CN114332344A - Outdoor pressure pipeline three-dimensional visualization method based on RTK positioning - Google Patents

Abstract

The invention relates to the field of pressure pipeline positioning, in particular to an outdoor pressure pipeline three-dimensional visualization method based on RTK positioning, which comprises the following steps: s1, field measurement; s2, coordinate calculation: measuring the outer diameter coordinate data of three different positions at the outer diameter of the pressure pipeline at the same measuring point, and then calculating to obtain the center coordinate and the radius of the pipeline at the measuring point; s3, data transmission: when network signals are good, the data receiving and transmitting device is used for sending data in the data storage device to the cloud server; s4 pipeline modeling: extracting data required by three-dimensional modeling of a pipe network from a server, analyzing the spatial structure characteristics of the pipeline, and determining the position of the pipeline through the coordinates of the starting point and the ending point of the pipeline and the pipe diameter of the pipeline; fitting a circle by utilizing the section differential and the inner tangent equilateral n deformation to establish a mathematical model of the three-dimensional pipe network; s5, an acceleration algorithm based on three-dimensional pipe network rendering; s6, matrix-transformed isometric drawing.

Description

Outdoor pressure pipeline three-dimensional visualization method based on RTK positioning

Technical Field

The invention relates to the field of pressure pipeline positioning, in particular to an outdoor pressure pipeline three-dimensional visualization method based on RTK positioning.

Background

From 1996, China formally carries out safety supervision on seven links of design, manufacture, installation, use, inspection, maintenance, transformation and the like of a pressure pipeline. The defects of corrosion, cracks, stress corrosion cracking, corrosion fatigue, various damages, aging and aging of materials and the like generated in the operation of the pressure pipeline must be strictly monitored. Due to the particularity of construction of the pressure pipeline, the pipeline is complex in position distribution, multiple in connection points, more in pipeline bending, complex in pressure load, unstable in property, influenced by natural conditions more, and high in maintenance difficulty. Various industrial pipelines, public pipelines and the like are distributed inside and outside factory areas and buildings, and various laying forms such as overhead laying, buried laying and the like exist, for example, long-distance pipelines, oil and gas field gathering and transportation pipes and gas pipelines are mostly laid in the buried manner, so that the supervision difficulty is increased. Different from other special equipment, the pressure pipeline has large difficulty in accurate positioning due to the reasons of wide distribution, multiple components, complex heat insulation structure, hidden welding line and the like, and becomes a management problem. Therefore, the comprehensive control of the whole-city pressure pipe network laying state and the dynamic monitoring of the pressure pipe network operation state have very important significance for government departments in the aspects of prevention and emergency treatment of leakage accidents, supervision and management of pressure pipelines, and accurate control of the relationship among the pressure pipe network, roads and buildings so as to correctly plan engineering construction.

The three-dimensional pipe network map constructed by using the technologies of RTK positioning, network communication, data processing, computer drawing and the like is combined with the urban map, so that technical support can be provided for intelligent supervision of a government safety supervision organization, a supervisor can visually master pressure pipeline information and geographic position, navigation is realized, convenience is provided for full understanding of pressure pipe network distribution conditions in the district and field supervision and inspection work, and the problem of pressure pipeline supervision is solved.

Through the three-dimensional visualization of pressure pipe network, can realize the fine-grained management and the wisdom detection of special equipment, this project helping hand construction wisdom urban pressure pipeline database system, focus on the pipeline under pressure safety and the management problem closely related with people's production and life, help government supervisory authority to accomplish daily supervision and management to the pressure pipe network, strengthen pipeline under pressure's supervision simultaneously, reduce pipeline under pressure fault rate, ensure pipeline under pressure's safe economic operation.

Disclosure of Invention

The invention aims to solve the problems in the background art and provides an outdoor pressure pipeline three-dimensional visualization method based on RTK positioning.

