CN107796360B - Method for measuring angle of single-pipe tower panel antenna based on unmanned aerial vehicle video - Google Patents
Method for measuring angle of single-pipe tower panel antenna based on unmanned aerial vehicle video Download PDFInfo
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Abstract
The invention provides a method for measuring the angle of a single-pipe tower flat antenna based on an unmanned aerial vehicle video, which comprises the steps of continuously shooting a flat antenna video on a communication tower by using the unmanned aerial vehicle to take the projection center of the communication tower as the center of a circle and take the horizontal circumference with the same radius as the center of the circle to fly around; preprocessing the video around the fly, intercepting a whole video frame image which horizontally winds around the fly at a constant speed for 360 degrees, and solving the angular speed around the fly; playing the fly-around video frame, and manually observing and recording corresponding frame values and images when the positive side of each antenna on the right side or the left side of the tower body is displayed; pairing the recorded right front side frame and the left front side frame of the antenna, and forming a left front side frame image pair and a right front side frame image pair by each antenna; calculating the azimuth angle of each antenna according to the median frame between the right and left paired front side frames; and calculating the down inclination angle of each antenna according to the average value of the down inclination angles of the antennas in the positive side frame images of the left and right pairs. The method for measuring the angle of the single-pipe tower panel antenna by means of the unmanned aerial vehicle video improves calculation accuracy and efficiency and reduces labor cost.
Description
Technical Field
The invention relates to the technical field of communication tower maintenance, in particular to a method for measuring the angle of a single-pipe tower panel antenna based on an unmanned aerial vehicle video.
Background
The correct installation and maintenance test of the antenna on the wireless communication base station is an important content for the construction and operation of mobile communication engineering. Chinese patent publication No. CN106454879A, "a method for determining parameters of a wireless base station based on unmanned aerial vehicle aerial photography", discloses a method for obtaining a top view of a base station by using unmanned aerial vehicle aerial photography, a ground system calls compass software, and makes the direction of zero degree of the compass coincide with the north direction of the base station in the top view of the base station, the direction of an original antenna coincides with the angle degree of the compass, and the degree is the direction angle method of the original antenna; the method is characterized in that the ground system is used for calling protractor software, the central point of the protractor software interface is made to coincide with the central point of the original antenna, the protractor is kept vertical, and the included angle between the original antenna and the protractor is the downward inclination angle of the original antenna.
Problems and disadvantages with this prior art: azimuth angle and downtilt angle all need unmanned aerial vehicle flight hand to control unmanned aerial vehicle through the naked eye judgement with the aircraft stabilize the aircraft and shoot again on the vertical angle of basic station or antenna, wherein, because the positive area of antenna is great, the actual central point is difficult to confirm to the naked eye among the actual operation to the judgement of antenna central point. The method comprises the steps that a top view and an antenna side view of a base station are judged manually at one time, and the base station is high in subjectivity and experience; the azimuth angle and the downtilt are measured by judging the top view and the side view of the antenna of the base station, so that the difference of repeated measurement results of the same antenna at different time and by different personnel is found to be large, and the precision of the direction angle and the downtilt obtained by measurement is general.
In summary, the technical solution disclosed in chinese patent publication No. CN106454879A, "a method for determining parameters of a wireless base station based on unmanned aerial vehicle aerial photography", has high technical requirements on the flyer of the unmanned aerial vehicle, and meanwhile, the error of the naked eye calibration is large, and the flyer needs to be highly concentrated to perform the hand-eye coordination operation during working, which makes it difficult to perform long-time operation. Practice tests show that the efficiency in actual work is even lower than that of the traditional manual operation of going to the tower for operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for measuring the angle of a single-pipe tower flat antenna based on an unmanned aerial vehicle video.
