CN110986871A - Cross spanning line spacing image measuring method based on RTK (real time kinematic) precise positioning - Google Patents

Cross spanning line spacing image measuring method based on RTK (real time kinematic) precise positioning Download PDF

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CN110986871A
CN110986871A CN201911345062.5A CN201911345062A CN110986871A CN 110986871 A CN110986871 A CN 110986871A CN 201911345062 A CN201911345062 A CN 201911345062A CN 110986871 A CN110986871 A CN 110986871A
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卢泉
刘芃良
蓝向州
胡立坤
徐海洋
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Guangxi University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

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Abstract

The invention discloses a cross spanning line spacing image measuring method based on RTK (real time kinematic) accurate positioning, and belongs to the technical field of operation and maintenance of power transmission lines. The method comprises the following steps: a positioning system capable of accurately solving the coordinates of the cross points; the image acquisition system can perform self-adaptive adjustment of a view field, and the self-adaptive adjustment of the view field adopts a multiple zooming view field adjustment method to perform view field adjustment; acquiring an original image after field of view adjustment is carried out; the crossing line interval can be obtained by an image measurement method, the accurate measurement of the crossing line interval of the overhead transmission line is realized, and the problems of low measurement efficiency, poor environmental adaptability and poor real-time performance of the conventional crossing line inspection method are solved.

Description

Cross spanning line spacing image measuring method based on RTK (real time kinematic) precise positioning
Technical Field
The invention belongs to the technical field of electric power transmission line equipment combined with image processing application, and particularly relates to a cross spanning line distance image measuring method based on RTK (real time kinematic) accurate positioning.
Background
The power transmission line plays a role in electric energy transmission in a power grid and is an important part of the power grid. In order to ensure the safe operation of the transmission line, the transmission line must be maintained daily, wherein the crossing cross line spacing is an important index, if the spacing is too small, the wires can interfere with each other and even discharge, and in severe cases, safety accidents can be caused. The electric power transmission line can be influenced by strong wind, temperature change, rain and snow, electric wire aging and high temperature during the operation of the electric power transmission line, so that the distance between crossing lines is reduced, and the risk of safety accidents is caused. In recent years, with the continuous development of social economy in China, the mileage of a power transmission line is continuously increased, the existing power transmission corridor resources are increasingly deficient, the crossing phenomenon of the power transmission line is increased due to the phenomenon, and therefore the patrol of the crossing position must be enhanced. At present, the crossing line interval of the power transmission line is mainly measured by a manual inspection mode, but the inspection mode has low measurement efficiency and is easily limited by topographic factors. With the development of social economy, the traditional method for measuring the cross span line distance of the power transmission line can not ensure the safe operation of the power transmission line slowly.
Disclosure of Invention
The method aims at the problems that the existing cross line crossing measuring method is low in measuring efficiency and not suitable for complex terrains. The invention provides a cross spanning line spacing image measuring method based on RTK accurate positioning. The cross-type crossing line distance measuring device can measure the cross-type crossing line distance with high precision and high efficiency, and has the advantages of convenience and safety in operation.
In order to achieve the purpose, the invention provides the following technical scheme:
a cross span line spacing image measuring method based on RTK accurate positioning comprises the following measuring steps:
(1) the tower and the unmanned aerial vehicle respectively obtain three-dimensional coordinates of 4 towers with two opposite angles and the unmanned aerial vehicle through an RTK network, and obtain coordinates of a tower intersection point and plane coordinates of an image acquisition point according to the three-dimensional coordinates of the 4 towers;
(2) the unmanned aerial vehicle approaches the image acquisition point according to the coordinate position of the image acquisition point in the plane coordinate system of the RTK network;
(3) after the unmanned aerial vehicle reaches an image acquisition point, identifying and positioning the lead, and acquiring a lead image after self-adaptive adjustment according to the field condition;
(4) carrying out gray level processing and filtering processing on the acquired image;
(5) after edge detection and straight line fitting are carried out on the processed image, the distance between the conductors at the cross points of the towers is obtained
Further, the tower intersection point plane coordinates are obtained specifically according to the following method:
Figure BDA0002333110150000021
wherein x iso、yoThe planar coordinates of the cross points of the towers under a GPS-WGS84 planar coordinate system, K is a scale factor, theta is the rotation angle of a quadrangle formed by four towers which are opposite in pairs, and x isa、yaIs the plane coordinate, x, of the tower ab、ybIn the plane coordinate, x, of the tower bc、ycAs plane coordinates, x, of the tower cd、ydThe plane coordinates of a pole tower d are obtained; Δ x0、Δy0The X-axis and Y-axis translation amount is formed after the rotation of a quadrangle formed by four towers with two opposite angles.