The technical purpose of the invention is realized by the following technical scheme:

an outdoor pressure pipeline three-dimensional visualization method based on RTK positioning comprises the following steps:

s1, field measurement: selecting measuring points in the laying direction of the pressure pipeline, numbering each measuring point, and measuring the outer diameter coordinate of the outer circle of the pressure pipeline at the measuring point of each number by using an RTK mapping system, wherein the RTK mapping system comprises a carrier vehicle, an RTK reference station, an RTK mobile station, a data processing device, a data storage device and a data transceiver device, and the RTK reference station, the data processing device, the data storage device and the data transceiver device are all arranged on the carrier vehicle;

s2, coordinate calculation: measuring the outer diameter coordinate data of three different positions at the outer diameter of the pressure pipeline at the same measuring point, and then calculating to obtain the center coordinate and the radius of the pipeline at the measuring point;

s3, data transmission: when the network signal is good, the data in the data storage device is sent to the cloud server by using the data transceiver

S4 pipeline modeling: extracting data required by three-dimensional modeling of a pipe network from a server, analyzing the spatial structure characteristics of the pipeline, and determining the position of the pipeline through the coordinates of the starting point and the ending point of the pipeline and the pipe diameter of the pipeline; fitting a circle by utilizing the section differential and the inner tangent equilateral n deformation to establish a mathematical model of the three-dimensional pipe network; a subdivision method of the complex pipeline is provided; a pipeline turning joint adopts a smooth transition mode, and a three-communication four-communication joint uses an established three-dimensional model to call a proper joint facility according to different pipe diameters of connecting pipelines; the texture of the pipeline is set, and the real texture of the pipeline is improved to the maximum extent through coloring treatment;

s5, an acceleration algorithm based on three-dimensional pipe network rendering: considering that the three-dimensional data volume of the outdoor pressure pipeline is huge, the three-dimensional pipeline loading, drawing and forming speed is improved in the modeling process, three pipeline network three-dimensional model acceleration algorithms are adopted, the visibility elimination is included, objects falling outside a visual scene are cut, and the object part in the visual scene is reserved; blanking processing, namely removing geometric surfaces which are back to the sight line direction, so as to reduce the number of drawn polygons; the detail level model describes a distant object with less detail without influencing the overall drawing effect;

s6, matrix-transformed isometric drawing: by utilizing the parallel projection principle of a camera, the projection direction of the orthographic projection is vertical to a projection plane, a space stereo is rotated around two axial directions contained in a certain projection plane, and then orthographic projection is carried out on the projection plane, so that a stereo orthographic projection image can be obtained; since the V plane is usually selected as the axial projection plane, the perspective view is rotated by an angle α around the Z axis in the forward direction (counterclockwise direction), rotated by an angle β around the X axis in the reverse direction (clockwise direction), and finally projected onto the V plane in the forward direction. Thus rotating the transformation matrix T about the Z axis_zRotating transformation matrix T about X axis_xAnd forward projection transformation matrix T to V surface_vAnd (3) continuously multiplying to obtain a positive axis side transformation matrix:

and in the orthographic projection, the transformation is carried out when the scaling rates in the three coordinate axis directions are equal, the orthographic projection is obtained, and the two rotation angles are obtained, so that an orthonormal transformation matrix can be obtained, and the drawing of a two-dimensional isometric image is completed.

Preferably, the measurement method of the RTK mapping system is as follows: an RTK base station is arranged on a carrier vehicle and used as a reference station, a first-level control point with high point position precision is taken as a reference point, continuous observation is carried out on a satellite, an RTK mobile station receives observation data on the RTK base station through radio transmission equipment while receiving satellite signals, and the RTK mobile station calculates and displays the three-dimensional coordinates of the RTK mobile station in real time according to the principle of relative positioning.

Preferably, an RTK mobile station is used for measuring the outer diameter coordinate at the measuring point, the RTK mobile station is provided with a data validity checking mechanism, the validity of the coordinate data measured by the measuring point is checked through a data processing device, and the coordinate data is recorded as the outer diameter coordinate data after the validity checking; two RTK movement measuring machines are arranged in the RTK mobile station, one of the two RTK movement measuring machines is set as a main measuring machine, and the other one of the two RTK movement measuring machines is set as a verifying machine; the main measuring machine is connected with the verifying machine through a data validity checking mechanism, the length of the data validity checking mechanism is set to be a known value, then the distance between the main measuring machine and the verifying machine is calculated according to coordinate data measured by the main measuring machine and the verifying machine, the distance is compared with the length of the data validity checking mechanism, when the error is smaller than p%, the measured data are valid, and the p% is a set value.

