CN112684449B - Water area power line sag inversion method and device based on SAR technology - Google Patents
Water area power line sag inversion method and device based on SAR technology Download PDFInfo
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Abstract
The invention relates to a water area power line sag inversion method and a device based on an SAR technology, wherein the method comprises the following steps: selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image; establishing a transmission line range area based on the coordinates of the transmission tower on the SAR image, and intercepting a target SAR image in the transmission line range; acquiring an image coordinate 1 of a secondary scattering signal and an image coordinate 2 of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image; calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line; and solving the three-dimensional coordinates of the transmission line according to the transmission line elevation, and drawing the sag images of the corresponding transmission lines. Through this technical scheme, can improve the transmission line on the waters and patrol and examine the quality comprehensively, show the transmission line efficiency of patrolling and examining that promotes.
Description
Technical Field
The disclosure relates to the technical field of synthetic aperture radars, in particular to a method and a device for inverting a water area power line sag based on an SAR technology.
Background
High-voltage line inspection is one of the important operation and maintenance works of national power grids every year, and power failure accidents caused by collapse of national grid towers and breakage of power transmission lines due to complex geographic environment and frequent natural disasters occur in recent years.
Current manual inspection is the main mode that current electricity tower patrolled and examined. The method has the problems that the inspection efficiency is low, the inspection result is greatly influenced by subjectivity, and the inspection work is difficult to be carried out particularly in a water area or a sea area.
Disclosure of Invention
In order to overcome the problems in the related art, the invention provides a method and a device for inverting the sag of a power line in a water area based on an SAR (Synthetic Aperture Radar) technology, which can comprehensively improve the inspection quality of a power transmission line in the water area and remarkably improve the inspection efficiency of the power transmission line.
According to a first aspect of the embodiments of the present disclosure, there is provided a method for inverting a power line sag of a water area based on a SAR technology, the method including:
selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image;
establishing a transmission line range area based on the coordinates of the transmission tower on the SAR image, and intercepting a target SAR image in the transmission line range;
acquiring an image coordinate 1 of a secondary scattering signal and an image coordinate 2 of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line;
and solving the three-dimensional coordinates of the transmission line according to the transmission line elevation, and drawing the sag images of the corresponding transmission lines.
In one embodiment, preferably, the acquiring coordinates of the transmission tower on the SAR image includes:
calculating the corresponding azimuth moment of the transmission line by the zero Doppler equationt a ；
Calculating a rough coordinate of the power transmission tower on the SAR image according to the azimuth moment;
and establishing a window in the SAR image by taking the rough coordinate of the power transmission tower as the center of the window, searching the position of the signal with the strongest amplitude, and determining the coordinate of the power transmission tower in the SAR image.
In one embodiment, the zero doppler equation is preferably:
wherein the content of the first and second substances,S(t a )is the three-dimensional space position coordinate of the satellite at the moment, T is the three-dimensional space position coordinate of the power transmission tower,V(t a )is a satellitet a The speed of the moment;
calculating a rough coordinate [ l, p ] of the power transmission tower on the SAR image by adopting the following calculation formula;
wherein l is the azimuth coordinate of the SAR image, p is the distance coordinate of the SAR image,t a1 for the azimuth start time of the SAR image,t r1 the PRF is the azimuth sampling frequency of the SAR image, the RSR is the range sampling frequency of the SAR image,t r and c is the distance time corresponding to the power transmission tower, and the light speed.
In one embodiment, preferably, acquiring, in the target SAR image, image coordinates 1 of a secondary scattering signal and image coordinates 2 of a tertiary scattering signal corresponding to each azimuth time of the power transmission line includes:
obtaining a pixel point 1 corresponding to a secondary scattering signal of the power transmission line in the target SAR image through Hough detection processing;
detecting a pixel point 2 corresponding to the third scattering signal of the power transmission line based on the curve characteristics;
and respectively carrying out polynomial fitting and interpolation processing on the pixel points 1 and the pixel points 2 to obtain the image coordinates 1 of the secondary scattering signal and the image coordinates 2 of the tertiary scattering signal corresponding to each azimuth moment of the power transmission line.