Further, the image acquisition point plane coordinates are obtained according to the following specific method:
Figure BDA0002333110150000022
wherein x ism、ymIs the plane coordinate of the image acquisition point, l and w are transformation factors, xo、yoIs the coordinates, x, of the tower intersection point under a GPS-WGS84 plane coordinate system1、y1Is a transform compensation factor.
Further, the unmanned aerial vehicle accurately guides to reach the image acquisition point through the single-station RTK positioning, and the specific RTK guiding mode is as follows:
Figure BDA0002333110150000023
wherein the content of the first and second substances,
Figure BDA0002333110150000024
to measure the carrier phase observations of reference station r for satellite i,
Figure BDA0002333110150000025
for the mobile station u to the carrier phase observation for satellite i,
Figure BDA0002333110150000026
to be composed of
Figure BDA0002333110150000027
And
Figure BDA0002333110150000028
making difference and then differentiating to obtain double-difference carrier phase observed value, lambda is carrier wavelength,
Figure BDA0002333110150000029
in the form of a geometric distance,
Figure BDA00023331101500000210
in order to obtain the whole-cycle ambiguity,
Figure BDA00023331101500000211
to receive the observed noise.
Further, adjusting the shooting angle according to the field condition; the shooting pitch angle is calculated in the following way:
Figure BDA0002333110150000031
in the formula xo、yo、hoAnd xm、ym、hmRespectively measured in an RTK coordinate systemThe central point and the position coordinate of the unmanned aerial vehicle, α is the calculated pitch angle hoThe method is specifically obtained by the following steps:
Figure BDA0002333110150000032
wherein h isaHeight of tower a, hbHeight of tower b, hcHeight of tower c, hdThe height of the tower d.
The rolling angle of the shooting is specifically calculated in the following way:
solving to obtain a linear equation of the cross-over lead 1 according to the coordinates of the two towers:
y＝A1x+B1
then solved to obtain its angle β1The concrete formula is as follows:
β1＝arctan(A1)
solving to obtain a linear equation of the cross-over lead 2 according to the coordinates of the two towers:
y＝A2x+B2
then solved to obtain its angle β2The concrete formula is as follows:
β2＝arctan(A2)
the rolling angle β for the shot is solved by the formula:
Figure BDA0002333110150000033
further, the gray processing is average gray processing; the filtering process is bilateral filtering process.
Further, the gray value of the average gray processing method is equal to the average value of the gray values of R, G, B three components of the color image, and the calculation formula is as follows:
Figure BDA0002333110150000041
where, (i, j) is any coordinate in the image, gray (i, j) is the average value of (i, j), and R (i, j), G (i, j), and B (i, j) are the gray values of (i, j) before image conversion, respectively.
Furthermore, the bilateral filtering processing method can better retain the image edge information, and the principle is that a Gaussian function related to the space distance is multiplied by a Gaussian function related to the gray scale distance.
The space distance is as follows: refers to the euler distance between the current point and the central point. The spatial domain gaussian function has the mathematical form:
Figure BDA0002333110150000042
wherein (x)i,yi) Is the position of the current point, (x)c,yc) σ is the spatial domain standard deviation for the center point gray value.
The gray scale space is: refers to the absolute value of the difference between the current point gray level and the center gray level. The value domain gaussian function is mathematically formed as:
Figure BDA0002333110150000043
wherein, gray (x)i,yi) Gray (x) for the current point gray valuec,yc) σ is the value domain standard deviation for the center point gray value.
Further, the distance between the wires at the intersection of the towers is obtained according to the following modes:
Figure BDA0002333110150000044
wherein l is the distance between the conductors at the cross point of the tower, R is the real wire diameter of the conductor, l1Is the pixel line diameter of the conducting wire2Is the pixel difference across the two wires of the cross-line.
