CN112001952A - Method and system for registering space, space and ground multi-sensor data of power transmission line - Google Patents
Method and system for registering space, space and ground multi-sensor data of power transmission line Download PDFInfo
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Abstract
The invention provides a method for registering space, space and ground multi-sensing data of a power transmission line, which comprises the following steps: converting the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image into a geodetic 2000 coordinate system based on a ground control point information ledger to respectively obtain a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system; error registration of the high-resolution satellite remote sensing image and the transmission tower is carried out by utilizing a multi-weight rational number model resolving method based on a ground control point set under a geodetic 2000 coordinate system; generating an airborne transmission line three-dimensional space based on airborne information, and performing high-precision registration of the airborne transmission line and a transmission tower based on a ground control point set and the mapping relation of various ground sensors between the transmission line three-dimensional space and the transmission tower; the high-precision registration scheme suitable for the three-dimensional multi-sensing data of the power transmission line space, space and ground is firstly provided to construct a high-precision spatial correlation analysis basis of the multi-source sensing data for the power internet of things and the power transmission line.
Description
Technical Field
The invention belongs to the field of power transmission lines of power grids, and relates to a method and a system for registering space, space and ground multi-sensing data of a power transmission line.
Background
The continuous development of strong smart power grids and power internet of things, and the power grid observation and sensing means are from a pure ground sensor to unmanned aerial vehicles, helicopters and satellite remote sensing, so that an air-space-ground three-dimensional sensing system is formed. However, under the condition of no control point, the satellite remote sensing image inevitably has more or less offset in complex environments such as mountainous areas and the like, and the satellite remote sensing image cannot be consistent with the design coordinates of the transmission tower in the management internal ledger, so that various types of information such as environmental hazards extracted from the satellite remote sensing image cannot be correctly associated with the transmission tower in the ledger. Meanwhile, ground sensors such as grating optical fibers and optical fiber composite overhead ground wires (OPGWs) are increasingly applied, and how to register satellite remote sensing images, unmanned aerial vehicle/helicopter images, ground grating optical fibers, meteorological stations and other sensors and data with high precision and associate the sensors and the data with power transmission lines in a one-to-one correspondence manner becomes a core foundation for realizing an 'air-space-ground' three-dimensional sensing network of a power grid.
Currently, the main research focuses on the registration research and application of multi-scale and multi-temporal satellite remote sensing data, or the registration between satellite remote sensing and unmanned aerial vehicle/helicopter images.
The essence of registration between different images is to perform spatial correction on the images and transform the images to the same coordinate by using a certain spatial transformation model according to the spatial distortion characteristics. The registration process of the images is to find the geometric transformation from the reference image to the image to be matched, and under the transformation, the two images have the maximum similarity. There are many transformation models, including but not limited to similarity transformation, affine transformation, etc., and different transformation models are suitable for different environments. In the research process in recent years, the image registration algorithms proposed by expert scholars of units such as Wuhan university, China academy of sciences aerospace information research, Beijing aerospace university and China academy of sciences can be roughly divided into: registration based on gray scale information and feature-based registration algorithms.
However, the above studies have less spatial registration for multisource sensors of three different platforms "air-space-ground". Particularly in the power industry, the research on high-precision registration technologies among satellite remote sensing data, unmanned aerial vehicle/helicopter images, power electronics and optical fiber data is relatively less, so that the high-precision registration among the satellite remote sensing images, power transmission lines and ground sensors can be realized only manually in some areas at present, the efficiency is extremely low, and human errors exist.
Disclosure of Invention
Aiming at the defects that under the condition of no control point, a satellite remote sensing image is bound to have more or less deviation in complex environments such as mountainous areas and the like and cannot be consistent with the design coordinates of a transmission tower in a management internal standing book, so that various kinds of information such as environmental hidden dangers extracted from the satellite remote sensing image cannot be correctly associated with the transmission tower in the standing book, the invention provides a method for registering air-to-ground multi-sensing data of a transmission line, which comprises the following steps:
based on a ground control point information ledger, uniformly converting coordinate systems of various ground sensors and a coordinate system of a high-resolution satellite remote sensing image into a geodetic 2000 coordinate system to respectively obtain a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system;
carrying out error registration on the high-resolution satellite remote sensing image and the transmission tower on the basis of the ground control point set under the earth 2000 coordinate system by utilizing a multi-weight rational number model resolving method;
and generating an airborne power transmission line three-dimensional space based on airborne information, and registering the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation of the various ground sensors between the power transmission line three-dimensional space and the power transmission tower.
