add, delete and self-maintain the electrical connection methods of the topology connection diagram based on the location information associated with equipment types and attributes. operation, and at the same time, optimize the precise location description of fixed-point operation information;
S2：将包括点云、全景影像、航空倾斜影像、地面近景影像在内的多数据源导入，实现自动空中三角测量、密集匹配、构件TIN网格、自动文理映射、全自动成果输出，航空倾斜影像、地面近景影像为多角度照片，照片经过数据传输、数据处理、建模、入库发布、通过 互联网与终端设备连接。S2: Import multiple data sources including point clouds, panoramic images, aerial oblique images, and ground close-up images to achieve automatic aerial triangulation, dense matching, component TIN grids, automatic cultural mapping, fully automatic result output, and aerial oblique Images and ground close-up images are multi-angle photos. The photos undergo data transmission, data processing, modeling, storage and release, and are connected to terminal devices through the Internet.
S3：对测量区域进行传统测绘，得到控制点并对影像进行校正，将控制点数据导入，并标记控制点，从而全面提升实景三维模型近地面部分质量，对空地数据源进行联合自动化定向,最终用户在2D地图或3D场景中与从任意角度拍摄的影像进行交互并对其进行可视化，包括倾斜、气泡、街道侧位置、检查和360度影像,定向影像可以代表来自不同光学相机的不同影像来源，包括移动相机、无人机或地面传感器,在地图上下文中查看这些影像会放大它们的信息价值；S3: Carry out traditional surveying and mapping of the measurement area, obtain control points and correct the image, import the control point data, and mark the control points, thereby comprehensively improving the quality of the near-ground part of the real-life 3D model, and jointly and automatically orienting the air and ground data sources. Finally, Users interact with and visualize imagery captured from any angle in a 2D map or 3D scene, including tilts, bubbles, street-side locations, inspections, and 360-degree imagery. Directional imagery can represent different image sources from different optical cameras. , including mobile cameras, drones or ground sensors, viewing these images in a map context amplifies their informational value;
S4：定位模块向定位基站发送精确定位信息包，定位基站接收精确定位信息包后进行精确定位，且精确定位是指定位基站根据接收的精确定位信息包计算出精确位置信息。S4: The positioning module sends a precise positioning information packet to the positioning base station. The positioning base station receives the precise positioning information packet and performs precise positioning. The precise positioning means that the positioning base station calculates the precise position information based on the received precise positioning information packet.
S5：采用双机时差频差定位，双机时差频率差定位是通过使用传播到两个无人机的辐射源信号产生的时间差和频率差进行定位的系统，由于辐射源与两个无人机的距离不同，辐射源信号向两个无人机的传播将产生时间差，由于无人机和辐射源的相对运动引起的多普勒效应，当信号传播到两个无人机时也产生频率差，利用时差和频差可以对定位方程进行联立求解，实现对辐射源目标的定位。S5: Dual-plane time difference and frequency difference positioning is used. Dual-plane time difference and frequency difference positioning is a system that uses the time difference and frequency difference generated by the radiation source signals propagated to two UAVs for positioning. Since the radiation source is different from the two UAVs, Due to the different distances, the propagation of the radiation source signal to the two UAVs will produce a time difference. Due to the Doppler effect caused by the relative motion of the UAV and the radiation source, a frequency difference will also occur when the signal propagates to the two UAVs. , the positioning equation can be solved simultaneously by using the time difference and frequency difference to realize the positioning of the radiation source target.
两个无人机接收辐射源信号的时差可以表示为：The time difference between two UAVs receiving radiation source signals can be expressed as:
Δt＝(r 2-r 1)/c，
Figure PCTCN2022107176-appb-000001
Δt=(r 2 -r 1 )/c,
Figure PCTCN2022107176-appb-000001
两个无人机接受辐射源信号的频差可以表示为：The frequency difference between two UAVs receiving radiation source signals can be expressed as:
Δf d＝f d1-f d2，
Figure PCTCN2022107176-appb-000002
Δf d =f d1 -f d2 ,
Figure PCTCN2022107176-appb-000002
进一步，所述步骤S1中的芯片集成了基带处理器、前端设备、存储设备、通讯元件、外部元件，以便嵌入到设备与便携式安全工器具中，实现在复杂的电力应用环境中的可靠定位。Further, the chip in step S1 integrates a baseband processor, front-end equipment, storage equipment, communication components, and external components so as to be embedded in equipment and portable safety equipment to achieve reliable positioning in complex power application environments.