Preferably, the method for calculating the center coordinates and the radius of the pipeline comprises the following steps:

reading three outer diameter coordinate data (a1, b1, c1), (a2, b2, c2) and (a3, b3, c 3);

respectively calculating the variance of the coordinates a, b and c, recording the minimum variance as a z coordinate to obtain z1, z2 and z3, and recording the rest two coordinates as x and y coordinates in sequence to obtain (x1, y1), (x2, y2) and (x3, y 3);

③ bring (x1, y1), (x2, y2) and (x3, y3) into the three-point center formula: x is the number of²+y²And + Dx + Ey + F is 0, the center x is obtained through calculation, the y coordinate is (-D/2, -E/2), and the radius of the pipeline is

Centre z coordinate, z ═ z1+ z2+ z3)/3

Fourthly, recording the coordinates of the center of the final pipeline as (-D/2, -E/2), (c1+ c2+ c3)/3) or ((a1+ a2+ a3)/3, -D/2, -E/2) or (-D/2, (b1+ b2+ b3)/3, -E/2), and recording the radius of the pipeline as (-D/2), -E/2)

Preferably, an adaptive weighted fusion estimation algorithm is used for calculating a circle center x coordinate, a circle center y coordinate, a circle center z coordinate and a pipeline radius R respectively, and the specific algorithm is as follows:

n is the measured data quantity, and n is more than or equal to 3; w_iAs a weighting factor

A is respectively substituted into a circle center x coordinate, a circle center y coordinate, a circle center z coordinate and a pipeline radius R;

σ²is each weighting factor W_iThe multivariate quadratic function(s) is obtained according to the theory of extrema of multivariate function, when sigma is²When the minimum value is found, W is obtained_iAbout sigma²Substituting the expression into the standard error value of each point to obtain the weight W_iThereby completing data fusion; and finally obtaining fused circle center coordinate data and fused pipeline radius data.

The invention relates to an RTK positioning-based three-dimensional visualization method for an outdoor pressure pipeline. The method is applied to the installation supervision and inspection process of the pressure pipeline, and can accurately record the position information of pressure pipeline elements, welding seams, buried pipelines and the like by editing the relevant data of the graphs, thereby providing a data basis for the work of periodic inspection, supervision and the like in the future. According to the drawing pattern during installation supervision and inspection, when the pressure pipeline regular inspection work is carried out, the position of the welding line can be accurately positioned, the work of removing a large number of heat-preservation searching welding lines is effectively reduced, the accurate positioning record of the pipeline defect is realized, and the working efficiency of the special equipment inspection and detection mechanism is greatly improved. Meanwhile, the drawn related graphs can provide technical support for a safety supervision organization, and are combined with a navigation technology, so that supervision personnel can conveniently and quickly arrive at a designated site, enterprise implementation improvement measures are effectively promoted, potential safety hazards are eliminated in time, and the safety supervision capability and the service level of special equipment are comprehensively improved. In addition, the three-dimensional pipe network map drawn by the project is combined with the city map, so that relevant basic data can be provided for city planning departments, and the city overall planning construction is facilitated.

Drawings

FIG. 1 is a schematic flow diagram of the present invention as a whole;

FIG. 2 is a schematic flow chart of data collection, modeling and mapping according to the present invention.

Detailed Description

The following specific examples are given by way of illustration only and not by way of limitation, and it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made in the examples without inventive faculty, and yet still be protected by the scope of the claims.

The present invention will be described in detail below by way of examples with reference to the accompanying drawings.

Example 1:

referring to fig. 1 to 2, a three-dimensional visualization method for an outdoor pressure pipeline based on RTK positioning includes the following steps:

s1, field measurement: selecting measuring points in the laying direction of the pressure pipeline, numbering each measuring point, and measuring the outer diameter coordinate of the outer circle of the pressure pipeline at the measuring point of each number by using an RTK mapping system, wherein the RTK mapping system comprises a carrier vehicle, an RTK reference station, an RTK mobile station, a data processing device, a data storage device and a data transceiver device, and the RTK reference station, the data processing device, the data storage device and the data transceiver device are all arranged on the carrier vehicle;

s2, coordinate calculation: measuring the outer diameter coordinate data of three different positions at the outer diameter of the pressure pipeline at the same measuring point, and then calculating to obtain the center coordinate and the radius of the pipeline at the measuring point;

s3, data transmission: when the network signal is good, the data in the data storage device is sent to the cloud server by using the data transceiver