Preferably, the performing, by using a multi-weight rational number model solution method, error registration of the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the earth 2000 coordinate system includes:
generating a surface digital elevation data set from the high-resolution satellite remote sensing image by using a front intersection method;
obtaining a three-dimensional space coordinate of the high-resolution satellite remote sensing image based on the surface digital elevation data set;
calculating the error between the three-dimensional space coordinate of the high-resolution satellite remote sensing image and the information ledger of the ground control point of the transmission tower;
and registering the error by utilizing a multi-weight rational number model resolving method.
Preferably, the obtaining of the three-dimensional space coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation data set includes:
converting the coordinates of any numbered transmission tower of the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding transmission tower ground control point set to obtain registration errors within a preset range;
and reducing the registration error for providing the altitude elevation information of the transmission tower with any number based on the surface digital elevation data set to obtain the three-dimensional space coordinate of each transmission tower.
Preferably, the generating an airborne power transmission line three-dimensional space based on the airborne information, and registering the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relationship between the various ground sensors in the power transmission line three-dimensional space and the power transmission tower includes:
scanning a pre-acquired point cloud of the airborne laser radar or an oblique photogrammetry image to generate a three-dimensional space of the airborne power transmission line, acquiring coordinates of the airborne laser radar or the oblique photogrammetry image, and converting the coordinates of any one of the airborne laser radar or the oblique photogrammetry image to a corresponding ground control point set of the power transmission line tower or designed real coordinates to acquire an error in a preset range;
based on the coordinates of the airborne laser radar or the oblique photogrammetry images, combining the mapping relation of the ground sensor on the three-dimensional space of the power transmission line and the power transmission tower to obtain the error between the airborne laser radar or the oblique photogrammetry images and the ground sensor;
registering the error in the preset range and the error of the airborne laser radar or the oblique photogrammetry image and the ground sensor by using an angle-line combined feature registration method;
wherein, airborne transmission line three-dimensional space includes: accurate spatial three-dimensional information of each point of the tower body of the transmission tower and various line bodies;
the ground sensor includes: a power electronic sensor, a temperature sensor, a galloping sensor, or a fiber grating sensor.
Preferably, the ground control point set includes: the system comprises a power transmission line and power transmission tower coordinate control point set, a Beidou station control point set, a field manual acquisition control point set, a GPS ground control point and a power transmission line equipment management ledger;
the onboard information includes: laser radar or oblique photogrammetry images carried by various unmanned aerial vehicles and helicopters.
Preferably, the mapping relationship between the ground sensor in the three-dimensional space of the power transmission line and the power transmission tower includes:
for a ground sensor with a GPS chip, a GPS and Beidou chips or a Beidou chip, acquiring the three-dimensional space coordinate of the ground sensor through the GPS chip, acquiring the number of a transmission tower nearest to the ground sensor and the horizontal distance from the ground sensor to the nearest transmission tower, and acquiring the three-dimensional space coordinate of the transmission tower based on the number of the transmission tower nearest to the ground sensor and the horizontal distance from the ground sensor to the nearest transmission tower;
for a ground sensor without a positioning time service chip, obtaining three-dimensional space coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower, wherein the transmission tower number is obtained from the equipment management ledger of the transmission line;
and obtaining the unique number of the ground sensor space of the ground sensor on the three-dimensional space and the transmission tower relative to the transmission tower number, the longitude and latitude of the transmission tower, the line phase and the horizontal distance from the nearest transmission tower based on the three-dimensional space coordinate of the transmission tower.
Preferably, the method further comprises:
and combining the error registration of the airborne laser radar or the oblique photogrammetry image and the ground sensor in the three-dimensional space of the power transmission line and the registration error of the high-resolution satellite remote sensing image and the power transmission tower to obtain the three-dimensional space registration of the sky and the ground.
Based on the same conception, the invention provides a power transmission line space-sky-ground multi-sensing data registration system, which comprises: the system comprises a coordinate unification module, a satellite registration module and an airborne registration module;
the coordinate unifying module is used for converting coordinate systems of various ground sensors and a coordinate system of a high-resolution satellite remote sensing image into a geodetic 2000 coordinate system in a unifying manner based on a ground control point information ledger, and respectively obtaining a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system;
the satellite registration module performs error registration of the high-resolution satellite remote sensing image and the transmission tower on the basis of the ground control point set under the earth 2000 coordinate system by using a multi-weight rational number model resolving method;
the airborne registration module generates an airborne power transmission line three-dimensional space based on airborne information, and performs registration of the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation of the various ground sensors between the power transmission line three-dimensional space and the power transmission tower.