进一步，所述步骤S3中标记控制点包括标记空地同名点、选择已有标记点、选择同名标记点、确认标记信息。Further, marking the control point in step S3 includes marking a point with the same name in the open space, selecting an existing marked point, selecting a marked point with the same name, and confirming the marking information.
进一步，所述步骤S3中的联合自动化定向包括支持多数据源、多方式采集航空加地面影像数据联合定向。Furthermore, the joint automated orientation in step S3 includes supporting joint orientation of aerial and ground image data collected from multiple data sources and in multiple ways.
进一步，所述步骤S3中的联合自动化定向包括自带POS数据输入或无POS数据影像的快速定向。Furthermore, the joint automated orientation in step S3 includes rapid orientation with POS data input or images without POS data.
进一步，所述步骤S3中的联合自动化定向还包括支持影像EXIF自带内参数，在EXIF信息缺失的情况下，也可以手动输入影像内参数。Furthermore, the joint automated orientation in step S3 also includes supporting the internal parameters of the image EXIF. In the case of missing EXIF information, the internal parameters of the image can also be manually input.
进一步，所述步骤S3中的联合自动化定向支持多引擎计算，程序对数据进行组织管理， 可供不同引擎进行处理。Furthermore, the joint automated orientation in step S3 supports multi-engine calculation, and the program organizes and manages the data so that it can be processed by different engines.
进一步，所述步骤S3中的联合自动化定向支持按摄站模式进行空三与建模。Furthermore, the joint automated orientation in step S3 supports aerial triangulation and modeling in station mode.
进一步，所述步骤S3中的联合自动化定向支持CPU-GPU异构并行计算方案，可采用GPU并行计算，加速计算过程，海量数据处理，支持千亿以上像素级别的数据处理。Furthermore, the joint automated orientation in step S3 supports a CPU-GPU heterogeneous parallel computing solution, which can use GPU parallel computing to accelerate the computing process, massive data processing, and support data processing at the level of more than 100 billion pixels.
进一步，所述步骤S3中的联合自动化定向可供多种视图功能查询定向结果，包括三维视图、影像视图。Furthermore, the joint automated orientation in step S3 can be used to query orientation results by multiple view functions, including three-dimensional views and image views.
进一步，将所述空三结果进行区块合并,形成初始融合的影像定向结果和点云，在航空影像和近地面影像进行连接点选刺,使空地影像的位置姿态关系更加稳健固定，提交严格配准的稳健光束法平差解算,进行融合空三结果优化，连接点选取需满足在航空和近景影像上均清晰、易于判读的交线位置或明显拐点,分布尽量均匀,保证每个连接点具有一定数量的航空影像与近地面影像选刺，空地影像融合空三解算完成后,添加控制点进行绝对定向,计算所有影像的精确外方位元素,得到最终融合后的地理坐标系下的空三结果。Furthermore, the aerial triangulation results are merged into blocks to form the initial fused image orientation results and point clouds, and the connection points between the aerial images and the near-ground images are selected to make the position and attitude relationship of the air-ground images more stable and fixed, and the submission is strict. The registered robust beam method adjustment is used to optimize the fusion aerial triangulation results. The selection of connection points must meet the intersection position or obvious inflection point that is clear and easy to interpret on aerial and close-range images. The distribution should be as uniform as possible to ensure that each connection The point has a certain number of aerial images and near-ground images. After the air-ground image fusion and aerial three-dimensional solution are completed, control points are added for absolute orientation, and the precise external orientation elements of all images are calculated to obtain the final fused geographical coordinate system. Empty triple result.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
本发明支持点云、全景影像、航空倾斜影像、地面近景影像等多数据源，可用于空地一体多源数据联合定向及建模；空地一体化联合定向系统将地面采集的近景影像与航空影像数据进行空三联合平差及自动化实景三维模型重建，从而全面提升实景三维模型近地面部分质量，支持多数据源、多方式采集航空加地面影像数据联合定向；支持目前主流倾斜航空摄影测量系统数据及地面近景影像数据处理，自带POS数据输入或无POS数据影像的快速定向；同时支持影像EXIF自带内参数，在EXIF信息缺失的情况下，也可以手动输入影像内参数；支持多引擎计算，程序对数据进行组织管理，可供不同引擎进行处理；支持按摄站模式进行空三与建模；支持CPU-GPU异构并行计算方案。可采用GPU并行计算，加速计算过程；海量数据处理，支持千亿以上像素级别的数据处理；提供多种视图功能查询定向结果，包括三维视图、影像视图。