In order to overcome the defects of the prior art, the invention provides a method for measuring the angle of a single-pipe tower panel antenna based on an unmanned aerial vehicle video, which comprises the following steps:
1) continuously shooting a video of a flat antenna on a communication tower by using an unmanned aerial vehicle to fly around a horizontal circumference with an equidistant radius by taking a projection center of the communication tower as a circle center;
2) preprocessing the video around the fly, intercepting a whole video frame image which horizontally winds around the fly at a constant speed for 360 degrees, and solving the angular speed around the fly;
3) playing the fly-around video frame, and manually observing and recording corresponding frame values and images when the positive side of each antenna on the right side or the left side of the tower body is displayed;
4) pairing the recorded right front side frame and the left front side frame of the antenna, and forming a left front side frame image pair and a right front side frame image pair by each antenna;
5) calculating the azimuth angle of each antenna according to the median frame between the right and left paired front side frames; and calculating the down inclination angle of each antenna according to the average value of the down inclination angles of the antennas in the positive side frame images of the left and right pairs.
As a preferable method, the fixed point flying communication tower mentioned in the step 1 adopts a horizontal circumference flying around with a tower projection center as a circle center and an equidistant radius in a counterclockwise direction, and the radius of the circumference is 7-8 meters.
As a preferred method, the formula for calculating the fly-around angular velocity in step 2 is as follows:
ω＝360/(Kend-Kstart)
wherein: kendIs the last frame value, K, of 360 DEG videostartIs the first frame value of the video.
As a preferred method, the images of the right front side and the left front side of the antenna mentioned in the step 4 are automatically paired, and the included angle between the two paired observation points and the connecting line of the circle centers is 140-180 degrees; when one antenna is observed from the right side and the left side of the communication tower respectively, two front side observation points of the antenna are taken as 2-point connecting lines to form a chord line on a flying-around circumferential surface, and the vertical bisector of the chord line is the orientation of the antenna; the included angle between the two front side surfaces and the connecting line of the circle centers is 140-180 degrees; comprises the following steps:
step 1, selecting a frame K from the right frame queue in turnR_iThen the range of frames in the left frame queue that may match it is KL_begin,KL_end]Wherein: kL_begin＝KR_i-140/ω,KL_end＝KR_i-180/ω, representing by KR_iFrame start backtracking to determine a candidate range in the left frame queue; when K isL_beginOr KL_endLess than KstartFor the initial frame of the backtracking frame flying around the circumference, it needs to be [ K ]L_begin,KL_end]Go on to roundCorrecting the cycle sections; if the only frame in the left frame queue is in the limited range, the matching is successful; then removing the matched frame from the right frame queue and the left frame queue;
step 2, selecting a frame K from the unmatched left frame queueL_iThen the range of frames in the right frame queue that may match it is KR_begin,KR_end]Wherein: kR_begin＝KL_i+140/ω,KR_end＝KL_i+180/ω. When calculating, if KR_beginOr KR_endExceeds KendFor the last frame of the backtracking frame flying around the circumference, it needs to be [ K ]R_begin,KR_end]Carrying out circumferential subsection correction processing; if the only frame in the right frame queue is in the matching range, the matching is successful; matched frames can be deleted from the left frame queue and the right frame queue;
and 3, after the steps 1 and 2, if the remaining frames in the right frame queue and the left frame queue are not matched, the left frame queue and the right frame queue are defaulted to be a pair of matched frames.