Preferably, the satellite registration module includes: the system comprises a data set generation submodule, a three-dimensional coordinate submodule, an error calculation submodule and a satellite error registration submodule;
the data set generation submodule is used for generating a surface digital elevation data set from the high-resolution satellite remote sensing image by using a front intersection method;
the three-dimensional coordinate submodule obtains a three-dimensional space coordinate of the high-resolution satellite remote sensing image based on the earth surface digital elevation data set;
the error calculation submodule is used for calculating the error between the three-dimensional space coordinate of the high-resolution satellite remote sensing image and the information ledger of the ground control point of the transmission tower;
and the satellite error registration submodule performs registration on the errors by utilizing a multi-weight rational number model resolving method.
Preferably, the three-dimensional coordinate submodule includes: a satellite error unit and a satellite three-dimensional coordinate unit;
the satellite error unit is used for converting the coordinates of any numbered transmission tower of the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding transmission tower ground control point set to obtain registration errors within a preset range;
and the satellite three-dimensional coordinate unit reduces the registration error for providing the altitude elevation information of the transmission tower with any number based on the earth surface digital elevation data set to obtain the three-dimensional space coordinate of each transmission tower.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method for registering space, space and ground multi-sensing data of a power transmission line, which comprises the following steps: based on a ground control point information ledger, uniformly converting coordinate systems of various ground sensors and a coordinate system of a high-resolution satellite remote sensing image into a geodetic 2000 coordinate system to respectively obtain a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system; carrying out error registration on the high-resolution satellite remote sensing image and the transmission tower on the basis of the ground control point set under the earth 2000 coordinate system by utilizing a multi-weight rational number model resolving method; generating an airborne power transmission line three-dimensional space based on airborne information, and performing high-precision registration on the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation between the various ground sensors in the power transmission line three-dimensional space and the power transmission tower; the high-precision registration solution suitable for the three-dimensional multi-sensor data of the power transmission line space, space and ground is firstly provided, and a high-precision spatial correlation analysis basis of the multi-source sensor data is laid for the construction of the power internet of things and the three-dimensional sensing system of the power transmission line.
2. The invention provides a method and a system for registering space, space and ground multi-sensing data of a power transmission line, which improve the efficiency of the conventional manual registration and improve the intelligent level of high-precision registration of the space, space and ground multi-sensing data of the power transmission line. And a foundation is laid for subsequent automatic hidden danger information analysis.
3. The invention provides a method and a system for registering space, air and ground multi-sensing data of a power transmission line, wherein the registration error of a satellite remote sensing image and a power transmission tower in complex environments such as mountainous areas and the like under the condition of no control point is 10-30 m. The registration error between the satellite remote sensing image obtained by the method and the transmission tower is not more than 5 m.
4. The invention provides a method and a system for registering space, space and ground multi-sensing data of a power transmission line.
Drawings
FIG. 1 is a flow chart of a method provided by the present invention;
FIG. 2 is a general technical roadmap provided by an embodiment of the present invention;
fig. 3 is a spatial registration technique roadmap of multi-scale and multi-temporal remote sensing data and sensing data of a power transmission corridor, provided by an embodiment of the present invention;
FIG. 4 is a diagram of an "air-space-ground" precise three-dimensional spatial registration model provided by the present invention;
fig. 5 is a system configuration diagram provided by the present invention.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
the invention provides a method which is introduced by combining a flow chart of a method provided by the invention in figure 1, and comprises the following specific steps:
step 1: based on a ground control point information ledger, uniformly converting coordinate systems of various ground sensors and a coordinate system of a high-resolution satellite remote sensing image into a geodetic 2000 coordinate system to respectively obtain a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system;
step 2: carrying out error registration on the high-resolution satellite remote sensing image and the transmission tower on the basis of the ground control point set under the earth 2000 coordinate system by utilizing a multi-weight rational number model resolving method;
and step 3: generating an airborne power transmission line three-dimensional space based on airborne information, and registering the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation of various ground sensors between the power transmission line three-dimensional space and the power transmission tower;
wherein, the step 1: based on the ground control point information ledger, the coordinate system of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image are uniformly converted into a geodetic 2000 coordinate system, and a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system are respectively obtained, and the method specifically comprises the following steps:
firstly, constructing a high-precision ground control point set suitable for three-dimensional perception of the power grid air-space-ground and introducing the set in combination with the general technical route diagram of FIG. 2, and innovating information collection of the ground control points. And combining the characteristics of transmission line strip distribution and high reliability of transmission tower coordinates, collecting the geographic coordinates of two tower bases at the diagonal of the transmission tower every 2-3 kilometers, and matching the geographic coordinates with the coordinates provided by the existing PMS 2.0 machine account or design institute to form a transmission tower point coordinate control point set. Meanwhile, if the power grid geological disaster Beidou monitoring points exist in the image coverage range, coordinates of the geological disaster Beidou monitoring points are obtained and used as a Beidou site control point set. In addition, the coordinates of buildings around the corridor of the power transmission line, intersection zebra crossings, bridges and other ground objects with obvious texture characteristics or larger contrast with background color tones are uniformly acquired as much as possible, and a field manual acquisition control point set is formed. And in combination with some disclosed GPS ground control points, a high-precision ground control point set suitable for three-dimensional perception of power grid air-space-ground is formed.
