CN117629160A - Power transmission line mapping method, system and medium based on unmanned aerial vehicle and total station - Google Patents
Power transmission line mapping method, system and medium based on unmanned aerial vehicle and total station Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a method, a system and a medium for mapping a power transmission line based on an unmanned aerial vehicle and a total station; relates to the technical field of mapping; determining a mapping mode based on geographic information and calibration information of a target power transmission line and performing geographic mapping; the method is improved based on the traditional mapping method, a total station and an unmanned aerial vehicle carried optical prism are used as main monitoring equipment, unmanned aerial vehicle carried flight monitoring is carried out, when a barrier exists from an initial mapping point to a calibration mapping point of a target power transmission line, the position of a height h right above the calibration mapping point is used as an updated calibration mapping point, and geographic mapping is carried out on the updated calibration mapping point based on the unmanned aerial vehicle carried optical prism combination; the full-terrain requirement can be realized, and the visibility of the target point which is not required by the GPS total station is achieved; the rapidness of the measuring point calibration exceeds the rapidness and accuracy of the GPS total station mobile station to the measuring point calibration; the control is simple, and the power transmission line can be used skillfully by mastering the general measurement technology of the power transmission line.
Description
Technical Field
The invention relates to the technical field of mapping, in particular to a power transmission line mapping method, a system and a medium based on an unmanned aerial vehicle and a total station.
Background
The construction and operation of the transmission line require a great deal of site mapping data as support, and the following measures are generally used. Handheld range finder, optical theodolite, ordinary total station, GPS total station. The handheld range finder is characterized by convenient carrying and simple operation. The disadvantage is the large error, which limits the weather conditions and the measured distance. The optical theodolite has the characteristics of higher measurement accuracy, but is complex to operate, and a large amount of background calculation is needed after the on-site measurement is finished. In addition, because the optical theodolite is required to have visibility on the measuring point during measurement, the optical theodolite is easy to be limited by the terrain. Common total stations and GPS total stations are measuring instruments widely used in recent years. The common total station can directly measure the coordinates of flat distance, inclined distance, height difference, coordinates, vertical angle, horizontal angle and points, and can also store and process data. The characteristics are as follows: the measuring speed is high, the operation is simple and convenient, and the measuring precision is high. The method has the defects that mutual visibility is required between the instrument and the measuring point, the requirement on the terrain is high, two methods for solving the situation are generally adopted, firstly, a shielding object is cleaned, secondly, a plurality of measuring points are arranged according to the terrain condition, multiple measurements are carried out, and the measuring results are synthesized, so that labor and effort are wasted. The basic principle of the GPS total station is that a ground receiving device receives satellite signals through radio to obtain observation data, so as to determine coordinates of measuring points, and calculates spatial positions (distance, altitude difference and the like) between opposite points through the coordinates points, wherein the ground base station, the receiver and the mobile station are shown in the figure one. The characteristics are as follows: the GPS total station has all the advantages of a general total station. In addition, during the operation of the GPS total station, the coordinates of each measuring point are calibrated by the height of the satellite, so that the influence of the obstacle can be ignored. The measuring points are relatively independent, and the accumulated error is small. The measurement does not need to be mutually seen. The method has the defects of high equipment price, complex operation, high quality requirement on operators and large error caused by improper operation. In addition, the mobile station needs to manually carry and walk to the target measuring point, and the topography and topography are greatly affected.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the invention aims to provide a power transmission line mapping method, a system and a medium based on an unmanned aerial vehicle and a total station, which are improved based on the traditional mapping method, wherein the total station and an unmanned aerial vehicle carried optical prism are used as main monitoring equipment, unmanned aerial vehicle carried flight monitoring is carried out, when a barrier exists from a starting mapping point to a calibration mapping point of a target power transmission line, the position of a high h right above the calibration mapping point is used as an updated calibration mapping point, and geographic mapping is carried out at the updated calibration mapping point based on the unmanned aerial vehicle carried optical prism combination; the full-terrain requirement can be realized, and the visibility of the target point which is not required by the GPS total station is achieved; the rapidness of the measuring point calibration exceeds that of the GPS total station mobile station. The control is simple, the general measurement technique of the transmission line can be used skillfully, the technical threshold does not exist, and special training is not needed.