In one embodiment, preferably, calculating the elevation of the transmission line at each azimuth time according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth time of the transmission line comprises:
respectively calculating electromagnetic wave propagation paths of secondary scattering signals and tertiary scattering signals of the power transmission line of the SAR image at the same azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the power transmission line;
and calculating the transmission line elevation at each azimuth moment according to the electromagnetic wave propagation paths of the secondary scattering signals and the tertiary scattering signals.
In one embodiment, the electromagnetic wave propagation paths of the secondary scattering signal and the tertiary scattering signal are preferably calculated by the following calculation formula:
wherein the content of the first and second substances,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,t r1 representing the starting moment of the distance of the SAR image,p SecSca andp ThiSca respectively representing the distance direction coordinates of the secondary scattering signal and the tertiary scattering signal, RSR represents the distance direction sampling frequency of the SAR image, and c represents the light speed;
calculating the transmission line elevation by adopting the following calculation formula:
wherein the content of the first and second substances,hthe transmission line elevation is represented and,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,ɑindicating the angle of incidence of the electromagnetic wave.
In one embodiment, preferably, solving three-dimensional coordinates of the transmission line according to the transmission line elevation comprises:
and acquiring the three-dimensional coordinates of the power transmission line under a WGS84 coordinate system based on the geocoding theory of the SAR image.
According to a second aspect of the embodiments of the present disclosure, there is provided a water area power line sag inversion apparatus based on SAR technology, the apparatus including:
the first acquisition module is used for selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range and acquiring the coordinate of the power transmission tower on the SAR image;
the intercepting module is used for establishing a power transmission line range area based on the coordinates of the power transmission tower on the SAR image, and intercepting a target SAR image in the power transmission line range;
the second acquisition module is used for acquiring image coordinates 1 of a secondary scattering signal and image coordinates 2 of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
the calculation module is used for calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line;
and the drawing module is used for solving the three-dimensional coordinates of the power transmission line according to the power transmission line elevation and drawing the corresponding sag images of the power transmission line.
According to a third aspect of the embodiments of the present disclosure, there is provided a water area power line sag inversion apparatus based on SAR technology, the apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image;
establishing a transmission line range area based on the coordinates of the transmission tower on the SAR image, and intercepting a target SAR image in the transmission line range;
acquiring an image coordinate 1 of a secondary scattering signal and an image coordinate 1 of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line;
and solving the three-dimensional coordinates of the transmission line according to the transmission line elevation, and drawing the sag images of the corresponding transmission lines.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method of any one of the first aspects.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
in the embodiment of the invention, the position of the electric tower signal is determined in the SAR image based on the space coordinate of the electric tower, then the secondary scattering signal and the tertiary scattering signal of the power transmission line are searched in the area between the SAR image and the electric tower, a mathematical model based on the position relation of the secondary/tertiary scattering signal and the height of the power transmission line is established, and finally the sag information of the power transmission line can be inverted. The method can invert the sag state of the power transmission line in a large-area water area range by a remote sensing non-contact measurement technical means, and further provides an efficient technical method for the safety inspection of the power transmission line.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart illustrating a method for water area power line sag inversion based on SAR techniques, according to an exemplary embodiment.
Fig. 2 is a schematic diagram illustrating a transmission line secondary scattering electromagnetic wave propagation path principle according to an exemplary embodiment.
Fig. 3 is a schematic diagram illustrating a transmission line triple-scattered electromagnetic wave propagation path principle according to an exemplary embodiment.
FIG. 4 is a schematic illustration of a geometric model of power transmission line elevation inversion shown in accordance with an exemplary embodiment.
Fig. 5 is a screenshot of an electric tower, a secondary scatter signal, and a tertiary scatter signal in a SAR image shown according to an exemplary embodiment.
