CN113109831A - Data processing method for polling transmission line by using laser radar - Google Patents
Data processing method for polling transmission line by using laser radar Download PDFInfo
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- CN113109831A CN113109831A CN202110324493.4A CN202110324493A CN113109831A CN 113109831 A CN113109831 A CN 113109831A CN 202110324493 A CN202110324493 A CN 202110324493A CN 113109831 A CN113109831 A CN 113109831A
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- 238000003672 processing method Methods 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000001914 filtration Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000009825 accumulation Methods 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses a data processing method for polling a power transmission line by using a laser radar, which comprises the following steps: calculating a differential GPS according to a base station GPS and an airborne/vehicle-mounted GPS, and then performing combined processing on the obtained differential GPS and IMU data to obtain a track file; secondly, original laser data are combined with the laser tracks obtained in the first step to generate laser point clouds, and the laser point clouds are classified and processed to obtain a digital elevation model DEM; thirdly, obtaining a digital orthophoto map DOM; the data processing method for polling the power transmission line by using the laser radar has the advantages of high precision of a DGPS system and no error accumulation along with time, has the IMU data attitude measurement function, and can completely autonomously measure the instantaneous movement of the sensor without signal propagation, so that the method can position and measure the speed, and can quickly measure the instantaneous movement of the sensor, thereby realizing the integration of the two systems and obtaining high-precision position, speed and attitude data.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a data processing method for patrolling a power transmission line by using a laser radar.
Background
The differential GPS system can measure the position and velocity of the sensor, and has the advantages of high accuracy and error accumulation not according to time, but also has the following problems: the dynamic performance is poor, the lock is easy to lose, the output frequency is low, the instantaneous rapid change cannot be measured, and the posture measuring function is not available; the IMU data has an attitude measurement function, can be completely independent and has no signal propagation, but has the problem that errors are rapidly accumulated and increased along with time, so that the two systems are complementary in advantages and disadvantages, but a good data processing method for integrating the two systems is not provided at present.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a data processing method for performing inspection on a power transmission line using a laser radar.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a data processing method for polling a power transmission line by using a laser radar comprises the following steps:
calculating a differential GPS according to a base station GPS and an airborne/vehicle-mounted GPS, and then performing combined processing on the obtained differential GPS and IMU data to obtain a track file, wherein the track file comprises an image track and a laser track;
secondly, generating laser point clouds by combining the original laser data with the laser tracks obtained in the first step, classifying the laser point clouds, and then performing hazard source analysis on the laser point clouds and processing the laser point clouds to obtain a digital elevation model DEM;
and thirdly, comparing the original image with the image track obtained in the step I, and then performing orthorectification on the original image and the digital elevation model DEM obtained in the step II to obtain a digital orthography DOM.
Preferably, the combined processing process of the differential GPS and IMU data obtained in the step i is to perform kalman filtering on the positioning data and IMU data to obtain the track file after the differential GPS acquires high-precision positioning information.
Preferably, the content of the laser point cloud classification in the step two is to classify the laser point cloud into the earth surface, vegetation, buildings, mountains and rivers according to the type of the modeled object.
Preferably, in the second step, the laser point cloud is generated by combining the original laser data with the laser track obtained in the first step, and the processing is performed by using GeoLAS V1.0 software.
Compared with the prior art, the invention has the following advantages:
according to the data processing method for polling the power transmission line by using the laser radar, after the differential GPS acquires high-precision positioning information, Kalman filtering processing is performed on the positioning data and IMU (inertial measurement Unit) measurement data to obtain a track file (combined navigation data), wherein the track file comprises the accurate coordinate and three attitude angles (rolling, pitching and course) of each sampling point on a track, and the track file can provide a basis for resolving a geodetic coordinate for a laser ranging value and also provide an external orientation element of each image.
The data processing method for polling the power transmission line by using the laser radar has the advantages of high precision of a DGPS system and no error accumulation along with time, has the IMU data attitude measurement function, and can completely autonomously measure the instantaneous movement of the sensor without signal propagation, so that the method can position and measure the speed, and can quickly measure the instantaneous movement of the sensor, thereby realizing the integration of the two systems and obtaining high-precision position, speed and attitude data.
The data processing method for polling the power transmission line by using the laser radar is greatly different from the traditional image processing, the obtained data is three-dimensional point cloud information of a target entity, the target entity is scanned by the laser radar through the emitted and received laser beams during scanning, the three-dimensional coordinates of each point are positioned by using the central point of the laser beam, and the point cloud data comprises the three-dimensional coordinates and abundant photographic information on the surface of the target entity.