The invention is realized by the following technical scheme:
the scheme provides a power transmission line mapping method based on an unmanned aerial vehicle and a total station, which comprises the following steps:
step one: obtaining geographic information and calibration information of a target power transmission line;
step two: determining a mapping mode based on geographic information and calibration information of a target power transmission line and performing geographic mapping:
if no barrier exists from the initial mapping point to the calibration mapping point of the target transmission line, directly performing geographic mapping on the initial mapping point and the calibration mapping point based on the total station;
if a barrier exists from an initial mapping point to a calibration mapping point of the target transmission line, taking a position of a height h right above the calibration mapping point as an updated calibration mapping point, updating the calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and carrying out geographic mapping on the initial mapping point and the updated calibration mapping point based on the total station.
The working principle of the scheme is as follows: the traditional surveying and mapping method has the defects of low surveying and mapping precision, requirement on the visibility of a surveying and mapping channel, long surveying and mapping period and the like, and the invention takes the total station and an unmanned aerial vehicle carried optical prism as main monitoring equipment, carries out unmanned aerial vehicle carried flight monitoring, can realize the all-terrain requirement, and achieves the visibility of a GPS total station without requiring a target point; the rapidness of the measuring point calibration exceeds the rapidness and accuracy of the GPS total station mobile station to the measuring point calibration; the control is simple, the general measurement technique of the transmission line can be used skillfully, the technical threshold does not exist, and special training is not needed.
Further optimizing scheme is that the geographic mapping comprises: horizontal angle measurement, vertical angle measurement, line of sight measurement and elevation measurement.
The further optimization scheme is that for horizontal angle measurement, if a barrier exists from an initial mapping point to a calibrated mapping point of a target power transmission line, the geographic mapping method comprises the following steps:
obtaining geographic positions of a first calibration mapping point and a second calibration mapping point;
taking the position of a distance h1 right above the first calibration mapping point as a first updating calibration mapping point, and taking the position of a distance h2 right above the second calibration mapping point as a second updating calibration mapping point; hovering at a first updated calibrated mapping point and a second updated calibrated mapping point based on the unmanned aerial vehicle loaded optical prism combination, and measuring an included angle alpha between the first updated calibrated mapping point and the second updated calibrated mapping point by using the initial mapping point as an origin of the total station; the origin, the first updated calibration mapping point and the second updated calibration mapping point are located at the same altitude;
and an included angle formed by the initial mapping point, the first calibration mapping point and the second calibration mapping point is alpha.
For vertical angle measurement, if a barrier exists from an initial mapping point to a calibration mapping point of a target power transmission line, the geographical mapping method comprises the following steps:
obtaining geographic positions of a first calibration mapping point and a second calibration mapping point;
taking the position of the distance h3 right above the first calibration mapping point as a first updating calibration mapping point, and taking the position of the distance h3 right above the second calibration mapping point as a second updating calibration mapping point;
hovering at a first updated calibration mapping point and a second updated calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and measuring an included angle alpha 1 between a straight line formed by the origin to the first updated calibration mapping point and a horizontal plane and an included angle alpha 2 between the straight line formed by the origin to the second updated calibration mapping point by using the initial mapping point as an origin and using the zenith position as the origin by using the total station;
α1 is taken as the vertical angle of the first calibration mapping point and α2 is taken as the vertical angle of the second calibration mapping point.
The further optimization scheme is that the elevation of the origin is located between the first updated calibration mapping point and the second updated calibration mapping point.
The further optimization scheme is that for line-of-sight measurement and altitude difference measurement, if a barrier exists from an initial mapping point to a calibrated mapping point of a target power transmission line, the geographical mapping method comprises the following steps:
obtaining the geographic position of a calibrated mapping point;
the position of a distance h4 right above a first calibration mapping point is taken as an updated calibration mapping point, hovering is carried out on the updated calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, the total station takes an initial mapping point as an original point, the distance L from the original point to the updated calibration mapping point is measured, an included angle beta 1 between a straight line and a vertical direction is formed by the original point and the updated calibration mapping point, an included angle beta 2 between the straight line and a horizontal direction is formed by the original point and the updated calibration mapping point, and the apparent height and the height difference between the original point and the updated calibration mapping point are calculated based on the distance L, the included angle beta 1 and the included angle beta 2.