(II) the space coordinate system is unified
There are currently four possible situations for a ground sensor: the GPS, GPS + Beidou or Beidou chip is not provided with a positioning time service chip. For a traditional sensor without a self-contained chip, the space coordinate system of the sensor is consistent with the coordinate systems of a transmission line and a transformer substation, and the space coordinate system of the sensor can be a Western-Ann 80 coordinate system or a geodetic 2000(CGCS2000) coordinate system. For the sensor with the GPS and Beidou or Beidou chip, a CGCS2000 coordinate system used by the Beidou chip is directly adopted. For a sensor device using only a GPS chip, the WGS84 coordinate system is used. Therefore, other coordinate systems such as the sienna 80 coordinate system or the WGS84 coordinate system are converted into the CGCS2000 coordinate system.
And (3) carrying out coordinate conversion on the high-precision ground control point set constructed in the first part, converting the coordinates of the field manual acquisition point, the public GPS reference point and the transmission line tower from a WBS84 coordinate system and a Xian 80 coordinate system into a CGCS2000 coordinate system respectively, constructing the ground control point set under the CGCS2000 coordinate system without coordinate conversion of the power grid geological disaster monitoring Beidou station, and using the ground control point set for next-step high-resolution satellite remote sensing image coordinate system conversion and high-precision positioning.
Step 2: the error registration of the high-resolution satellite remote sensing image and the transmission tower is carried out by utilizing a multi-weight rational number model resolving method based on the ground control point set under the earth 2000 coordinate system, and the method specifically comprises the following steps:
and performing coordinate conversion on the sub-meter high-resolution satellite remote sensing image based on the ground control point set and other characteristic points in the CGCS2000 coordinate system. For satellite remote sensing images shot by programming in the future, a CGCS2000 coordinate system is directly defined in the geometric correction process, and secondary conversion of the coordinate system is avoided. For the conventional historical satellite remote sensing image, if the coordinate system is not CSGS2000, a seven-parameter model (Boolean-Walsh model) is adopted for coordinate system conversion. More than 3 homonymous points are uniformly selected as much as possible, the coefficients of the seven-parameter model are solved by using a least square method, and then the seven-parameter model is used for completing the coordinate system conversion of the satellite remote sensing image based on the solved coefficients.
In the process of utilizing the seven-parameter model to carry out coordinate conversion, because a single file of a satellite remote sensing image is large and a time sequence continuous observation condition (such as a meteorological satellite) exists, the image data is resampled by adopting the existing multi-weight flux permanent resampling algorithm.
By using the existing registration method between the satellite remote sensing images, the coordinate system of the multi-scale and multi-time-phase satellite remote sensing images is unified into CSGS2000 through the high-resolution satellite remote sensing image coordinate system conversion and the high-precision registration between the multi-scale and multi-time-phase satellite remote sensing images.
Through the steps, the power transmission corridor related remote sensing and sensing data space coordinate system unification (CSGS2000 coordinate system) is completed.
The most fundamental and important control point selection is in performing the high precision registration/geocoding process. Control points with different accuracies, control points with different qualities and control points with different distribution densities and laws have great influence on the registration/geocoding accuracy, control point selection is one of the most important links of high-accuracy registration/geocoding of satellite remote sensing images, and the method is introduced by combining the multi-scale and multi-temporal remote sensing data of the power transmission corridor and the spatial registration technical route map of the sensing data in the figure 3.
In order to reduce registration errors caused by complex landforms, a high-precision earth surface digital elevation model (earth surface digital elevation data set) (data set in a picture form) (DEM) is generated for the high-resolution optical satellite stereo image by a method such as front intersection. And (3) combining the DEM and the high-precision ground control point set obtained in the step (first), and utilizing the existing multi-weight rational number model resolving method to realize the accurate registration of the high-resolution satellite remote sensing image and the transmission tower. The accurate registration of the multi-scale and multi-time phase satellite remote sensing image and the transmission tower is realized by the existing high-precision relative registration method of the multi-scale and multi-time phase satellite remote sensing image, and the registration error is less than 5 m.