The invention supports multiple data sources such as point clouds, panoramic images, aerial oblique images, ground close-range images, etc., and can be used for air-ground integrated multi-source data joint orientation and modeling; the air-ground integrated joint orientation system combines close-range images collected on the ground with aerial image data Carry out aerial three-dimensional joint adjustment and automatic real-scene 3D model reconstruction, thereby comprehensively improving the quality of the near-ground part of the real-scene 3D model, supporting multiple data sources and multi-mode collection of aerial and ground image data for joint orientation; supporting the current mainstream oblique aerial photogrammetry system data and Ground close-up image data processing, with built-in POS data input or rapid orientation of images without POS data; at the same time, it supports the built-in parameters of image EXIF. In the case of missing EXIF information, you can also manually enter the internal parameters of the image; supports multi-engine calculation, The program organizes and manages data for processing by different engines; supports aerial triangulation and modeling in camera station mode; and supports CPU-GPU heterogeneous parallel computing solutions. GPU parallel computing can be used to accelerate the calculation process; massive data processing supports data processing at the level of more than 100 billion pixels; multiple view functions are provided to query orientation results, including three-dimensional views and image views.
综上，本发明具有微型化、集成化、标准化、功耗低的特点，便于嵌入到设备或便携式安全工器具中，实现在复杂的电力应用环境中的可靠定位。In summary, the present invention has the characteristics of miniaturization, integration, standardization and low power consumption, and can be easily embedded into equipment or portable safety equipment to achieve reliable positioning in complex power application environments.
本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述，并且在某种程度上，基于对下文的考察研究对本领域技术人员而言将是显而易见的，或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书和前述的权利要求书来实现和获得。Other advantages, objects, and features of the present invention will, to the extent that they are set forth in the description that follows, and to the extent that they will become apparent to those skilled in the art upon examination of the following, or may be derived from This invention is taught by practicing it. The objectives and other advantages of the invention may be realized and attained by the following description and the preceding claims.
附图说明Description of drawings
为了使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明作进一步的详细描述，其中：In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings, in which:
图1为本发明提出的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法的流程图。Figure 1 is a flow chart of an air-ground integrated joint orientation method proposed by the present invention and applied to panoramic transparent user installation of low-voltage lines in distribution networks.
图2为本发明提出的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法所述步骤S1中所采用的芯片级高精度定位装置的集成结构图Figure 2 is an integrated structural diagram of the chip-level high-precision positioning device used in step S1 of the air-ground integrated joint orientation method for panoramic transparent user installation of low-voltage lines in distribution networks proposed by the present invention.
图3为本发明提出的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法所述步骤S3中标记控制点的组织流程图Figure 3 is an organizational flow chart of marking control points in step S3 of the air-ground integrated joint orientation method for panoramic transparent user installation of low-voltage lines in distribution networks proposed by the present invention.
图4为本发明提出的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法的定位场景图。Figure 4 is a positioning scene diagram of a space-ground integrated joint orientation method proposed by the present invention that is applied to panoramic transparent user installation of low-voltage lines in distribution networks.
图5为本发明提出的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法所述步骤S3中的联合自动化定向的特征图Figure 5 is a characteristic diagram of the joint automated orientation in step S3 of the air-ground integrated joint orientation method proposed by the present invention and applied to the panoramic transparent user installation of low-voltage lines in the distribution network.
具体实施方式Detailed ways
以下将参照附图，对本发明的优选实施例进行详细的描述。应当理解，优选实施例仅为了说明本发明，而不是为了限制本发明的保护范围。Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments.