Fig. 6 is a screenshot of hough detection results for a power line secondary scatter signal, shown according to an example embodiment.
Fig. 7 is a screenshot illustrating curve detection results for a power line triple scatter signal according to an example embodiment.
Fig. 8 is a schematic illustration of a power line sag for a small shovel island, according to an exemplary embodiment.
FIG. 9 is a block diagram illustrating a water area power line sag inversion apparatus based on SAR techniques in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 is a flowchart illustrating a method for water area power line sag inversion based on SAR technology according to an exemplary embodiment, as shown in fig. 1, the method comprising:
s101, selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image;
in one embodiment, preferably, the acquiring coordinates of the transmission tower on the SAR image includes:
calculating the corresponding azimuth moment of the transmission line by the zero Doppler equationt a ；
Calculating a rough coordinate of the power transmission tower on the SAR image according to the azimuth moment;
and establishing a window in the SAR image by taking the rough coordinate of the power transmission tower as the center of the window, searching the position of the signal with the strongest amplitude, and determining the coordinate of the power transmission tower in the SAR image.
In one embodiment, the zero doppler equation is preferably:
wherein the content of the first and second substances,S(t a )is the three-dimensional space position coordinate of the satellite at the moment, T is the three-dimensional space position coordinate of the power transmission tower,V(t a )is a satellitet a The speed of the moment;
calculating a rough coordinate [ l, p ] of the power transmission tower on the SAR image by adopting the following calculation formula;
wherein l is the azimuth coordinate of the SAR image, p is the distance coordinate of the SAR image,t a1 for the azimuth start time of the SAR image,t r1 the PRF is the azimuth sampling frequency of the SAR image, the RSR is the range sampling frequency of the SAR image,t r and c is the distance time corresponding to the power transmission tower, and the light speed.
Step S102, establishing a power transmission line range area based on the coordinates of the power transmission tower on the SAR image, and intercepting a target SAR image in the power transmission line range;
and establishing a transmission line range area in the SAR image based on the position of the transmission tower searched in the target area, and detecting a secondary scattering signal of the transmission line in the area.
Step S103, acquiring a first image coordinate of a secondary scattering signal and a second image coordinate of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
in one embodiment, preferably, acquiring, in the target SAR image, a first image coordinate of a secondary scattering signal and a second image coordinate of a tertiary scattering signal corresponding to each azimuth time of the power transmission line includes:
through Hough detection processing, acquiring a first pixel point corresponding to a secondary scattering signal of the power transmission line in the target SAR image;
detecting a second pixel point corresponding to the third scattering signal of the power transmission line based on the curve characteristic;
and respectively carrying out polynomial fitting and interpolation processing on the first pixel points and the second pixel points to obtain a first image coordinate of the secondary scattering signal and a second image coordinate of the tertiary scattering signal corresponding to each azimuth moment of the power transmission line.
Specifically, according to the electromagnetic wave scattering principle, as shown in fig. 2, the secondary scattering signal represents a scattering signal in which electromagnetic waves are emitted from a satellite, reflected by a water surface, and then reflected back to the satellite through an electric wire. When the included angle between the satellite flight direction and the trend of the power transmission lines is within a certain range (+ -10 degrees), the power transmission lines on the water area can form strong secondary scattering signals. In terms of scattering mechanism, the propagation path of the secondary scattering signal of the power transmission line is independent of the height of the power transmission line, so that the secondary scattering signal of the power line is distributed along a straight line connecting two adjacent power towers. Therefore, the detection of the secondary scattering signal of the power transmission line can be realized through the detection of the linear signal in the range of the power transmission line in the SAR image.