Assuming that the real coordinates of any tower account numbered with # N or designed real coordinates of the transmission line are (X, Y), and the coordinates of the # N transmission tower on the original satellite remote sensing image are (X, Y)original1，Yoriginal1) This step can be used to complete (X)original1，Yoriginal1) To (X, Y), the error between the two does not exceed 5 m. The optimum error may be within 0.15 m. Meanwhile, a Digital Elevation Model (DEM) will provide altitude elevation information Z for # N transmission towers. In conclusion, accurate registration is realized between any tower numbered with # N of the power transmission line and the satellite remote sensing image, and spatial three-dimensional coordinate information of each power transmission tower can be accurately obtained and is (X, Y, Z).
For airborne laser radar (Lidar) point cloud or oblique photogrammetry images acquired from the same line section, a three-dimensional scene of the power transmission line is generated through three-dimensional scene modeling by using software such as the conventional Pix4 d. And combining the ground control point set generated in the first step under the high-precision CGCS2000 coordinate system to realize high-precision registration between the three-dimensional scene of the airborne power transmission line and the power transmission tower. The airborne system comprises various unmanned aerial vehicles and laser radar (Lidar) or oblique photogrammetry images carried by helicopters.
Assuming that the real coordinates of any tower ledger or design with the number of # N of the power transmission line are (X, Y), and the coordinates of the original airborne laser radar (Lidar) or oblique photogrammetry image are (X)original2，Yoriginal2) Go through the bookStep (X) can be completedoriginal2，Yoriginal2) To (X, Y), the error between the two does not exceed 0.2 m. The optimum error may be within 0.01 m. Meanwhile, the three-dimensional scene of the transmission line provides accurate spatial three-dimensional information (X) of each point of the tower body of the transmission tower and various line bodies such as conducting wires, line wires and insulator stringsp，Yp，Zp). In conclusion, accurate registration is realized between any tower numbered with # N of the power transmission line and airborne laser radar (Lidar) point cloud or oblique photogrammetry images, and a three-dimensional scene of the power transmission line provides accurate spatial three-dimensional information (X) of each point of a tower body of the power transmission tower and various line bodies such as conducting wires, line lines and insulator stringsp，Yp，Zp). And combining the first step, so that the accurate registration of the satellite remote sensing-airborne radar (Lidar) or oblique photogrammetry image-power transmission line is completed.
And step 3: generating an airborne power transmission line three-dimensional space based on airborne information, and registering the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation between the various ground sensors in the power transmission line three-dimensional space and the power transmission tower, specifically comprising:
for various sensors such as power electronics, temperature, waving and fiber bragg gratings on the ground, the number N of the transmission tower nearest to the fiber bragg grating and the horizontal distance L of the transmission tower nearest to the transmission tower are extracted from a sensor installation ledger, corresponding transmission tower coordinates are obtained, and a unique mapping relation (N, X, Y, P and L) between each sensor and the transmission tower in a three-dimensional space is established, wherein the mapping relation is specifically as follows:
the number of the transmission tower is N- > # N, the longitude and latitude (X, Y) - > line phase P (for an alternating current line P, A, B or C phase) - > distance # N transmission tower horizontal distance L- > space unique number (N, X, Y, P, L) of sensors such as ground power electronic and fiber grating and the like
If various sensors such as power electronics, temperature, waving, fiber bragg grating and the like on the ground are arranged on the transmission tower, the line phase P is equal to 0, and the horizontal distance L from the transmission tower is equal to 0. The unique spatial serial numbers of sensors such as ground power electronics, fiber bragg gratings and the like are simplified as follows: (N, X, Y, 0, 0).
It is worth mentioning that the spatial unique numbers of various sensors such as power electronics, temperature, waving, fiber bragg grating and the like on the ground are not expressed by universal spatial three-dimensional coordinates, so that the multi-source data fusion of the actual business is hindered.
And (3) finding out three-dimensional coordinates (X ', Y', Z ') of a point which is horizontally distant from the # N power transmission tower and is positioned on the P phase lead by combining the three-dimensional scene of the power transmission line and the unique serial number (N, X, Y, P, L) of the ground sensor, namely real space three-dimensional coordinates (X', Y ', Z') corresponding to the unique serial number (N, X, Y, P, L) of the ground sensor. Therefore, accurate registration of airborne laser radar (Lidar) point cloud or oblique photogrammetry images and a ground sensor is realized, and the 'air-space-ground' accurate three-dimensional space registration is completed by combining the first step. On the basis, an electric power map with three-dimensional perception and accurate positioning of the power grid is constructed by utilizing the existing geographic information technology (GIS). An "air-space-ground" accurate three-dimensional spatial registration model is shown in fig. 4.