Drawings
Fig. 1 is a schematic flow chart of a data processing method for inspecting a power transmission line by using a laser radar.
Detailed Description
The invention is further described with reference to specific examples.
A data processing method for polling a power transmission line by using a laser radar comprises the following steps:
calculating a differential GPS according to a base station GPS and an airborne/vehicle-mounted GPS, and then performing combined processing on the obtained differential GPS and IMU data to obtain a track file, wherein the track file comprises an image track and a laser track;
secondly, generating laser point clouds by combining the original laser data with the laser tracks obtained in the first step, classifying the laser point clouds, and then performing hazard source analysis on the laser point clouds and processing the laser point clouds to obtain a digital elevation model DEM;
and thirdly, comparing the original image with the image track obtained in the step I, and then performing orthorectification on the original image and the digital elevation model DEM obtained in the step II to obtain a digital orthography DOM.
Preferably, the combined processing process of the differential GPS and IMU data obtained in the step i is to perform kalman filtering on the positioning data and IMU data to obtain the track file after the differential GPS acquires high-precision positioning information.
Preferably, the content of the laser point cloud classification in the step two is to classify the laser point cloud into the earth surface, vegetation, buildings, mountains and rivers according to the type of the modeled object.
Preferably, in the second step, the laser point cloud is generated by combining the original laser data with the laser track obtained in the first step, and the processing is performed by using GeoLAS V1.0 software.
Example 1
The laser radar system is provided with data real-time processing software, so that point cloud data endowed with RGB colors can be obtained in the inspection process, after the flight is finished, the original data is copied, the result data can be copied together, in addition, the real-time generated LAS format color point cloud data can be transmitted to a ground station according to a data chain under the condition of data link allocation, and then the following data processing flow is entered;
a data processing method for performing routing inspection on a power transmission line by using a laser radar, as shown in fig. 1, includes the following steps:
calculating a differential GPS according to a base station GPS and an airborne/vehicle-mounted GPS, and then performing combined processing on the obtained differential GPS and IMU data to obtain a track file, wherein the track file comprises an image track and a laser track;
secondly, generating laser point clouds by combining the original laser data with the laser tracks obtained in the first step, classifying the laser point clouds, and then performing hazard source analysis on the laser point clouds and processing the laser point clouds to obtain a digital elevation model DEM;
and thirdly, comparing the original image with the image track obtained in the step I, and performing orthorectification on the original image and the digital elevation model DEM obtained in the step II to obtain a digital orthography DOM.
The combined processing process of the obtained differential GPS and IMU data comprises the steps that after the differential GPS obtains high-precision positioning information, Kalman filtering is carried out on the positioning data and the IMU data to obtain a track file; the track file comprises the accurate coordinates and three attitude angles (rolling, pitching and heading) of each sampling point on the track, and can provide a basis for resolving geodetic coordinates for the laser ranging value and provide each affected external orientation element.
And secondly, classifying the laser point cloud into the earth surface, vegetation, buildings, mountain peaks and rivers according to the type of the modeled object.
Claims (3)
1. A data processing method for polling a power transmission line by using a laser radar is characterized in that: the method comprises the following steps:
calculating a differential GPS according to a base station GPS and an airborne/vehicle-mounted GPS, and then performing combined processing on the obtained differential GPS and IMU data to obtain a track file, wherein the track file comprises an image track and a laser track;
secondly, generating laser point clouds by combining the original laser data with the laser tracks obtained in the first step, classifying the laser point clouds, and then performing hazard source analysis on the laser point clouds and processing the laser point clouds to obtain a digital elevation model DEM;
and thirdly, comparing the original image with the image track obtained in the step I, and then performing orthorectification on the original image and the digital elevation model DEM obtained in the step II to obtain a digital orthography DOM.
2. The data processing method for the inspection of the power transmission line by using the laser radar as claimed in claim 1, wherein the data processing method comprises the following steps: the combined processing process of the differential GPS and IMU data comprises the steps of obtaining high-precision positioning information by the differential GPS, and then carrying out Kalman filtering on the positioning data and the IMU data to obtain a track file.
3. The data processing method for the inspection of the power transmission line by using the laser radar as claimed in claim 1, wherein the data processing method comprises the following steps: and secondly, classifying the laser point cloud into the earth surface, vegetation, buildings, mountain peaks and rivers according to the type of the modeled object.
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| CN202110324493.4A CN113109831A (en) | 2021-03-26 | 2021-03-26 | Data processing method for polling transmission line by using laser radar |
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Application publication date: 20210713 |