As a preferred method, the azimuth angle A of the antenna mentioned in step 5Azimuth of iCan be divided into its left positive side frame Ki_LAnd right front side frame Ki_RMedian frame K in betweenAzimuth of iTo determine; azimuth angle AAzimuth of iThe calculation formula is as follows:
Kazimuth of i＝Ki_R+(Ki_L-Ki_R)/2
AAzimuth of i＝180°-ωx KAzimuth of i
As a preferred method, the antenna has a downward inclination angle a in step 5i lower inclination angleCan be respectively adjusted by the lower inclination angle A in the left positive side frame imagei_LAnd a downward inclination angle A in the right front side frame imagei_RDetermining the average value; declination angle Ai lower inclination angleThe calculation formula is as follows:
Ai lower inclination angle＝(Ai_L+Ai_R)/2
As a preferable method, when the left and right positive side frames of the antenna are displayed, the downtilt angles of the left and right positive side frames are automatically detected, and then the downtilt angle detection results of the left and right positive side frames are manually observed and accepted.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the antenna information of the circumferential view angle is acquired by means of automatic horizontal flying around under the control of the GPS and gyroscope of the unmanned aerial vehicle, the left and right positive side information of the antenna is comprehensively considered to reduce errors, and the measurement reliability and repeatability are realized;
the measurement of the invention obtains the azimuth angle error of less than 5 degrees and the declination angle error of less than 1 degree, while the measurement of the prior art obtains the azimuth angle error of less than 10 degrees and the declination angle error of less than 5 degrees, and the comparison shows that the measurement precision of the invention is obviously improved; the azimuth angle and the downward inclination angle of the antenna are calculated by adopting computer software, so that the efficiency is higher, and the labor cost is reduced.
The invention obtains the side vertical angle of the antenna, and has higher accuracy and simple operation even if the antenna is calibrated by naked eyes because the area of the side of the antenna is relatively small.
Drawings
FIG. 1 is a schematic diagram of the positional relationship between a single-tube tower and a panel antenna according to the present invention.
Fig. 2 is a schematic view of the relationship between the orientation/azimuth angle of the unmanned aerial vehicle around the flight plane and the panel antenna.
Fig. 3 is a schematic view of antenna downtilt measurement for a non-front side image according to the present invention.
Fig. 4 is a schematic view of the antenna downtilt measurement of the left and right front side images of the present invention.
Detailed Description
The following further describes embodiments of the present invention. The following examples are intended to be illustrative of the present application only and should not be construed as limiting the present application.
The invention provides a method for measuring the angle of a single-pipe tower panel antenna based on an unmanned aerial vehicle video, which comprises the following steps:
1) continuously shooting a video of a flat antenna on a communication tower by using an unmanned aerial vehicle to fly around a horizontal circumference with an equidistant radius by taking a projection center of the communication tower as a circle center;
2) preprocessing the video around the fly, intercepting a whole video frame image which horizontally winds around the fly at a constant speed for 360 degrees, and solving the angular speed around the fly;
3) playing the fly-around video frame, and manually observing and recording corresponding frame values and images when the positive side of each antenna on the right side or the left side of the tower body is displayed;
4) pairing the recorded right front side frame and the left front side frame of the antenna, and forming a left front side frame image pair and a right front side frame image pair by each antenna;
5) calculating the azimuth angle of each antenna according to the median frame between the right and left paired front side frames; and calculating the down inclination angle of each antenna according to the average value of the down inclination angles of the antennas in the positive side frame images of the left and right pairs.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the present invention is further explained below with reference to the accompanying drawings and implementation, and the specific implementation steps are as follows:
1) with the help of many rotor unmanned aerial vehicle, unmanned aerial vehicle is from taking gyroscope, camera, and it is stable with level, gravity direction self calibration to shoot the image, uses antenna tower vertical projection center as the centre of a circle location earlier, and 7 ~ 8m with the equidistance of centre of a circle, from the beginning anticlockwise level of face north around flying at the uniform velocity circumference, shoot the panel antenna of installing on single-pipe tower holding pole. The projection included angle between the normal direction of the front surface of the panel antenna and the south-north pole direction of the earth on the horizontal plane is defined as an azimuth angle; when the side face of the panel antenna is over against the lens, the side face of the antenna is the positive side face of the antenna, and the acute included angle between the edge of the positive side face of the antenna and the gravity vertical line is the downward inclination angle of the antenna.