如图1所示，本发明的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，包括以下步骤：As shown in Figure 1, a space-ground integrated joint orientation method for panoramic transparent user installation of low-voltage lines in distribution networks of the present invention includes the following steps:
S1：将芯片级高精度定位装置集成在配电网设备上，实现各设备的实时位置信息获取，可根据定位信息关联设备类型、属性，自动对拓扑连接图电气连接方式进行增加、删除自维护操作，同时，优化配电网系统的人员作业电子化管控，定点作业信息精确位置化描述；S1: Integrate the chip-level high-precision positioning device on the distribution network equipment to achieve real-time location information acquisition of each equipment. It can automatically add, delete and self-maintain the electrical connection methods of the topology connection diagram based on the location information associated with equipment types and attributes. Operation, at the same time, optimize the electronic management and control of personnel operations in the distribution network system, and accurately describe the location of fixed-point operation information;
S2：将点云、全景影像、航空倾斜影像、地面近景影像在内的多数据源导入，实现自动空中三角测量、密集匹配、构件TIN网格、自动文理映射、全自动成果输出，航空倾斜影像、地面近景影像为多角度照片，照片经过WIFI或手机拷贝、数据处理、建模、入库发布、通过互联网与终端设备连接。S2: Import multiple data sources, including point clouds, panoramic images, aerial oblique images, and ground close-up images, to achieve automatic aerial triangulation, dense matching, component TIN grids, automatic cultural mapping, fully automatic result output, and aerial oblique images , Ground close-up images are multi-angle photos. The photos are copied through WIFI or mobile phones, data processed, modeled, stored and released, and connected to terminal devices through the Internet.
S3：对测量区域进行传统测绘，得到控制点并对影像进行校正，将控制点数据导入，并标记控制点，从而全面提升实景三维模型近地面部分质量，对空地数据源进行联合自动化定向,最终用户在2D地图或3D场景中与从任意角度拍摄的影像进行交互并对其进 行可视化，包括倾斜、气泡、街道侧位置、检查和360度影像,定向影像可以代表来自不同光学相机的不同影像来源，包括移动相机、无人机或地面传感器,在地图上下文中查看这些影像会放大它们的信息价值；S3: Carry out traditional surveying and mapping of the measurement area, obtain control points and correct the image, import the control point data, and mark the control points, thereby comprehensively improving the quality of the near-ground part of the real-life 3D model, and jointly and automatically orienting the air and ground data sources. Finally, Users interact with and visualize imagery captured from any angle in a 2D map or 3D scene, including tilts, bubbles, street-side locations, inspections, and 360-degree imagery. Directional imagery can represent different image sources from different optical cameras. , including mobile cameras, drones or ground sensors, viewing these images in a map context amplifies their informational value;
S4：定位模块向定位基站发送精确定位信息包，定位基站接收精确定位信息包后进行精确定位，且精确定位是指定位基站根据接收的精确定位信息包计算出精确位置信息。S4: The positioning module sends a precise positioning information packet to the positioning base station. The positioning base station receives the precise positioning information packet and performs precise positioning. The precise positioning means that the positioning base station calculates the precise position information based on the received precise positioning information packet.
S5：采用双机时差频差定位，双机时差频率差定位是通过使用传播到两个无人机的辐射源信号产生的时间差和频率差进行定位的系统，由于辐射源与两个无人机的距离不同，辐射源信号向两个无人机的传播将产生时间差，由于无人机和辐射源的相对运动引起的多普勒效应，当信号传播到两个无人机时也产生频率差，利用时差和频差可以对定位方程进行联立求解，实现对辐射源目标的定位。S5: Dual-plane time difference and frequency difference positioning is used. Dual-plane time difference and frequency difference positioning is a system that uses the time difference and frequency difference generated by the radiation source signals propagated to two UAVs for positioning. Since the radiation source is different from the two UAVs, Due to the different distances, the propagation of the radiation source signal to the two UAVs will produce a time difference. Due to the Doppler effect caused by the relative motion of the UAV and the radiation source, a frequency difference will also occur when the signal propagates to the two UAVs. , the positioning equation can be solved simultaneously by using the time difference and frequency difference to realize the positioning of the radiation source target.
两个无人机接收辐射源信号的时差可以表示为：The time difference between two UAVs receiving radiation source signals can be expressed as:
Δt＝(r 2-r 1)/c，
Figure PCTCN2022107176-appb-000003
Δt=(r 2 -r 1 )/c,
Figure PCTCN2022107176-appb-000003
两个无人机接受辐射源信号的频差可以表示为：The frequency difference between two UAVs receiving radiation source signals can be expressed as:
Δf d＝f d1-f d2，
Figure PCTCN2022107176-appb-000004
Δf d =f d1 -f d2 ,
Figure PCTCN2022107176-appb-000004
步骤S1中的芯片集成了基带处理器、前端设备、存储设备、通讯元件和外部元件，以便嵌入到设备与便携式安全工器具中，实现在复杂的电力应用环境中的可靠定位。The chip in step S1 integrates a baseband processor, front-end equipment, storage device, communication components and external components so as to be embedded into equipment and portable safety tools to achieve reliable positioning in complex power application environments.