The detection of the straight line signal in the SAR image can adopt a Hough detection method, and the method is used for detecting the straight line signal from the image in the image processing fieldOne of the basic methods for measuring geometry. It uses the transformation between two coordinate spaces to map the curve or straight line with the same shape in one space to a point in another coordinate space to form peak value, thus converting the problem of detecting arbitrary shape into statistical peak value problem. By utilizing Hough detection, the coordinate [ l ] of the secondary scattering signal in the SAR image can be automatically detectedSecSca, pSecSca]。
Within the range area of the power transmission line in the acquired SAR image, the triple scattering signal detection of the power transmission line can be carried out. According to the electromagnetic wave scattering principle, as shown in fig. 3, the triple scattering signal represents a scattering signal in which an electromagnetic wave is emitted from a satellite, reflected by a water surface, reflected back to the water surface through an electric wire, and finally reflected to the satellite again through the water surface. In scattering mechanism, the propagation path of the power line triple-scattering signal is highly correlated with the power line, so that the triple-scattering signal is distributed in a curve in the SAR image.
In the actual processing process, various error factors are considered, the coordinates of the strong signal in the electric wire triple scattering signal in the SAR image can be firstly identified, and then the position coordinate [ l ] of the triple scattering signal in the SAR image is calculated by a polynomial fitting methodThiSca, pThiSca]。
Step S104, calculating the elevation of the transmission line at each azimuth moment according to the first image coordinate and the second image coordinate corresponding to each azimuth moment of the transmission line;
in one embodiment, preferably, calculating the elevation of the transmission line at each azimuth time according to the first image coordinate and the second image coordinate corresponding to each azimuth time of the transmission line comprises:
respectively calculating electromagnetic wave propagation paths of secondary scattering signals and tertiary scattering signals of the power transmission line of the SAR image at the same azimuth moment according to the first image coordinate and the second image coordinate corresponding to each azimuth moment of the power transmission line;
and calculating the transmission line elevation at each azimuth moment according to the electromagnetic wave propagation paths of the secondary scattering signals and the tertiary scattering signals.
In one embodiment, the electromagnetic wave propagation paths of the secondary scattering signal and the tertiary scattering signal are preferably calculated by the following calculation formula:
wherein the content of the first and second substances,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,t r1 representing the starting moment of the distance of the SAR image,p SecSca andp ThiSca respectively representing the distance direction coordinates of the secondary scattering signal and the tertiary scattering signal, RSR represents the distance direction sampling frequency of the SAR image, and c represents the light speed;
calculating the transmission line elevation by adopting the following calculation formula:
wherein the content of the first and second substances,hthe transmission line elevation is represented and,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,ɑindicating the angle of incidence of the electromagnetic wave.
A schematic diagram of a model for the elevation inversion of a transmission line is shown in fig. 4. And h (EC) is the elevation of the transmission line to be calculated. The incident angle of the electromagnetic wave is alpha, three straight lines of AB, EF and CD are parallel, and the included angle between the straight lines and the vertical direction is alpha. BC is the reflection path of AB against the horizontal plane. CH is vertical to three straight lines of AB, EF and CD, and the intersection point of CH and EF is G. Meanwhile, in the far-field condition of electromagnetic wave propagation, A, F and D are equidistant from the satellite, which is denoted as L0.
The electromagnetic wave propagation path of the secondary scattering signal can be expressed as:
from the geometric model of electromagnetic wave reflection, we can see that:
the electromagnetic wave propagation path of the third-order scattered signal can be expressed as:
then, for the same target point, the propagation path difference between the electromagnetic wave of the third scattering signal and the electromagnetic wave of the second scattering signal is:
in the above formula, LThiScaAnd LSecScaThe method can be respectively obtained through the detection results of the secondary \ tertiary scattering signals, and the mathematical expression of the calculation is as follows:
in the above formula, the first and second carbon atoms are,t r1 for the starting moment of the distance of the SAR image,p SecSca andp ThiSca respectively are the distance direction coordinates of the secondary scattering signal and the tertiary scattering signal, the RSR is the distance direction sampling frequency of the SAR image, and the c is the light speed.