2) And preprocessing the fly-around video, and removing redundant frames at the beginning and the end of the video. And intercepting a video frame image which horizontally flies around 360 degrees at a constant speed. The characteristics of the video image which is integrated by 360 degrees around the fly are as follows: the image contents of the fly-around start frame and the fly-around end frame are basically consistent, and the difference from the image contents of other frames is larger. Thus, the angular velocity omega of the unmanned aerial vehicle when flying around the horizontal uniform-speed circumference is obtained:
ω＝360/(Kend-Kstart)
wherein: kendIs the last frame value, K, of 360 DEG videostartIs the first frame value of the video.
3) And playing the fly-around video, manually observing, respectively recording corresponding frame values when the positive side of each antenna on the right side or the left side of the tower body is displayed, and recording the frame image. For example: firstly, observing video frame values when positive sides of all antennas on the right side of the antenna tower are displayed, and recording the video frame values as a right frame queue; and observing the positive side display time frame values of all the antennas on the left side of the antenna tower, and recording the positive side display time frame values as a left side frame queue.
4) And automatically pairing the recorded right frame queue and the left frame queue to form a left frame image pair and a right frame image pair. The method comprises the following steps: when one antenna is observed from the right side and the left side of the tower respectively, two front side frames of the antenna are taken as a 2-point connecting line to form a chord line on a circular plane around the fly, and the included angle between the two points and the connecting line of the circle centers is 140-180 degrees. If the right frame queue and the left frame queue are known, the matching range of the left and right positive frames can be limited by the above conditions, so that the automatic pairing of the left and right positive frames of a certain antenna is realized. The pairing process consists of the following 3 steps:
step 1, selecting a frame K from the right frame queue in turnR_iThen the range of frames in the left frame queue that may match it is KL_begin,KL_end]Wherein: kL_begin＝KR_i-140/ω,KL_end＝KR_i-180/ω, representing by KR_iFrame start backtracking to determine a candidate range in the left frame queue; when K isL_beginOr KL_endLess than KstartFor the initial frame of the backtracking frame flying around the circumference, it needs to be [ K ]L_begin,KL_end]Carrying out circumference subsection correction; if the only frame in the left frame queue is in the limited range, the matching is successful; then removing the matched frame from the right frame queue and the left frame queue;
step 2, selecting a frame K from the unmatched left frame queueL_iThen the range of frames in the right frame queue that may match it is KR_begin,KR_end]Wherein: kR_begin＝KL_i+140/ω,KR_end＝KL_i+180/ω. When calculating, if KR_beginOr KR_endExceeds KendFor the last frame of the backtracking frame flying around the circumference, it needs to be [ K ]R_begin,KR_end]Carrying out circumferential subsection correction processing; if the only frame in the right frame queue is in the matching range, matching toWork; matched frames can be deleted from the left frame queue and the right frame queue;
and 3, after the steps 1 and 2, if the remaining frames in the right frame queue and the left frame queue are not matched, the left frame queue and the right frame queue are defaulted to be a pair of matched frames.
5) Azimuth angle A of antennaAzimuth of iCan be divided into its left positive side frame Ki_LAnd right front side frame Ki_RMedian frame K in betweenAzimuth of iTo be determined. When a negative azimuth angle occurs, appropriate piecewise correction according to the circumference is required. Azimuth angle AAzimuth of iThe calculation formula is as follows:
Kazimuth of i＝Ki_R+(Ki_L-Ki_R)/2
AAzimuth of i＝180°-ωx KAzimuth of i
Declination angle Ai lower inclination angleCan be respectively adjusted by the lower inclination angle A in the left positive side frame imagei_LAnd a downward inclination angle A in the right front side frame imagei_RAnd (4) determining an average value. Declination angle Ai lower inclination angleThe calculation formula is as follows:
Ai lower inclination angle＝(Ai_L+Ai_R)/2
In the above scheme, in order to further improve the measurement accuracy, the present embodiment sets 2 downward inclination angle detection methods: when a frame on the front side of a certain antenna is displayed, automatically detecting the downward inclination angle of the certain antenna; and then, displaying the downward inclination angle detection results of the left and right positive side frames in the original frame image in a line drawing and angle value mode respectively, and manually observing and checking. If obvious detection errors are found, the examiner can correct the errors in a manual line drawing mode, and manual intervention is performed to reduce the errors. When the antenna can not automatically detect the downward inclination angle due to shielding and the like, the downward inclination angle of the antenna can also be detected in a manual line drawing mode.