The invention has the beneficial effects that:
the method and the device utilize RTK accurate positioning to guide the unmanned aerial vehicle, can realize high-precision and high-efficiency measurement of the crossed crossing line distance, and have the advantages of convenience and safety in operation.
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FIG. 1 is a schematic ranging diagram of a cross-span line spacing image measuring method based on RTK precise positioning according to the present invention;
FIG. 2 is a schematic diagram of a camera pose of a cross-span line spacing image measurement method based on RTK accurate positioning according to the present invention.
Detailed Description
A cross spanning line spacing image measuring method based on RTK accurate positioning comprises the following steps;
(1) the tower and the unmanned aerial vehicle respectively acquire three-dimensional coordinates of 4 tower and unmanned aerial vehicle which are opposite in pairs through an RTK network; as shown in fig. 1, the 4 towers with two opposite angles are respectively a tower a, a tower b, a tower c and a tower d; wherein, the three-dimensional coordinate of the tower a is (x)a,ya,ha) And the three-dimensional coordinate of the tower b is (x)b,yb,hb) And the three-dimensional coordinate of the tower c is (x)c，yc，hc) And the three-dimensional coordinate of the tower d is (x)d，yd，hd) The tower crossing point is a point o, and the three-dimensional coordinate of the point o is (x)o，yo，ho) The image acquisition point is m points, and the three-dimensional coordinate of the m points is (x)m，ym，hm)。
Acquiring GPS coordinate data x 'and y' through a tower reference station; rotating the quadrangle formed by 4 two-two diagonal towers by theta degrees to obtain the translation quantity delta x of the quadrangle in the x axis and the y axis after the quadrangle is rotated0、Δy0Finally, obtaining the local plane coordinates x and y of a single tower; the method is specifically obtained according to the following steps:
Figure BDA0002333110150000051
obtaining the plane coordinate x of the tower crossing point o according to the local coordinates x and y of the tower per seo，yo(ii) a The method is specifically obtained according to the following steps:
Figure BDA0002333110150000052
as shown in fig. 1, by determining the plane coordinates x of the tower intersection point oo、yoThe transformation factors l, w and two transformation compensation factors x1、y1(ii) a To determine the plane coordinate x of the m point of the image acquisition pointm，ym(ii) a The method specifically comprises the following steps:
Figure BDA0002333110150000053
(2) the coordinate x of the image acquisition point m determined in the step (1) is transmitted to a Mission Planner ground stationm，ymSending the image data to an unmanned aerial vehicle, and then controlling the unmanned aerial vehicle to approach an image acquisition point m; after entering a tower cross line measurement area, selecting a tower RTK network with the best connection signal nearby and guiding an image acquisition point m reached by the unmanned aerial vehicle by RTK positioning, wherein the specific RTK positioning guidance is as follows: measuring carrier phase observed value of reference station r to satellite i
Figure BDA0002333110150000061
And the carrier phase observation of the mobile station u to the satellite i
Figure BDA0002333110150000062
Obtaining a double-difference carrier phase observed value by performing difference and then differentiating
Figure BDA0002333110150000063
The specific guiding method is as follows:
Figure BDA0002333110150000064
and solving the three-dimensional coordinate of the mobile station under the satellite coordinate in the tower reference station coordinate system at any moment i by measuring the baseline vector between the tower reference station and the mobile station and combining double-difference integer ambiguity Lambda coordinate fitting, so as to judge whether the unmanned aerial vehicle reaches the image acquisition point m.
(3) As shown in FIG. 2, noneAfter the man-machine arrives at the image acquisition point m, identifying the tower power transmission line by adopting a chain code algorithm, and after the identification is successful, performing linear detection on the successfully identified tower power transmission line by using Hough transform, namely target positioning; then position coordinate x through the dronem、ym、hmAnd measuring the coordinate x of the center point oo、yo、hoAnd calculating and determining a shooting pitch angle α of the unmanned aerial vehicle and acquiring a target image, wherein the specific pitch angle α is obtained according to the following mode:
Figure BDA0002333110150000065
the rolling angle is specifically calculated in the following manner:
solving to obtain a linear equation of the cross-over lead 1 according to the coordinates of the two towers:
y＝A1x+B1
then solved to obtain its angle β1The concrete formula is as follows:
β1＝arctan(A1)
solving to obtain a linear equation of the cross-over lead 2 according to the coordinates of the two towers:
y＝A2x+B2
then solved to obtain its angle β2The concrete formula is as follows:
β2＝arctan(A2)
the rolling angle β for the shot is solved by the formula:
Figure BDA0002333110150000071
(4) processing the gray value gray (i, j) of the acquired image according to the following formula
Figure BDA0002333110150000072
Wherein, R (i, j), G (i, j), B (i, j) are the gray values at (i, j) before image conversion, respectively.
