CN106403942B - Personnel indoor inertial positioning method based on substation field depth image identification - Google Patents
Personnel indoor inertial positioning method based on substation field depth image identification Download PDFInfo
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Abstract
A personnel indoor inertial positioning method based on substation depth of field image recognition is characterized in that a three-dimensional depth of field camera is used for rapidly carrying out scene scanning modeling; the method comprises the steps of collecting images of key positions, carrying out front-end image pre-recognition by using an image recognition software algorithm, converting image information into dot matrix data, connecting a background server to obtain accurate positioning coordinates, greatly reducing the data volume of direct image transmission to background recognition, realizing accurate positioning of field personnel without additionally arranging additional equipment, effectively solving the problem that a large amount of equipment needs to be arranged on the field in the traditional positioning modes of Bluetooth, millimeter wave, laser and the like, and eliminating potential safety hazards in a transformer substation; finally, through an inertial navigation algorithm, the gyroscope and the acceleration sensor are used for assisting in positioning field personnel, so that the personnel positioning is smooth, real-time and accurate, the problem of poor positioning precision of power field operation is effectively solved, and the working efficiency of the field operation personnel is improved.
Description
Technical Field
The invention relates to the field of accurate positioning, in particular to a personnel indoor inertial positioning method based on substation depth-of-field image recognition.
Background
Along with the increasing expansion of the power grid scale and the production of novel equipment in China, the operation and maintenance of power grid equipment face the problems of complex materials, complex steps, high equipment disassembly and assembly precision, inconsistent personnel levels and the like, the equipment types and the scale in the transformer substation are also increasing day by day, the most advanced fully-closed transformer substation at present deeply changes the deployment mode of the original open transformer substation, all large and small equipment of the transformer substation are placed in relatively independent closed rooms with different sizes, operation and inspection personnel want to accurately find target equipment on site and can only judge through experience, the position of the equipment and the position information of the target equipment cannot be accurately known, a large amount of time is consumed to search the equipment, the working efficiency is seriously influenced, particularly under the condition of emergency repair of the transformer substation, whether field personnel can quickly find the position of the fault equipment is crucial to the emergency repair process in the face of unprepared emergency situations of the transformer substation, the traditional operation mode can not meet the requirement of power grid development, so that the problem of indoor positioning of a transformer substation is urgently needed to be solved.
The field network communication environment of the transformer substation is complex and is often troubled by the problems of electromagnetic interference of high-voltage equipment, weak information intensity of remote areas of the transformer substation and the like, but field power equipment is various in types, the modeling workload is large, models occupy more resources, and the pressure of the terminals is too large when all the models are identified by the terminals, so that online real-time image identification must be performed by a background server. However, due to the limitation of communication technology, it is inefficient to transmit live video streams to the background in real time, so a set of front-end image recognition preprocessing technology must be studied to recognize images as dot matrix information and transmit compressed dot matrix data to the background for recognition, thereby greatly reducing the amount of data transmission and improving the utilization rate of bandwidth.
Secondly, the transformer substation determines that the application requirement of the indoor positioning technology of the transformer substation is as few as possible to build auxiliary equipment due to special environment and high-voltage dangerous equipment, but the traditional indoor positioning navigation technology needs to perform coordinate positioning by building the auxiliary equipment, the built environment is complex and high in cost, the method mainly comprises a bluetooth positioning method, a millimeter wave positioning method, an infrared positioning method, a GPS positioning method and the like, various kinds of equipment cannot be randomly built on site for the special environment of the transformer substation, and therefore the traditional indoor positioning technology cannot be applied to the environment of the transformer substation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the personnel indoor inertial positioning method based on the field depth image recognition of the transformer substation, any auxiliary equipment is not required to be built on the site, the problems that the novel closed transformer substation field personnel cannot accurately position the room and the transformer substation high-voltage environment cannot randomly build the auxiliary positioning equipment are mainly solved, and the like, and the method belongs to the field of information technology application.