步骤S3中标记控制点包括标记空地同名点、选择已有标记点、选择同名标记点、确认标记信息；联合自动化定向包括支持多数据源、多方式采集航空加地面影像数据联合定向，还包括自带POS数据输入或无POS数据影像的快速定向，以及支持影像EXIF自带内参数，在EXIF信息缺失的情况下，也可以手动输入影像内参数，支持多引擎计算，程序对数据进行组织管理，可供不同引擎进行处理。联合自动化定向可供多种视图功能查询定向结果，包括三维视图、影像视图。Marking control points in step S3 includes marking points with the same name in open space, selecting existing marker points, selecting marker points with the same name, and confirming marker information; joint automated orientation includes supporting multiple data sources and multiple methods of collecting aerial and ground image data for joint orientation, and also includes automatic Quick orientation of images with POS data input or without POS data, and support for image EXIF's built-in parameters. In the case of missing EXIF information, you can also manually enter image parameters, support multi-engine calculation, and the program organizes and manages the data. Can be processed by different engines. Joint automated orientation can be used to query orientation results with multiple view functions, including 3D view and image view.
步骤S3中的联合自动化定向还支持按摄站模式进行空三与建模，具体是指将空三结果进行区块合并,形成初始融合的影像定向结果和点云，在航空影像和近地面影像进行连接点选刺,使空地影像的位置姿态关系更加稳健固定，提交严格配准的稳健光束法平差解算,进行融合空三结果优化，连接点选取需满足在航空和近景影像上均清晰、易于判读的交线位置或明显拐点,分布尽量均匀,保证每个连接点具有一定数量的航空影像与近地面影像选刺，空地影像融合空三解算完成后,添加控制点进行绝对定向,计算所有影像的精确外方位元素,得到最终融合后的地理坐标系下的空三结果。The joint automated orientation in step S3 also supports aerial triangulation and modeling according to the camera station mode. Specifically, it refers to merging the aerial triangulation results into blocks to form an initial fused image orientation result and point cloud. In aerial images and near-ground images, Carry out connection point selection to make the position and attitude relationship of the air-ground image more stable and fixed, submit a robust beam method adjustment solution with strict registration, and optimize the fusion aerial triangulation results. The connection point selection must be clear on both aerial and close-range images. , the easy-to-interpret intersection position or obvious inflection point should be distributed as evenly as possible to ensure that each connection point has a certain number of aerial images and near-ground images. After the air-ground image fusion and aerial three-dimensional solution are completed, control points are added for absolute orientation. Calculate the precise outer orientation elements of all images to obtain the final aerial triangulation results in the geographical coordinate system after fusion.
作为进一步的设计，步骤S3中的联合自动化定向支持CPU-GPU异构并行计算方案，可采用GPU并行计算，加速计算过程，海量数据处理，支持千亿以上像素级别的数据处理。As a further design, the joint automated orientation in step S3 supports CPU-GPU heterogeneous parallel computing solutions, which can use GPU parallel computing to accelerate the computing process, massive data processing, and support data processing at the level of more than 100 billion pixels.