Example 2:
based on the same concept, the invention provides a method for registering space, space and ground multi-sensing data of a power transmission line, which is introduced by combining with a system structure diagram of fig. 5 and comprises the following steps: the system comprises a coordinate unification module, a satellite registration module and an airborne registration module;
the coordinate unifying module is used for converting coordinate systems of various ground sensors and a coordinate system of a high-resolution satellite remote sensing image into a geodetic 2000 coordinate system in a unifying manner based on a ground control point information ledger, and respectively obtaining a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system;
the satellite registration module performs error registration of the high-resolution satellite remote sensing image and the transmission tower on the basis of the ground control point set under the earth 2000 coordinate system by using a multi-weight rational number model resolving method;
the airborne registration module generates an airborne power transmission line three-dimensional space based on airborne information, and performs registration of the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation of the various ground sensors between the power transmission line three-dimensional space and the power transmission tower.
The satellite registration module includes: the system comprises a data set generation submodule, a three-dimensional coordinate submodule, an error calculation submodule and a satellite error registration submodule;
the data set generation submodule is used for generating a surface digital elevation data set from the high-resolution satellite remote sensing image by using a front intersection method;
the three-dimensional coordinate submodule obtains a three-dimensional space coordinate of the high-resolution satellite remote sensing image based on the earth surface digital elevation data set;
the error calculation submodule is used for calculating the error between the three-dimensional space coordinate of the high-resolution satellite remote sensing image and the information ledger of the ground control point of the transmission tower;
and the satellite error registration submodule performs registration on the errors by utilizing a multi-weight rational number model resolving method.
The three-dimensional coordinate submodule includes: a satellite error unit and a satellite three-dimensional coordinate unit;
the satellite error unit is used for converting the coordinates of any numbered transmission tower of the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding transmission tower ground control point set to obtain registration errors within a preset range;
and the satellite three-dimensional coordinate unit reduces the registration error for providing the altitude elevation information of the transmission tower with any number based on the earth surface digital elevation data set to obtain the three-dimensional space coordinate of each transmission tower.
The on-board registration module comprising: a radar error submodule, a radar and sensor error submodule and an airborne error registration submodule;
the radar error sub-module is used for scanning a pre-acquired point cloud of the airborne laser radar or an oblique photogrammetry image to generate a three-dimensional space of the airborne power transmission line, obtaining coordinates of the airborne laser radar or the oblique photogrammetry image, and converting the coordinates of any one of the airborne laser radar or the oblique photogrammetry image to a corresponding ground control point set of the power transmission line tower or designed real coordinates to obtain an error in a preset range;
the radar and sensor error submodule is used for obtaining the error between the airborne laser radar or oblique photography measurement image and the ground sensor based on the coordinate of the airborne laser radar or oblique photography measurement image and by combining the mapping relation between the ground sensor in the three-dimensional space of the power transmission line and the power transmission tower;
the airborne error registration sub-module is used for registering the error in the preset range and the error between the airborne laser radar or oblique photogrammetry image and the ground sensor by using an angle-line combined feature registration method;
wherein, airborne transmission line three-dimensional space includes: accurate spatial three-dimensional information of each point of the tower body of the transmission tower and various line bodies;
the ground sensor includes: a power electronic sensor, a temperature sensor, a galloping sensor, or a fiber grating sensor.
The radar and sensor error submodule, comprising: the system comprises a positioning sensor coordinate unit, a non-positioning sensor coordinate unit and a mapping numbering unit;
the positioning sensor coordinate unit is used for acquiring a three-dimensional space coordinate of a ground sensor with a GPS chip, a GPS and Beidou chip or a Beidou chip, acquiring a transmission tower number nearest to the ground sensor and a horizontal distance from the ground sensor to the nearest transmission tower through the GPS chip, and acquiring the three-dimensional space coordinate of the transmission tower based on the transmission tower number nearest to the ground sensor and the horizontal distance from the ground sensor to the nearest transmission tower;
the positioning sensor-free coordinate unit is used for acquiring a three-dimensional space coordinate of the transmission tower based on a transmission tower number which is acquired from the equipment management ledger of the transmission line and is closest to the ground sensor and a horizontal distance from the ground sensor to the closest transmission tower for the ground sensor without a positioning time service chip;
the mapping numbering unit obtains the unique spatial number of the ground sensor on the three-dimensional space, which is related to the number of the transmission tower, the longitude and latitude of the transmission tower, the line phase and the horizontal distance from the transmission tower to the nearest transmission tower, of the ground sensor on the basis of the three-dimensional space coordinate of the transmission tower.