The adopted solution for realizing the purpose is as follows:
a personnel indoor inertial positioning method based on substation depth image recognition comprises the following steps:
(1) carrying out panoramic modeling on the field environment;
(2) cutting the image into dot matrix information;
(3) after receiving the dot matrix data of the terminal, the background server compares the dot matrix data characteristic blocks with the standard template block by block, and if the difference value is lower than a threshold value, the dot matrix data characteristic blocks are matched, otherwise, the dot matrix data characteristic blocks are not matched;
(4) acquiring coordinate information of a user, and dynamically correcting the marking position of a terminal guide map in real time;
(5) performing inertial positioning correction on a place without image mark points or image recognition mismatching by using a gyroscope and a terminal acceleration sensor through a strapdown inertial navigation algorithm;
(6) and calculating real-time inertial navigation coordinates according to a strapdown inertial navigation algorithm, terminal acceleration and gyroscope data, and correcting the marked position of the client map in real time.
Preferably, the step (1) includes: and performing scene scanning by using a three-dimensional depth-of-field camera, modeling according to sensor data or splicing continuous frame data by using a depth vision RGB-D sensor to obtain three-dimensional point cloud of the scene, and performing panoramic modeling of the field environment.
Preferably, the step (2) includes: different characteristic image points are selected in the site of a transformer substation in advance as matched standard templates and stored in a server, an image preprocessing module is deployed at the front end of equipment, image characteristic point preprocessing is carried out on the image acquired in real time in the site, the template is divided into a plurality of squares with the same size according to the number of characteristic blocks, and the image is cut into dot matrix information for transmission.
Preferably, the step (4) includes: the current position image number is identified through the background dot matrix data, the database is inquired to obtain accurate positioning coordinates, the SM1 algorithm is used for encryption and transmission to the terminal for analysis, and the SM1 algorithm is used for decryption of the received data.
Compared with the closest prior art, the technical scheme of the invention has the following beneficial effects:
(1) the concept of the three-dimensional depth-of-field camera in the rapid modeling of the transformer substation is innovatively introduced, rapid scanning modeling is carried out on the scene and the power equipment of the transformer substation, and the problems that a large amount of manual operation is needed in the three-dimensional modeling and operators are required to have professional operation knowledge are effectively solved.
(2) Characteristic image acquisition is carried out aiming at key positions, an image recognition algorithm is innovatively introduced into indoor positioning application of the transformer substation, and the positions of field personnel are accurately determined by image real-time recognition and inquiry of a position coordinate database corresponding to the characteristic images. Aiming at the special deployment environment of the transformer substation, the accurate positioning of field personnel is realized without additionally arranging additional equipment, the problem that a large amount of equipment needs to be arranged on the field in the traditional positioning modes such as Bluetooth, millimeter waves and laser is effectively solved, and the potential safety hazard in the transformer substation is eliminated.
(3) Image recognition preprocessing software is deployed at the front end of the terminal equipment, so that the image frame is decomposed into dot matrix data, and the problems of large data volume and low efficiency of original transmission of the original image frame are solved in an innovative manner of transmitting the dot matrix data.
(4) The image recognition and positioning technology is innovatively corrected in an auxiliary mode through an inertial navigation algorithm, personnel positioning is smooth, real-time and accurate, and the problem of poor positioning accuracy of power field operation is effectively solved.
Drawings
FIG. 1 is a network architecture diagram of an indoor positioning system provided by the present invention;
FIG. 2 is a schematic diagram of the three-dimensional depth of field fast imaging provided by the present invention;
FIG. 3 is an architecture diagram of the precise positioning of image recognition provided by the present invention;
FIG. 4 is a schematic diagram of an inertial navigation algorithm provided by the present invention.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The technical terms used in the present invention are described as follows:
and n is coordinate: and the navigation coordinate system is a coordinate system adopted by the inertial navigation system when solving the navigation parameters, and selects a north-east-ground geographic coordinate system as the navigation coordinate system.
b, coordinate system: a carrier coordinate system with the origin as the center of gravity of the carrier, XbAxis forward along the longitudinal axis of the carrier, ZbWith axis directed downwards along the carrier vertical axis, YbAxis along the transverse axis of the carrier and XbYbThe axes complete the right-hand orthogonal coordinate system.