S4 pipeline modeling: extracting data required by three-dimensional modeling of a pipe network from a server, analyzing the spatial structure characteristics of the pipeline, and determining the position of the pipeline through the coordinates of the starting point and the ending point of the pipeline and the pipe diameter of the pipeline; fitting a circle by utilizing the section differential and the inner tangent equilateral n deformation to establish a mathematical model of the three-dimensional pipe network; a subdivision method of the complex pipeline is provided; a pipeline turning joint adopts a smooth transition mode, and a three-communication four-communication joint uses an established three-dimensional model to call a proper joint facility according to different pipe diameters of connecting pipelines; the texture of the pipeline is set, and the real texture of the pipeline is improved to the maximum extent through coloring treatment;

s5, an acceleration algorithm based on three-dimensional pipe network rendering: considering that the three-dimensional data volume of the outdoor pressure pipeline is huge, the three-dimensional pipeline loading, drawing and forming speed is improved in the modeling process, three pipeline network three-dimensional model acceleration algorithms are adopted, the visibility elimination is included, objects falling outside a visual scene are cut, and the object part in the visual scene is reserved; blanking processing, namely removing geometric surfaces which are back to the sight line direction, so as to reduce the number of drawn polygons; the detail level model describes a distant object with less detail without influencing the overall drawing effect;

s6, matrix-transformed isometric drawing: by using the principle of parallel projection of a camera, the projection direction of the positive axis measurement projection is vertical to the projection plane, so that the space is divided into two partsThe stereo rotates around two axial directions contained in a certain projection plane, and then orthographic projection is carried out on the projection plane, so that a stereo orthographic mapping image can be obtained; since the V plane is usually selected as the axial projection plane, the perspective view is rotated by an angle α around the Z axis in the forward direction (counterclockwise direction), rotated by an angle β around the X axis in the reverse direction (clockwise direction), and finally projected onto the V plane in the forward direction. Thus rotating the transformation matrix T about the Z axis_zRotating transformation matrix T about X axis_xAnd forward projection transformation matrix T to V surface_vAnd (3) continuously multiplying to obtain a positive axis side transformation matrix:

and in the orthographic projection, the transformation is carried out when the scaling rates in the three coordinate axis directions are equal, the orthographic projection is obtained, and the two rotation angles are obtained, so that an orthonormal transformation matrix can be obtained, and the drawing of a two-dimensional isometric image is completed.

Preferably, the measurement method of the RTK mapping system is as follows: an RTK base station is arranged on a carrier vehicle and used as a reference station, a first-level control point with high point position precision is taken as a reference point, continuous observation is carried out on a satellite, an RTK mobile station receives observation data on the RTK base station through radio transmission equipment while receiving satellite signals, and the RTK mobile station calculates and displays the three-dimensional coordinates of the RTK mobile station in real time according to the principle of relative positioning.

Preferably, an RTK mobile station is used for measuring the outer diameter coordinate at the measuring point, the RTK mobile station is provided with a data validity checking mechanism, the validity of the coordinate data measured by the measuring point is checked through a data processing device, and the coordinate data is recorded as the outer diameter coordinate data after the validity checking; two RTK movement measuring machines are arranged in the RTK mobile station, one of the two RTK movement measuring machines is set as a main measuring machine, and the other one of the two RTK movement measuring machines is set as a verifying machine; the main measuring machine is connected with the verifying machine through a data validity checking mechanism, the length of the data validity checking mechanism is set to be a known value, then the distance between the main measuring machine and the verifying machine is calculated according to coordinate data measured by the main measuring machine and the verifying machine, the distance is compared with the length of the data validity checking mechanism, when the error is smaller than p%, the measured data are valid, and the p% is a set value.