The image is filtered by multiplying a Gaussian function related to spatial distance by a Gaussian function related to gray scale distance.
(5) As shown in fig. 1, edge detection is performed on the processed image by using a Canny algorithm, and straight line fitting is performed on two wires in the image by using a least square fitting algorithm to obtain a fitted straight line of the upper edge and the lower edge of one of the wires; obtaining the straight line of the upper and lower edges, and calculating the pixel difference l of the upper and lower edges of the wire1Then, an edge fitting line of another conducting wire is fitted, and the pixel difference l of the two conducting wires is obtained2I.e. the pixel distance of the two wires; according to the known wire diameter R; thus, the distance l between the tower cross lines is obtained; the specific mode is as follows:
Figure BDA0002333110150000073
in the embodiment, a dual-frequency full-wavelength GPS receiver is configured on the tower reference station, and the receiver can provide an accurate dual-frequency observation value at the same time; the reference station carries out continuous observation according to a specified sampling rate and transmits observation data to a user station data processing center in real time through a data link, wherein the communication mode is an NOC digital data network. The communication mode of the mobile station is a digital mobile phone network, and in order to ensure the applicability in a special environment, the communication mode is GSM communication, and standard NMEA position information is transmitted to the data processing of the subscriber station through the GSM communication mode; and then, the user station data processing center solves the system error suffered by the rover according to the position confidence sent by the reference station, then sends corrected KTCM information to the rover, and the rover combines the GPS observation value according to the received KTCM information to form a double-difference phase observation value, quickly determines the integer ambiguity parameter and the position information, and completes accurate real-time positioning.
The unmanned aerial vehicle approaches to a central observation point of a cross line according to coordinate information sent by a Session Planner ground station; coordinate data transmission between the unmanned aerial vehicle and the Mission Planner ground station adopts a data transmission radio station to carry out data transmission; after the unmanned aerial vehicle flies to a designated place, shooting and collecting images, and transmitting the images to a user station, wherein the image data transmission mode for transmitting the images to the user station is a 1.4G image transmission protocol; the specific working mode is as follows: the user station sends an instruction to control image return through a data transmission radio station; and after the collected images are transmitted back to the user station, the distance between the tower cross lines is calculated through the processing of the user station.

Claims (9)

1. A cross span line spacing image measuring method based on RTK accurate positioning comprises the following measuring steps:
(1) the tower and the unmanned aerial vehicle respectively obtain three-dimensional coordinates of 4 towers with two opposite angles and the unmanned aerial vehicle through an RTK network, and obtain coordinates of a tower intersection point and plane coordinates of an image acquisition point according to the three-dimensional coordinates of the 4 towers;
(2) the unmanned aerial vehicle approaches the image acquisition point according to the coordinate position of the image acquisition point in the plane coordinate system of the RTK network;
(3) after the unmanned aerial vehicle reaches an image acquisition point, identifying and positioning the lead, and acquiring a lead image after self-adaptive adjustment according to the field condition;
(4) carrying out gray level processing and filtering processing on the acquired image;
(5) and after edge detection and straight line fitting are carried out on the processed image, the distance between the conductors at the cross points of the towers is obtained.
2. The method for measuring the image of the distance between the crossing lines based on RTK precise positioning as claimed in claim 1, wherein the coordinates of the tower crossing point plane are obtained according to the following specific method:
Figure FDA0002333110140000011
wherein x iso、yoThe planar coordinates of the cross points of the towers under a GPS-WGS84 planar coordinate system, K is a scale factor, and theta is the rotation of a quadrangle formed by four towers which are diagonal in pairsAngle, xa、yaIs the plane coordinate, x, of the tower ab、ybIn the plane coordinate, x, of the tower bc、ycAs plane coordinates, x, of the tower cd、ydThe plane coordinates of a pole tower d are obtained; Δ x0、Δy0The X-axis and Y-axis translation amount is formed after the rotation of a quadrangle formed by four towers with two opposite angles.