The system further comprises: an air-to-ground registration module;
and the space-ground registration module is used for combining the error registration of the airborne laser radar or the oblique photogrammetry image and the ground sensor in the three-dimensional space of the power transmission line and the registration error of the high-resolution satellite remote sensing image and the power transmission tower to obtain space-ground three-dimensional space registration.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (10)
1. A method for registering space, sky and ground multi-sensing data of a power transmission line is characterized by comprising the following steps:
based on a ground control point information ledger, uniformly converting coordinate systems of various ground sensors and a coordinate system of a high-resolution satellite remote sensing image into a geodetic 2000 coordinate system to respectively obtain a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system;
carrying out error registration on the high-resolution satellite remote sensing image and the transmission tower on the basis of the ground control point set under the earth 2000 coordinate system by utilizing a multi-weight rational number model resolving method;
and generating an airborne power transmission line three-dimensional space based on airborne information, and registering the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation of the various ground sensors between the power transmission line three-dimensional space and the power transmission tower.
2. The method of claim 1, wherein the performing the error registration of the high-resolution satellite remote sensing image with the transmission tower based on the ground control point set in the earth 2000 coordinate system by using a multi-weight rational number model solution method comprises:
generating a surface digital elevation data set from the high-resolution satellite remote sensing image by using a front intersection method;
obtaining a three-dimensional space coordinate of the high-resolution satellite remote sensing image based on the surface digital elevation data set;
calculating the error between the three-dimensional space coordinate of the high-resolution satellite remote sensing image and the information ledger of the ground control point of the transmission tower;
and registering the error by utilizing a multi-weight rational number model resolving method.
3. The method of claim 2, wherein obtaining three-dimensional spatial coordinates of the high resolution satellite remote sensing imagery based on the surface digital elevation dataset comprises:
converting the coordinates of any numbered transmission tower of the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding transmission tower ground control point set to obtain registration errors within a preset range;
and reducing the registration error for providing the altitude elevation information of the transmission tower with any number based on the surface digital elevation data set to obtain the three-dimensional space coordinate of each transmission tower.
4. The method of claim 3, wherein the generating an airborne power transmission line three-dimensional space based on the airborne information and the registering the airborne power transmission line and the power transmission tower based on the ground control point set in combination with the mapping relationship of the various types of ground sensors between the power transmission line three-dimensional space and the power transmission tower comprises:
scanning a pre-acquired point cloud of the airborne laser radar or an oblique photogrammetry image to generate a three-dimensional space of the airborne power transmission line, acquiring coordinates of the airborne laser radar or the oblique photogrammetry image, and converting the coordinates of any one of the airborne laser radar or the oblique photogrammetry image to a corresponding ground control point set of the power transmission line tower or designed real coordinates to acquire an error in a preset range;
based on the coordinates of the airborne laser radar or the oblique photogrammetry images, combining the mapping relation of the ground sensor on the three-dimensional space of the power transmission line and the power transmission tower to obtain the error between the airborne laser radar or the oblique photogrammetry images and the ground sensor;
registering the error in the preset range and the error of the airborne laser radar or the oblique photogrammetry image and the ground sensor by using an angle-line combined feature registration method;
wherein, airborne transmission line three-dimensional space includes: accurate spatial three-dimensional information of each point of the tower body of the transmission tower and various line bodies;
the ground sensor includes: a power electronic sensor, a temperature sensor, a galloping sensor, or a fiber grating sensor.
5. The method of claim 4, wherein the set of ground control points comprises: the system comprises a power transmission line and power transmission tower coordinate control point set, a Beidou station control point set, a field manual acquisition control point set, a GPS ground control point and a power transmission line equipment management ledger;
the onboard information includes: laser radar or oblique photogrammetry images carried by various unmanned aerial vehicles and helicopters.