Preferably, the method for calculating the center coordinates and the radius of the pipeline comprises the following steps:

reading three outer diameter coordinate data (a1, b1, c1), (a2, b2, c2) and (a3, b3, c 3);

respectively calculating the variance of the coordinates a, b and c, recording the minimum variance as a z coordinate to obtain z1, z2 and z3, and recording the rest two coordinates as x and y coordinates in sequence to obtain (x1, y1), (x2, y2) and (x3, y 3);

③ bring (x1, y1), (x2, y2) and (x3, y3) into the three-point center formula: x is the number of²+y²And + Dx + Ey + F is 0, the center x is obtained through calculation, the y coordinate is (-D/2, -E/2), and the radius of the pipeline is

Centre z coordinate, z ═ z1+ z2+ z3)/3

Fourthly, recording the coordinates of the center of the final pipeline as (-D/2, -E/2), (c1+ c2+ c3)/3) or ((a1+ a2+ a3)/3, -D/2, -E/2) or (-D/2, (b1+ b2+ b3)/3, -E/2), and recording the radius of the pipeline as (-D/2), -E/2)

Preferably, an adaptive weighted fusion estimation algorithm is used for calculating a circle center x coordinate, a circle center y coordinate, a circle center z coordinate and a pipeline radius R respectively, and the specific algorithm is as follows:

n is the measured data quantity, and n is more than or equal to 3; w_iAs a weighting factor

A is respectively substituted into a circle center x coordinate, a circle center y coordinate, a circle center z coordinate and a pipeline radius R;

σ²is each weighting factor W_iMultiple quadratic function of, rootAccording to the theory of extremum of multivariate function, when sigma is²When the minimum value is found, W is obtained_iAbout sigma²Substituting the expression into the standard error value of each point to obtain the weight W_iThereby completing data fusion; and finally obtaining fused circle center coordinate data and fused pipeline radius data.

Claims (5)

1. An outdoor pressure pipeline three-dimensional visualization method based on RTK positioning is characterized by comprising the following steps:

s1, field measurement: selecting measuring points in the laying direction of the pressure pipeline, numbering each measuring point, and measuring the outer diameter coordinate of the outer circle of the pressure pipeline at the measuring point of each number by using an RTK mapping system, wherein the RTK mapping system comprises a carrier vehicle, an RTK reference station, an RTK mobile station, a data processing device, a data storage device and a data transceiver device, and the RTK reference station, the data processing device, the data storage device and the data transceiver device are all arranged on the carrier vehicle;

s2, coordinate calculation: measuring the outer diameter coordinate data of three different positions at the outer diameter of the pressure pipeline at the same measuring point, and then calculating to obtain the center coordinate and the radius of the pipeline at the measuring point;

s3, data transmission: when the network signal is good, the data in the data storage device is sent to the cloud server by using the data transceiver

S4 pipeline modeling: extracting data required by three-dimensional modeling of a pipe network from a server, analyzing the spatial structure characteristics of the pipeline, and determining the position of the pipeline through the coordinates of the starting point and the ending point of the pipeline and the pipe diameter of the pipeline; fitting a circle by utilizing the section differential and the inner tangent equilateral n deformation to establish a mathematical model of the three-dimensional pipe network; a subdivision method of the complex pipeline is provided; a pipeline turning joint adopts a smooth transition mode, and a three-communication four-communication joint uses an established three-dimensional model to call a proper joint facility according to different pipe diameters of connecting pipelines; the texture of the pipeline is set, and the real texture of the pipeline is improved to the maximum extent through coloring treatment;

s5, an acceleration algorithm based on three-dimensional pipe network rendering: considering that the three-dimensional data volume of the outdoor pressure pipeline is huge, the three-dimensional pipeline loading, drawing and forming speed is improved in the modeling process, three pipeline network three-dimensional model acceleration algorithms are adopted, the visibility elimination is included, objects falling outside a visual scene are cut, and the object part in the visual scene is reserved; blanking processing, namely removing geometric surfaces which are back to the sight line direction, so as to reduce the number of drawn polygons; the detail level model describes a distant object with less detail without influencing the overall drawing effect;

s6, matrix-transformed isometric drawing: by utilizing the parallel projection principle of a camera, the projection direction of the orthographic projection is vertical to a projection plane, a space stereo is rotated around two axial directions contained in a certain projection plane, and then orthographic projection is carried out on the projection plane, so that a stereo orthographic projection image can be obtained; since the V plane is usually selected as the axial projection plane, the perspective view is rotated by an angle α around the Z axis in the forward direction (counterclockwise direction), rotated by an angle β around the X axis in the reverse direction (clockwise direction), and finally projected onto the V plane in the forward direction. Thus rotating the transformation matrix T about the Z axis_zRotating transformation matrix T about X axis_xAnd forward projection transformation matrix T to V surface_vAnd (3) continuously multiplying to obtain a positive axis side transformation matrix:

and in the orthographic projection, the transformation is carried out when the scaling rates in the three coordinate axis directions are equal, the orthographic projection is obtained, and the two rotation angles are obtained, so that an orthonormal transformation matrix can be obtained, and the drawing of a two-dimensional isometric image is completed.