SM 1: a commercial cipher block standard symmetric algorithm programmed by the national cipher administration. The algorithm has a packet length and a key length of 128 bits, and the algorithm exists in the chip only in the form of an IP core.
The invention provides a set of effective methods for processing the problems, firstly, a three-dimensional depth-of-field camera is used for rapidly carrying out scene scanning modeling, and the problems that a large amount of manual operation is needed for three-dimensional modeling and operators are required to have professional operation knowledge are effectively solved; secondly, image acquisition is carried out on the key position, online image identification is carried out by utilizing an image identification software algorithm, a background server is connected to obtain accurate positioning coordinates, accurate positioning of field personnel is realized without the help of additionally arranged auxiliary equipment, the problem that a large amount of equipment needs to be arranged on the field in the traditional positioning modes such as Bluetooth, millimeter wave and laser is effectively solved, and potential safety hazards in the transformer substation are eliminated; finally, through an inertial navigation algorithm, the gyroscope and the acceleration sensor are used for assisting in positioning field personnel, so that the personnel positioning is smooth, real-time and accurate, the problem of poor positioning precision of power field operation is effectively solved, and the working efficiency of the field operation personnel is improved. The technical architecture is shown in fig. 1, and comprises the following steps:
the method comprises the following steps: the method comprises the steps of utilizing a three-dimensional depth-of-field camera to rapidly carry out scene scanning modeling, recovering a three-dimensional geometric structure of a scene through a two-dimensional image according to a modeling method driven by sensor data such as an image, a video and a depth vision, or utilizing a depth vision RGB-D sensor to splice continuous frame data to obtain a three-dimensional point cloud of the scene, and achieving panoramic modeling of a field environment in a rapid mode. Three-dimensional depth-of-field camera utilizing two camerasAnd simultaneously, shooting an environment picture, and obtaining the actual position information of the characteristic points according to the corresponding relation between the two images and the geometric relation of the imaging space of the camera, wherein the imaging principle is shown in figure 2. If the camera projection model is determined, the corresponding image point position is determined (p)1，p2Known), external reference determination between two cameras (C)1，C2The position relation is known), the spatial position of the point P in the world coordinate system can be uniquely determined, namely the three-dimensional space coordinate of the point P is reconstructed.
Step two: selecting various different feature image points on the site of a transformer substation as matched standard templates, performing online real-time image recognition by using a feature block template matching algorithm, deploying an image preprocessing module at the front end of equipment, preprocessing an image acquired on the site of each frame as a sample template, introducing a feature block into template matching, firstly reconstructing the standard template and the sample template, dividing the template into a plurality of squares with the same size according to the number of the feature blocks, for example, 10 feature blocks exist on a video frame shot in real time at this time, firstly dividing the picture of the video frame into 64 squares with the same size on average, and if the 10 feature blocks are distributed in 8 squares on average, discarding the remaining 56 squares, counting the feature points of the remaining 8 squares only, and finally cutting the image into dot matrix information. Through the transmission of the dot matrix data, the data volume of directly transmitting a large number of image videos is greatly reduced, the transmission efficiency is improved, and the bandwidth utilization rate is reduced.
Step three: and the terminal transmits the dot matrix data to the background server, the background server compares the dot matrix data characteristic blocks with the standard block module block by block after receiving the dot matrix data, and the dot matrix data characteristic blocks are matched when the difference is small, or are not matched. Let D (k) be the matching comparison result of the sample template and the standard template at block (i, j) (result 0 is matching, result 1 is not matching), N (i, j) be the sample feature block template,
is a standard feature block template, T is a matching difference size threshold value, and a corresponding image model, a feature block (i, j) is identified according to the threshold value) The matching result is as follows:
comparing the sample characteristic block template with the standard image characteristic block template to obtain a final identification result
Wherein h is the lattice height, w is the lattice width, and A is the number of the standard image lattice set.
Step four: the image number of the current position is identified through background dot matrix data, a database is inquired to obtain accurate positioning coordinates, the SM1 algorithm is used for encryption and transmission to a terminal for analysis, the SM1 algorithm is used for decryption after the terminal receives a ciphertext sent by a server, the coordinate information of a user is obtained, the marked position of a terminal guide map is dynamically corrected in real time, accurate positioning of field personnel is achieved without the aid of additionally arranged auxiliary equipment, and the specific architecture is shown in figure 3.