3. The method for measuring the image of the cross-span line spacing based on RTK precise positioning as claimed in claim 1, wherein the image capturing point plane coordinates are obtained according to the following specific way:
Figure FDA0002333110140000012
wherein x ism、ymIs the plane coordinate of the image acquisition point, l and w are transformation factors, xo、yoIs the coordinates, x, of the tower intersection point under a GPS-WGS84 plane coordinate system1、y1Is a transform compensation factor.
4. The method for measuring the image of the cross span line distance based on the RTK precise positioning as claimed in claim 1, wherein the unmanned aerial vehicle is precisely guided to reach the image acquisition point through the single station RTK positioning, and the specific RTK guiding mode is as follows:
Figure FDA0002333110140000021
wherein the content of the first and second substances,
Figure FDA0002333110140000022
to measure the carrier phase observations of reference station r for satellite i,
Figure FDA0002333110140000023
for the mobile station u to the carrier phase observation for satellite i,
Figure FDA0002333110140000024
to be composed of
Figure FDA0002333110140000025
And
Figure FDA0002333110140000026
making difference and then differentiating to obtain double-difference carrier phase observed value, lambda is carrier wavelength,
Figure FDA0002333110140000027
in the form of a geometric distance,
Figure FDA0002333110140000028
in order to obtain the whole-cycle ambiguity,
Figure FDA0002333110140000029
to receive the observed noise.
5. The method as claimed in claim 1, wherein the adjustment of the shooting angle is performed according to the field condition; the shooting pitch angle is calculated in the following way:
Figure FDA00023331101400000210
in the formula xo、yo、hoAnd xm、ym、hmRespectively the position coordinates of the measuring center point and the unmanned aerial vehicle under an RTK coordinate system, α is a calculated pitch angle, hoThe method is specifically obtained by the following steps:
Figure FDA00023331101400000211
wherein h isaHeight of tower a, hbHeight of tower b, hcHeight of tower c, hdThe height of the tower d.
The rolling angle solving formula of the shooting is as follows:
Figure FDA00023331101400000212
wherein β is the rolling angle of the shooting, β1Angle of connection of two towers crossing over conductor 1, β2Is the angle of the connecting line of the two towers crossing the lead 2.
6. The method as claimed in claim 1, wherein the gray scale processing is average gray scale processing; the filtering process is bilateral filtering process.
7. The method as claimed in claim 6, wherein the gray value of the average gray processing method is equal to the average of the gray values of R, G, B three components of the color image, and the calculation formula is as follows:
Figure FDA0002333110140000031
where, (i, j) is any coordinate in the image, gray (i, j) is the average value of (i, j), and R (i, j), G (i, j), and B (i, j) are the gray values of (i, j) before image conversion, respectively.
8. The method as claimed in claim 6, wherein the bilateral filtering processing method is based on a spatial distance dependent gaussian function multiplied by a gray scale distance dependent gaussian function.
The space distance is as follows: refers to the euler distance between the current point and the central point. The spatial domain gaussian function has the mathematical form:
Figure FDA0002333110140000032
wherein (x)i,yi) Is the position of the current point, (x)c,yc) σ is the spatial domain standard deviation for the center point gray value.
The gray scale space is: refers to the absolute value of the difference between the current point gray level and the center gray level. The value domain gaussian function is mathematically formed as:
Figure FDA0002333110140000033
wherein, gray (x)i,yi) Gray (x) for the current point gray valuec,yc) σ is the value domain standard deviation for the center point gray value.
9. The method as claimed in claim 1, wherein the image of the distance between crossing lines is obtained by calculating the distance between crossing lines of the tower according to the following method:
Figure FDA0002333110140000034
wherein l is the distance between the conductors at the cross point of the tower, l1Is the pixel line diameter of the conducting wire2R is the pixel difference across two wires of the cross line, and is the real wire diameter of the wire.
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