2. An RTK positioning-based three-dimensional visualization method for outdoor pressure pipelines according to claim 1, characterized in that the RTK mapping system has the following measurement methods: an RTK base station is arranged on a carrier vehicle and used as a reference station, a first-level control point with high point position precision is taken as a reference point, continuous observation is carried out on a satellite, an RTK mobile station receives observation data on the RTK base station through radio transmission equipment while receiving satellite signals, and the RTK mobile station calculates and displays the three-dimensional coordinates of the RTK mobile station in real time according to the principle of relative positioning.

3. An RTK positioning-based three-dimensional visualization method for outdoor pressure pipelines, as claimed in claim 1, is characterized in that an RTK mobile station is used to measure the coordinates of the outer diameter at the measuring point, the RTK mobile station is provided with a data validity checking mechanism, the coordinate data measured by the measuring point is subjected to validity checking through a data processing device, and after the validity checking, the coordinate data are recorded as the coordinate data of the outer diameter; two RTK movement measuring machines are arranged in the RTK mobile station, one of the two RTK movement measuring machines is set as a main measuring machine, and the other one of the two RTK movement measuring machines is set as a verifying machine; the main measuring machine is connected with the verifying machine through a data validity checking mechanism, the length of the data validity checking mechanism is set to be a known value, then the distance between the main measuring machine and the verifying machine is calculated according to coordinate data measured by the main measuring machine and the verifying machine, the distance is compared with the length of the data validity checking mechanism, when the error is smaller than p%, the measured data are valid, and the p% is a set value.

4. An RTK positioning-based three-dimensional visualization method for outdoor pressure pipelines, as claimed in claim 1, is characterized in that the calculation method of the coordinates of the center of the pipeline and the radius of the pipeline is as follows:

reading three outer diameter coordinate data (a1, b1, c1), (a2, b2, c2) and (a3, b3, c 3);

respectively calculating the variance of the coordinates a, b and c, recording the minimum variance as a z coordinate to obtain z1, z2 and z3, and recording the rest two coordinates as x and y coordinates in sequence to obtain (x1, y1), (x2, y2) and (x3, y 3);

③ bring (x1, y1), (x2, y2) and (x3, y3) into the three-point center formula: x is the number of²+y²And + Dx + Ey + F is 0, the center x is obtained through calculation, the y coordinate is (-D/2, -E/2), and the radius of the pipeline is

Centre z coordinate, z ═ z1+ z2+ z3)/3

Fourthly, recording the coordinates of the center of the final pipeline as (-D/2, -E/2), (c1+ c2+ c3)/3) or ((a1+ a2+ a3)/3, -D/2, -E/2) or (-D/2, (b1+ b2+ b3)/3, -E/2), and recording the radius of the pipeline as (-D/2), -E/2)

5. The RTK positioning-based three-dimensional visualization method for the outdoor pressure pipeline is characterized in that an adaptive weighted fusion estimation algorithm is used for calculating a circle center x coordinate, a circle center y coordinate, a circle center z coordinate and a pipeline radius R respectively, and the algorithm is as follows:

n is the measured data quantity, and n is more than or equal to 3; w_iAs a weighting factor

A is respectively substituted into a circle center x coordinate, a circle center y coordinate, a circle center z coordinate and a pipeline radius R;

σ²is each weighting factor W_iThe multivariate quadratic function(s) is obtained according to the theory of extrema of multivariate function, when sigma is²When the minimum value is found, W is obtained_iAbout sigma²Substituting the expression into the standard error value of each point to obtain the weight W_iThereby completing data fusion; and finally obtaining fused circle center coordinate data and fused pipeline radius data.

Images