本发明支持点云、全景影像、航空倾斜影像、地面近景影像等多数据源，可用于空地一体多源数据联合定向及建模；空地一体化联合定向系统将地面采集的近景影像与航空影像数据进行空三联合平差及自动化实景三维模型重建，从而全面提升实景三维模型近地面部分质量，支持多数据源、多方式采集航空加地面影像数据联合定向；支持目前主流倾斜航空摄影测量系统数据及地面近景影像数据处理，自带POS数据输入或无POS数据影像的快速定向；同时支持影像EXIF自带内参数，在EXIF信息缺失的情况下，也可以手动输入影像内参数；支持多引擎计算，程序对数据进行组织管理，可供不同引擎进行处理；支持按摄站模式进行空三与建模；支持CPU-GPU异构并行计算方案。可采用GPU并行计算，加速计算过程；海量数据处理，支持千亿以上像素级别的数据处理；提供多种视图功能查询定向结果，包括三维视图、影像视图。The invention supports multiple data sources such as point clouds, panoramic images, aerial oblique images, ground close-range images, etc., and can be used for air-ground integrated multi-source data joint orientation and modeling; the air-ground integrated joint orientation system combines close-range images collected on the ground with aerial image data Carry out aerial three-dimensional joint adjustment and automatic real-scene 3D model reconstruction, thereby comprehensively improving the quality of the near-ground part of the real-scene 3D model, supporting multiple data sources and multi-mode collection of aerial and ground image data for joint orientation; supporting the current mainstream oblique aerial photogrammetry system data and Ground close-up image data processing, with built-in POS data input or rapid orientation of images without POS data; at the same time, it supports the built-in parameters of image EXIF. In the case of missing EXIF information, you can also manually enter the internal parameters of the image; supports multi-engine calculation, The program organizes and manages data for processing by different engines; supports aerial triangulation and modeling in camera station mode; and supports CPU-GPU heterogeneous parallel computing solutions. GPU parallel computing can be used to accelerate the calculation process; massive data processing supports data processing at the level of more than 100 billion pixels; multiple view functions are provided to query orientation results, including three-dimensional views and image views.
综上，本发明具有微型化、集成化、标准化、功耗低的特点，便于嵌入到设备或便携式安全工器具中，实现在复杂的电力应用环境中的可靠定位。In summary, the present invention has the characteristics of miniaturization, integration, standardization and low power consumption, and can be easily embedded into equipment or portable safety equipment to achieve reliable positioning in complex power application environments.
最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified. Modifications or equivalent substitutions without departing from the purpose and scope of the technical solution shall be included in the scope of the claims of the present invention.

Claims (10)

  1. 一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，包括以下步骤：An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks, which is characterized by including the following steps:
    S1：将芯片级高精度定位装置集成在配电网设备上，实现各设备的实时位置信息获取，可根据定位信息关联设备类型和属性，自动对拓扑连接图电气连接方式进行增加和删除自维护操作，同时优化定点作业信息精确位置化描述；S1: Integrate chip-level high-precision positioning devices on distribution network equipment to achieve real-time location information acquisition of each device. It can automatically add and delete electrical connection methods in the topology connection diagram based on the positioning information associated with equipment types and attributes. Self-maintenance operation, while optimizing the precise location description of fixed-point operation information;
    S2：将包括但不限于点云、全景影像、航空倾斜影像、地面近景影像在内的多数据源导入，实现自动空中三角测量、密集匹配、构件TIN网格、自动文理映射、全自动成果输出，航空倾斜影像、地面近景影像为多角度照片，照片经过数据传输、数据处理、建模、入库发布，通过互联网与终端设备连接；S2: Import multiple data sources including but not limited to point clouds, panoramic images, aerial oblique images, and ground close-up images to achieve automatic aerial triangulation, dense matching, component TIN grids, automatic texture mapping, and fully automatic result output. , Aerial oblique images and ground close-up images are multi-angle photos. The photos undergo data transmission, data processing, modeling, storage and release, and are connected to terminal devices through the Internet;
    S3：对测量区域进行传统测绘，得到控制点并对影像进行校正，将控制点数据导入，并标记控制点，对空地数据源进行联合自动化定向,在2D地图或3D场景中与从任意角度拍摄的影像进行交互并对其进行可视化，包括倾斜、气泡、街道侧位置、检查和360度影像,定向影像可以代表来自不同光学相机的不同影像来源；S3: Conduct traditional surveying and mapping of the measurement area, obtain control points and correct the image, import the control point data, and mark the control points, conduct joint automated orientation of the air and ground data sources, and shoot from any angle in a 2D map or 3D scene Interact with and visualize images, including tilts, bubbles, street-side positions, inspections and 360-degree images. Oriented images can represent different image sources from different optical cameras;
    S4：定位模块向定位基站发送精确定位信息包，定位基站接收精确定位信息包后进行精确定位，且精确定位是指定位基站根据接收的精确定位信息包计算出精确位置信息；S4: The positioning module sends a precise positioning information packet to the positioning base station, and the positioning base station performs precise positioning after receiving the precise positioning information packet, and precise positioning means that the positioning base station calculates the precise position information based on the received precise positioning information packet;
    S5：采用双机时差频差定位，利用时差和频差对定位方程进行联立求解，实现对辐射源目标的定位。S5: Using dual-machine time difference and frequency difference positioning, the time difference and frequency difference are used to solve the positioning equation simultaneously to achieve the positioning of the radiation source target.