1) Automatically detecting the downward inclination angle of the antenna: the information of the longitudinal axis of the communication tower and the width of the tower body can be obtained through interaction modes such as artificial picture frames, and the image space position of the antenna is limited; and displaying the image of the frame on the front side of the antenna, and obtaining an edge line segment of the antenna through Hough line detection in a limited space range only containing a certain antenna, wherein an acute included angle between the edge line segment and the vertical line direction is a downward inclination angle. The method for automatically detecting the downward inclination angle of the antenna comprises the steps of firstly utilizing the known information of the width of a communication tower, the axis of a tower body and the like to constrain the possible positions of the antenna, then detecting the edge points of the antenna in a limited space range by using a Hough line detection algorithm, and constructing a linear equation of the collinear points; if a plurality of straight lines are detected, selecting the straight line on the outer side farthest from the central axis of the communication tower as the edge of the antenna, and finally calculating to obtain the downward inclination angle value of the antenna under the condition of the known length of the two side angle lines by utilizing the triangular pythagorean theorem.
2) Manually detecting the downtilt angle of the antenna: the method comprises the steps of firstly displaying a front side frame image, manually clicking and drawing a straight line segment on the edge of the front side surface of a specified antenna by using a mouse, wherein the straight line segment is coincident with or parallel to the edge of the front side surface of the antenna, and an acute included angle between the line segment and the image in the vertical direction is a downward inclination angle. The method for manually detecting the downward inclination angle of the antenna comprises the steps of collecting a straight line section on the front side surface of the antenna drawn manually, constructing a straight line equation at any two points, and calculating by utilizing the known straight line and a gravity line to obtain the downward inclination angle value of the antenna.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. A method for measuring the angle of a single-pipe tower panel antenna based on an unmanned aerial vehicle video is characterized in that: the method comprises the following steps:
1) continuously shooting a video of a flat antenna on a communication tower by using an unmanned aerial vehicle to fly around a horizontal circumference with an equidistant radius by taking a projection center of the communication tower as a circle center;
2) preprocessing the video around the fly, intercepting a whole video frame image which horizontally winds around the fly at a constant speed for 360 degrees, and solving the angular speed around the fly;
3) playing the fly-around video frame, and manually observing and recording corresponding frame values and images when the positive side of each antenna on the right side or the left side of the tower body is displayed;
4) pairing the recorded right front side frame and the left front side frame of the antenna, and forming a left front side frame image pair and a right front side frame image pair by each antenna;
5) azimuth angle A of each antennaAzimuth of iCalculating an intermediate frame between a left positive side frame and a right positive side frame corresponding to the antenna; downtilt angle A of each antennai lower inclination angleThe average value of the downtilt angles of the antenna in the left and right positive side frame images corresponding to the antenna is calculated.
2. The method for measuring the angle of the single-pipe tower panel antenna based on the unmanned aerial vehicle video in claim 1, wherein the unmanned aerial vehicle mentioned in step 1) uses the projection center of the communication tower as a circle center, the horizontal circumference with the equal radius is flown around counterclockwise, and the radius of the circumference is 7-8 meters.
3. The method for measuring the angle of the single-pipe tower panel antenna based on the unmanned aerial vehicle video according to claim 1, wherein the fly-around angular velocity calculation formula of the step 2) is as follows:
ω＝360/(Kend-Kstart)
wherein: kendIs the last frame value, K, of 360 DEG videostartIs the first frame value of a 360 deg. video.