6. The method of claim 5, wherein the mapping of the ground sensor to the transmission tower in the three-dimensional space of the transmission line comprises:
for a ground sensor with a GPS chip, a GPS and Beidou chips or a Beidou chip, acquiring the three-dimensional space coordinate of the ground sensor through the GPS chip, acquiring the number of a transmission tower nearest to the ground sensor and the horizontal distance from the ground sensor to the nearest transmission tower, and acquiring the three-dimensional space coordinate of the transmission tower based on the number of the transmission tower nearest to the ground sensor and the horizontal distance from the ground sensor to the nearest transmission tower;
for a ground sensor without a positioning time service chip, obtaining three-dimensional space coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower, wherein the transmission tower number is obtained from the equipment management ledger of the transmission line;
and obtaining the unique number of the ground sensor space of the ground sensor on the three-dimensional space and the transmission tower relative to the transmission tower number, the longitude and latitude of the transmission tower, the line phase and the horizontal distance from the nearest transmission tower based on the three-dimensional space coordinate of the transmission tower.
7. The method of claim 6, further comprising:
and combining the error registration of the airborne laser radar or the oblique photogrammetry image and the ground sensor in the three-dimensional space of the power transmission line and the registration error of the high-resolution satellite remote sensing image and the power transmission tower to obtain the three-dimensional space registration of the sky and the ground.
8. A system for registering space, sky and ground multi-sensor data of a power transmission line is characterized by comprising: the system comprises a coordinate unification module, a satellite registration module and an airborne registration module;
the coordinate unifying module is used for converting coordinate systems of various ground sensors and a coordinate system of a high-resolution satellite remote sensing image into a geodetic 2000 coordinate system in a unifying manner based on a ground control point information ledger, and respectively obtaining a ground control point set and a high-resolution satellite remote sensing image under the geodetic 2000 coordinate system;
the satellite registration module performs error registration of the high-resolution satellite remote sensing image and the transmission tower on the basis of the ground control point set under the earth 2000 coordinate system by using a multi-weight rational number model resolving method;
the airborne registration module generates an airborne power transmission line three-dimensional space based on airborne information, and performs registration of the airborne power transmission line and the power transmission tower based on the ground control point set and the mapping relation of the various ground sensors between the power transmission line three-dimensional space and the power transmission tower.
9. The system of claim 8, wherein the satellite registration module comprises: the system comprises a data set generation submodule, a three-dimensional coordinate submodule, an error calculation submodule and a satellite error registration submodule;
the data set generation submodule is used for generating a surface digital elevation data set from the high-resolution satellite remote sensing image by using a front intersection method;
the three-dimensional coordinate submodule obtains a three-dimensional space coordinate of the high-resolution satellite remote sensing image based on the earth surface digital elevation data set;
the error calculation submodule is used for calculating the error between the three-dimensional space coordinate of the high-resolution satellite remote sensing image and the information ledger of the ground control point of the transmission tower;
and the satellite error registration submodule performs registration on the errors by utilizing a multi-weight rational number model resolving method.
10. The system of claim 9, wherein the three-dimensional coordinate submodule comprises: a satellite error unit and a satellite three-dimensional coordinate unit;
the satellite error unit is used for converting the coordinates of any numbered transmission tower of the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding transmission tower ground control point set to obtain registration errors within a preset range;
and the satellite three-dimensional coordinate unit reduces the registration error for providing the altitude elevation information of the transmission tower with any number based on the earth surface digital elevation data set to obtain the three-dimensional space coordinate of each transmission tower.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114280400A (en) * | 2021-12-23 | 2022-04-05 | 广东稳峰电力科技有限公司 | Transformer substation power transmission line coordinate conversion design method, device and system |
| WO2023201919A1 (en) * | 2022-04-22 | 2023-10-26 | 贵州电网有限责任公司 | Aerial-terrestrial integrated joint orientation method applied to panoramic and transparent user's application for installation of low-voltage line in distribution network |
| CN117092641A (en) * | 2023-10-20 | 2023-11-21 | 江苏翰林正川工程技术有限公司 | Information fusion method based on radar ranging and image recognition |
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2020
- 2020-07-01 CN CN202010623855.5A patent/CN112001952A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114280400A (en) * | 2021-12-23 | 2022-04-05 | 广东稳峰电力科技有限公司 | Transformer substation power transmission line coordinate conversion design method, device and system |
| WO2023201919A1 (en) * | 2022-04-22 | 2023-10-26 | 贵州电网有限责任公司 | Aerial-terrestrial integrated joint orientation method applied to panoramic and transparent user's application for installation of low-voltage line in distribution network |
| CN117092641A (en) * | 2023-10-20 | 2023-11-21 | 江苏翰林正川工程技术有限公司 | Information fusion method based on radar ranging and image recognition |
| CN117092641B (en) * | 2023-10-20 | 2023-12-15 | 江苏翰林正川工程技术有限公司 | Information fusion method based on radar ranging and image recognition |
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