Meanwhile, according to the geometrical relationship, LEG = hcos (α), and the final transmission line elevation h can be obtained by the following formula:
and S105, solving the three-dimensional coordinates of the power transmission line according to the height of the power transmission line, and drawing a corresponding sag image of the power transmission line. According to the sag images, all sag information can be obtained.
In one embodiment, preferably, solving three-dimensional coordinates of the transmission line according to the transmission line elevation comprises:
and acquiring the three-dimensional coordinates of the power transmission line under a WGS84 coordinate system based on the geocoding theory of the SAR image.
In the embodiment, the position of the electric tower signal is determined in the SAR image based on the space coordinate of the electric tower, then the secondary scattering signal and the tertiary scattering signal of the power transmission line are searched in the area between the SAR image and the electric tower, a mathematical model based on the position relation of the secondary/tertiary scattering signal and the height of the power transmission line is established, and finally the sag information of the power transmission line can be inverted. The method can invert the sag state of the power transmission line in a large-area water area range by a remote sensing non-contact measurement technical means, and further provides an efficient technical method for the safety inspection of the power transmission line.
The above technical solution of the present invention is explained in detail by a specific embodiment.
Taking the small shovel island in Shenzhen Baoan district as an example, the small shovel island is 1.6km away from the large shovel bay wharf in Shenzhen Baoan district, two power transmission towers are selected from the water, and the longitude and latitude coordinates of the power transmission towers are respectively [113.82741 DEG E, 22.54590 DEG N ] and [113.83012 DEG E, 22.53856 DEG N ]. Selecting a COSMO-SkyMed radar image with the resolution of 3 meters, converting longitude and latitude coordinates into radar pixel coordinates through the conversion relation between WGS84 coordinates and radar image coordinates, positioning the radar pixel coordinates to the position of an electric tower on an SAR image, and calculating the height of the two electric towers to be 75.1m and the interval of the electric towers to be 742m based on the pixel characteristics of the electric towers. The electric tower, power line secondary scattering and tertiary scattering signals in the SAR image are shown in FIG. 5.
And respectively obtaining the results of the secondary scattering and the tertiary scattering of the power transmission line on the SAR image by using Hough detection and curve detection methods. And then, specific image coordinates of the transmission line secondary and tertiary scattering signals at each azimuth moment can be obtained through a polynomial curve fitting and interpolation algorithm. The results of the power line secondary and tertiary scatter signals are shown in fig. 6 and 7, respectively.
And (3) respectively calculating the electromagnetic wave propagation distance corresponding to the secondary/tertiary scattering information of the power transmission line by combining the relevant parameters of the SAR system. Finally, based on the method for calculating the elevation of the transmission line, provided by the invention, the distance between the transmission line and the ground surface can be obtained. The measured data processing result is shown in fig. 8, wherein the lowest ground of the transmission line is 32.21m, and the highest distance is 63.96m from the ground.
FIG. 9 is a block diagram illustrating a water area power line sag inversion apparatus based on SAR techniques in accordance with an exemplary embodiment.
As shown in fig. 9, according to a second aspect of the embodiments of the present disclosure, there is provided a water area power line sag inversion apparatus based on SAR technology, the apparatus including:
the first acquisition module 91 is used for selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image;
an intercepting module 92, configured to establish a power transmission line range area based on the coordinates of the power transmission tower on the SAR image, and intercept a target SAR image within the power transmission line range;
a second obtaining module 93, configured to obtain, in the target SAR image, a first image coordinate of a secondary scattering signal and a second image coordinate of a tertiary scattering signal corresponding to each azimuth time of the power transmission line;
the calculation module 94 is configured to calculate an elevation of the transmission line at each azimuth time according to the first image coordinate and the second image coordinate corresponding to each azimuth time of the transmission line;
and the drawing module 95 is used for solving the three-dimensional coordinates of the power transmission line according to the power transmission line elevation and drawing the corresponding sag images of the power transmission line.