  2. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，所述步骤S1中的芯片集成了基带处理器、前端设备、存储设备、通讯元件和外部元件，便于嵌入到设备与便携式安全工器具中，实现在复杂的电力应用环境中的可靠定位。An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks according to claim 1, characterized in that the chip in step S1 integrates a baseband processor, front-end equipment, storage equipment, Communication components and external components are easy to embed into equipment and portable safety tools to achieve reliable positioning in complex power application environments.
  3. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，所述步骤S3中标记控制点包括标记空地同名点、选择已有标记点、选择同名标记点、确认标记信息。A space-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution network according to claim 1, characterized in that, in step S3, marking control points includes marking points with the same names in the space and selecting existing marked points. , select the marker point with the same name and confirm the marker information.
  4. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，所述步骤S3中的联合自动化定向包括支持多数据源、多方式采集航空加地面影像数据联合定向。An air-ground integrated joint orientation method for panoramic transparent user installation of low-voltage lines in distribution networks according to claim 1, characterized in that the joint automated orientation in step S3 includes supporting multiple data sources and multi-mode aviation collection Combined orientation with ground image data.
  5. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定 向方法，其特征在于，所述步骤S3中的联合自动化定向包括自带POS数据输入或无POS数据影像的快速定向。An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks according to claim 1, characterized in that the joint automated orientation in step S3 includes self-contained POS data input or no POS data Rapid orientation of images.
  6. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，所述步骤S3中的联合自动化定向还包括支持影像EXIF自带内参数，在EXIF信息缺失的情况下，也可以手动输入影像内参数。An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in the distribution network according to claim 1, characterized in that the joint automated orientation in step S3 also includes supporting internal parameters of the image EXIF, In the case of missing EXIF information, you can also manually enter the parameters within the image.
  7. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，所述步骤S3中的联合自动化定向支持多引擎计算，程序对数据进行组织管理，可供不同引擎进行处理。An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution network according to claim 1, characterized in that the joint automated orientation in step S3 supports multi-engine calculation, and the program organizes the data Management, available for processing by different engines.
  8. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，所述步骤S3中的联合自动化定向支持按摄站模式进行空三与建模。An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution network according to claim 1, characterized in that the joint automated orientation in step S3 supports aerial three-dimensional and construction according to the camera station mode. mold.
  9. 根据权利要求1所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，所述步骤S3中的联合自动化定向可供多种视图功能查询定向结果，包括三维视图、影像视图。An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks according to claim 1, characterized in that the joint automated orientation in step S3 can be used to query orientation results by multiple view functions, Including three-dimensional view and image view.
  10. 根据权利要求8所述的一种应用于配网低压线路全景透明用户报装的空地一体联合定向方法，其特征在于，将所述空三结果进行区块合并,形成初始融合的影像定向结果和点云，在航空影像和近地面影像进行连接点选刺，提交严格配准的稳健光束法平差解算,进行融合空三结果优化，连接点选取需满足在航空和近景影像上均清晰、易于判读的交线位置或明显拐点,保证每个连接点具有一定数量的航空影像与近地面影像选刺，空地影像融合空三解算完成后,添加控制点进行绝对定向,计算所有影像的精确外方位元素,得到最终融合后的地理坐标系下的空三结果。An air-ground integrated joint orientation method applied to panoramic transparent user installation of low-voltage lines in distribution networks according to claim 8, characterized in that the air-three results are merged into blocks to form an initial fused image orientation result and For point clouds, connection points are selected between aerial images and near-ground images, and a robust beam method adjustment solution with strict registration is submitted to optimize the fusion aerial triangulation results. The selection of connection points must be clear and clear on both aerial and close-range images. The easy-to-interpret intersection position or obvious inflection point ensures that each connection point has a certain number of aerial images and near-ground images. After the air-ground image fusion and aerial three-dimensional solution are completed, control points are added for absolute orientation, and the accurate accuracy of all images is calculated. The outer orientation element is used to obtain the aerial triangulation result in the final fused geographical coordinate system.
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CN105207216A (en) * 2015-11-05 2015-12-30 国网山西省电力公司大同供电公司 Implementing method and system of service expansion scheme based on of power supply network
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