4. The method for measuring the angle of the single-pipe tower panel antenna based on the unmanned aerial vehicle video according to claim 3, wherein the right front side frame and the left front side frame of the antenna mentioned in the step 4) are paired, and the included angle between the two paired observation points and the connecting line of the circle centers is 140-180 degrees; when one antenna is observed from the right side and the left side of the communication tower respectively, two front side observation points of the observed antenna are taken as a 2-point connecting line to form a chord line on a flying circumferential surface, wherein a vertical bisector of the chord line is the direction of the antenna; the included angle between the two front side surfaces and the connecting line of the circle centers is 140-180 degrees; comprises the following steps:
① selecting a frame K from the right frame queueR_iThen there is an AND K in the left frame queueR_iFrame range for frame matchingEnclose and is [ KL_begin,KL_end]Wherein: kL_begin＝KR_i-140/ω,KL_end＝KR_i-180/ω, representing by KR_iFrame start backtracking to determine a candidate range in the left frame queue; when K isL_beginOr KL_endLess than KstartFor the initial frame of the backtracking frame flying around the circumference, it needs to be [ K ]L_begin,KL_end]Carrying out circumference subsection correction; if the left frame queue has a unique frame in [ K ]L_begin,KL_end]If the matching is within the limited range, the matching is successful; then removing the matched frames from the right frame queue and the left frame queue;
step ② selecting a frame K from the unmatched left frame queueL_iThen there is an AND K in the right frame queueL_iThe frame range of the frame matching is [ K ]R_begin,KR_end]Wherein: kR_begin＝KL_i+140/ω,KR_end＝KL_i+180/ω; when calculating, if KR_beginOr KR_endExceeds KendFor the last frame of the backtracking frame flying around the circumference, it needs to be [ K ]R_begin,KR_end]Carrying out circumferential subsection correction processing; if the only frame in the right frame queue is in the matching range, the matching is successful; matched frames can be deleted from the left frame queue and the right frame queue;
at step ③, if the remaining frames in the right and left frame queues do not match after steps ① and ②, they are defaulted to a pair of matching frames.
5. The method for measuring the angle of the single-pipe tower flat antenna based on the unmanned aerial vehicle video in claim 1, wherein the azimuth angle A of the antenna mentioned in the step 5) isAzimuth of iThe left positive side frame K corresponding to the antennai_LAnd right front side frame Ki_RMedian frame K in betweenAzimuth of iTo determine; azimuth angle AAzimuth of iThe calculation formula is as follows:
Kazimuth of i＝Ki_R+(Ki_L-Ki_R)/2
Ai squareAzimuth angle＝180°-ω*KAzimuth of i。
6. The method for measuring the angle of the single-pipe tower panel antenna based on the unmanned aerial vehicle video in claim 1, wherein the declination angle A of each antenna mentioned in the step 5) isi lower inclination angleThe down dip angle A in the left positive side frame image corresponding to the antenna can be respectively usedi_LAnd a downward inclination angle A in the right front side frame imagei_RDetermining the average value; a. thei lower inclination angleThe calculation formula is as follows:
Ai lower inclination angle＝(Ai_L+Ai_R)/2。
7. The method for measuring the angle of the single-pipe tower panel antenna based on the unmanned aerial vehicle video according to claim 6, wherein when the left and right positive side frames of the antenna are displayed, the downward inclination angle of the antenna is automatically detected, and then the downward inclination angle detection result of the left and right positive side frames is manually observed and accepted.
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| CN111076707B (en) * | 2018-10-22 | 2022-09-27 | 中国移动通信有限公司研究院 | Antenna attitude measurement method, device and system and storage medium |
| CN113916187B (en) * | 2020-07-07 | 2024-04-30 | 中国电信股份有限公司 | Base station antenna downward inclination angle measurement method, device and system based on unmanned aerial vehicle |
| CN114423014A (en) * | 2020-10-10 | 2022-04-29 | 中国移动通信集团设计院有限公司 | Antenna downward inclination angle determining method and device, electronic equipment and storage medium |
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