According to a third aspect of the embodiments of the present disclosure, there is provided a water area power line sag inversion apparatus based on SAR technology, the apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image;
establishing a transmission line range area based on the coordinates of the transmission tower on the SAR image, and intercepting a target SAR image in the transmission line range;
acquiring an image coordinate 1 of a secondary scattering signal and an image coordinate 2 of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line;
and solving the three-dimensional coordinates of the transmission line according to the transmission line elevation, and drawing the sag images of the corresponding transmission lines.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method of any one of the first aspects.
It is further understood that the use of "a plurality" in this disclosure means two or more, as other terms are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the terms "first," "second," and the like are fully interchangeable. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. A water area power line sag inversion method based on SAR technology is characterized by comprising the following steps:
selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image;
establishing a transmission line range area based on the coordinates of the transmission tower on the SAR image, and intercepting a target SAR image in the transmission line range;
acquiring an image coordinate 1 of a secondary scattering signal and an image coordinate 2 of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line;
solving the three-dimensional coordinates of the transmission line according to the transmission line elevation, and drawing the corresponding sag images of the transmission line;
calculating the transmission line elevation at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line, and the method comprises the following steps:
respectively calculating electromagnetic wave propagation paths of secondary scattering signals and tertiary scattering signals of the power transmission line of the SAR image at the same azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the power transmission line;
calculating the transmission line elevation at each azimuth moment according to the electromagnetic wave propagation paths of the secondary scattering signals and the tertiary scattering signals;
calculating the electromagnetic wave propagation paths of the secondary scattering signal and the tertiary scattering signal by adopting the following calculation formula:
wherein the content of the first and second substances,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,t r1 representing the starting moment of the distance of the SAR image,p SecSca andp ThiSca respectively representing the distance direction coordinates of the secondary scattering signal and the tertiary scattering signal, RSR represents the distance direction sampling frequency of the SAR image, and c represents the light speed;
calculating the transmission line elevation by adopting the following calculation formula:
wherein the content of the first and second substances,hthe transmission line elevation is represented and,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,ɑindicating the angle of incidence of the electromagnetic wave.
2. The method of claim 1, wherein the obtaining coordinates of the transmission tower on the SAR image comprises:
calculating the corresponding azimuth moment of the transmission line by the zero Doppler equationt a ；
Calculating a rough coordinate of the power transmission tower on the SAR image according to the azimuth moment;
and establishing a window in the SAR image by taking the rough coordinate of the power transmission tower as the center of the window, searching the position of the signal with the strongest amplitude, and determining the coordinate of the power transmission tower in the SAR image.
3. The method of claim 2, wherein the zero doppler equation is:
wherein the content of the first and second substances,S(t a )is the three-dimensional space position coordinate of the satellite at the moment, T is the three-dimensional space position coordinate of the power transmission tower,V (t a )is a satellitet a The speed of the moment;
calculating a rough coordinate [ l, p ] of the power transmission tower on the SAR image by adopting the following calculation formula;
wherein l is the azimuth coordinate of the SAR image, p is the distance coordinate of the SAR image,t a1 for the azimuth start time of the SAR image,t r1 the PRF is the azimuth sampling frequency of the SAR image, the RSR is the range sampling frequency of the SAR image,t r and c is the distance time corresponding to the power transmission tower, and the light speed.
4. The method of claim 1, wherein obtaining image coordinates 1 of a secondary scattering signal and image coordinates 2 of a tertiary scattering signal corresponding to each azimuth time of a power transmission line in the target SAR image comprises:
through Hough detection processing, acquiring a first pixel point corresponding to a secondary scattering signal of the power transmission line in the target SAR image;
detecting a second pixel point corresponding to the third scattering signal of the power transmission line based on the curve characteristic;
and respectively carrying out polynomial fitting and interpolation processing on the first pixel points and the second pixel points to obtain a first image coordinate of the secondary scattering signal and a second image coordinate of the tertiary scattering signal corresponding to each azimuth moment of the power transmission line.