Step five: the image recognition positioning algorithm adopts a mathematical mode to describe image characteristics, except for errors introduced by image precision, images also present similar characteristics, so that in the process of computer recognition matching, wrong matching can occur according to the characteristic matching described by the mathematical mode, and the existence of the wrong matching can affect the reliability and precision of the whole matching result, therefore, a corresponding method is needed to judge the image matching result, and the reliability of the matching result is ensured by judging and eliminating the wrong matching; for some specific time, when the image matching technology cannot be used, the operation of the visual navigation algorithm by using other additional auxiliary navigation information needs to be considered. By means of a strapdown inertial navigation algorithm, a gyroscope and an acceleration sensor are used for assisting field personnel in positioning, an image recognition positioning technology is assisted, inertial positioning correction is carried out at a place without image mark points or image recognition mismatching, and smooth movement of a map mark position in personnel movement is achieved. According to the path characteristics of the power grid field substation, a simple inertial navigation algorithm is designed, and the requirement of field rapid navigation calculation is met.
The inertial navigation algorithm is mainly divided into three parts: attitude update, velocity update, and location update. The core of the method is based on a correct posture, so that the most important factor influencing the precision of the strapdown inertial navigation algorithm is a posture updating algorithm, and the second factor is a speed updating algorithm, and the structure of the method is shown in figure 4.
The pose update algorithm is as follows:
The speed update algorithm is as follows:
tk-1The speed of the carrier at the moment;
is from tk-1To tkA velocity increment at a time;
is from tk-1To tkThe gravity and velocity increments at the moment.
Step six: and calculating real-time inertial navigation coordinates according to a strapdown inertial navigation algorithm, terminal acceleration and a gyroscope sensor, correcting the marked position of the map of the client in real time, realizing smooth navigation among the characteristic images, making up a navigation blank area among the characteristic images and assisting field personnel in accurate navigation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present application and not for limiting the scope of protection thereof, and although the present application is described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that after reading the present application, they can make various changes, modifications or equivalents to the specific embodiments of the application, but these changes, modifications or equivalents are all within the scope of protection of the claims to be filed.
Claims (3)
1. A personnel indoor inertial positioning method based on substation depth image recognition is characterized by comprising the following steps:
(1) carrying out panoramic modeling on the field environment;
(2) cutting the image into dot matrix information;
(3) after receiving the dot matrix data of the terminal, the background server compares the dot matrix data characteristic blocks with the standard template block by block, and if the difference value is lower than a threshold value, the dot matrix data characteristic blocks are matched, otherwise, the dot matrix data characteristic blocks are not matched;
(4) acquiring coordinate information of a user, and dynamically correcting the marking position of a terminal guide map in real time;
(5) performing inertial positioning correction on a place without image mark points or image recognition mismatching by using a gyroscope and a terminal acceleration sensor through a strapdown inertial navigation algorithm;
(6) calculating a real-time inertial navigation coordinate, and correcting a map marking position of the client in real time;
the step (2) comprises the following steps: different characteristic image points are selected in the site of a transformer substation in advance as matched standard templates and stored in a server, an image preprocessing module is deployed at the front end of equipment, image characteristic point preprocessing is carried out on the image acquired in real time in the site, the template is divided into a plurality of squares with the same size according to the number of characteristic blocks, and the image is cut into dot matrix information for transmission.
2. The positioning method according to claim 1, wherein the step (1) comprises: and performing scene scanning by using a three-dimensional depth-of-field camera, modeling according to sensor data or splicing continuous frame data by using a depth vision RGB-D sensor to obtain three-dimensional point cloud of the scene, and performing panoramic modeling of the field environment.
3. The positioning method according to claim 1, wherein the step (4) comprises: the current position image number is identified through the background dot matrix data, the database is inquired to obtain accurate positioning coordinates, the SM1 algorithm is used for encryption and transmission to the terminal for analysis, and the SM1 algorithm is used for decryption of the received data.
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