5. The method of claim 1, wherein solving three-dimensional coordinates of the transmission line from the transmission line elevation comprises:
and acquiring the three-dimensional coordinates of the power transmission line under a WGS84 coordinate system based on the geocoding theory of the SAR image.
6. A water power line sag inversion device based on SAR technology, characterized in that the device includes:
the first acquisition module is used for selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range and acquiring the coordinate of the power transmission tower on the SAR image;
the intercepting module is used for establishing a power transmission line range area based on the coordinates of the power transmission tower on the SAR image, and intercepting a target SAR image in the power transmission line range;
the second acquisition module is used for acquiring a first image coordinate of a secondary scattering signal and a second image coordinate of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
the calculation module is used for calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line;
the drawing module is used for solving the three-dimensional coordinates of the transmission line according to the elevation of the transmission line and drawing the corresponding sag images of the transmission line;
the calculation module is configured to:
respectively calculating electromagnetic wave propagation paths of secondary scattering signals and tertiary scattering signals of the power transmission line of the SAR image at the same azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the power transmission line;
calculating the transmission line elevation at each azimuth moment according to the electromagnetic wave propagation paths of the secondary scattering signals and the tertiary scattering signals;
calculating the electromagnetic wave propagation paths of the secondary scattering signal and the tertiary scattering signal by adopting the following calculation formula:
wherein the content of the first and second substances,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,t r1 representing the starting moment of the distance of the SAR image,p SecSca andp ThiSca respectively representing the distance direction coordinates of the secondary scattering signal and the tertiary scattering signal, RSR represents the distance direction sampling frequency of the SAR image, and c represents the light speed;
calculating the transmission line elevation by adopting the following calculation formula:
wherein the content of the first and second substances,hthe transmission line elevation is represented and,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,ɑindicating the angle of incidence of the electromagnetic wave.
7. A water power line sag inversion device based on SAR technology, characterized in that the device includes:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
selecting a high-resolution SAR image with the included angle between the satellite course and the trend of the power transmission line within a preset range, and acquiring the coordinate of the power transmission tower on the SAR image;
establishing a transmission line range area based on the coordinates of the transmission tower on the SAR image, and intercepting a target SAR image in the transmission line range;
acquiring an image coordinate 1 of a secondary scattering signal and an image coordinate 2 of a tertiary scattering signal corresponding to each azimuth moment of the power transmission line in the target SAR image;
calculating the elevation of the transmission line at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line;
solving the three-dimensional coordinates of the transmission line according to the transmission line elevation, and drawing the corresponding sag images of the transmission line;
calculating the transmission line elevation at each azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the transmission line, and the method comprises the following steps:
respectively calculating electromagnetic wave propagation paths of secondary scattering signals and tertiary scattering signals of the power transmission line of the SAR image at the same azimuth moment according to the image coordinate 1 and the image coordinate 2 corresponding to each azimuth moment of the power transmission line;
calculating the transmission line elevation at each azimuth moment according to the electromagnetic wave propagation paths of the secondary scattering signals and the tertiary scattering signals;
calculating the electromagnetic wave propagation paths of the secondary scattering signal and the tertiary scattering signal by adopting the following calculation formula:
wherein the content of the first and second substances,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,t r1 representing the starting moment of the distance of the SAR image,p SecSca andp ThiSca respectively representing the distance direction coordinates of the secondary scattering signal and the tertiary scattering signal, RSR represents the distance direction sampling frequency of the SAR image, and c represents the light speed;
calculating the transmission line elevation by adopting the following calculation formula:
wherein the content of the first and second substances,hthe transmission line elevation is represented and,L SecSca represents the electromagnetic wave propagation path of the secondary scattered signal,L ThiSca represents the electromagnetic wave propagation path of the triple-scattered signal,ɑindicating the angle of incidence of the electromagnetic wave.
8. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 5.
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