The further optimization scheme is that the apparent height and the height difference between the origin and the updated calibration mapping point are calculated through a single-foot function based on the distance L, the included angle beta 1 and the included angle beta 2.
The further optimization scheme is that the total station performs geographical mapping through the telescope, and the calibrated mapping points need to meet the measuring range of the telescope.
The scheme also provides a power transmission line mapping system based on the unmanned aerial vehicle and the total station, which is used for realizing the power transmission line mapping method based on the unmanned aerial vehicle and the total station, and comprises the following steps:
the acquisition module is used for acquiring geographic information and calibration information of the target transmission line;
the mapping module is used for determining a mapping mode based on the geographic information and the calibration information of the target power transmission line and carrying out geographic mapping:
if no barrier exists from the initial mapping point to the calibration mapping point of the target transmission line, directly performing geographic mapping on the initial mapping point and the calibration mapping point based on the total station;
if a barrier exists from an initial mapping point to a calibration mapping point of the target transmission line, taking a position of a height h right above the calibration mapping point as an updated calibration mapping point, updating the calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and carrying out geographic mapping on the initial mapping point and the updated calibration mapping point based on the total station.
The present solution also provides a computer readable medium having stored thereon a computer program to be executed by a processor to implement a power transmission line mapping method based on a drone and a total station as described above.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention provides a method, a system and a medium for mapping a power transmission line based on an unmanned plane and a total station; the method is improved based on the traditional mapping method, a total station and an unmanned aerial vehicle carried optical prism are used as main monitoring equipment, unmanned aerial vehicle carried flight monitoring is carried out, when a barrier exists from an initial mapping point to a calibration mapping point of a target power transmission line, the position of a height h right above the calibration mapping point is used as an updated calibration mapping point, and geographic mapping is carried out on the updated calibration mapping point based on the unmanned aerial vehicle carried optical prism combination; the full-terrain requirement can be realized, and the visibility of the target point which is not required by the GPS total station is achieved; the rapidness of the measuring point calibration exceeds that of the GPS total station mobile station. The control is simple, the power transmission line general measurement technique can be used skillfully, and no special training is needed for operators.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are needed in the examples will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and that other related drawings may be obtained from these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a schematic flow diagram of a method for mapping a transmission line based on an unmanned aerial vehicle and a total station;
FIG. 2 is a schematic diagram of a conventional GPS total station survey;
FIG. 3 is a schematic diagram of the horizontal angle measurement principle;
FIG. 4 is a schematic illustration of the vertical angle measurement principle;
fig. 5 is a schematic diagram of the principle of line-of-sight and height difference measurement.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
As shown in fig. 2, the mapping of the GPS total station can reach the all-terrain requirement, because the relative positions of the measuring points are calibrated by matching a plurality of global positioning satellites and ground receiving equipment, and the angles and the distances between the points are calculated by a processing module in the total station. Therefore, it is the key of the innovation to find out a device with freely adjustable spatial position to replace a satellite indication target and achieve the visibility between measuring points. The invention provides a method for realizing mapping of a power transmission line based on an unmanned aerial vehicle and a total station, which comprises the following steps:
example 1
The embodiment provides a power transmission line mapping method based on an unmanned aerial vehicle and a total station, as shown in fig. 1, including:
step one: obtaining geographic information and calibration information of a target power transmission line;
step two: determining a mapping mode based on geographic information and calibration information of a target power transmission line and performing geographic mapping:
if no barrier exists from the initial mapping point to the calibration mapping point of the target transmission line, directly performing geographic mapping on the initial mapping point and the calibration mapping point based on the total station;
if a barrier exists from an initial mapping point to a calibration mapping point of the target transmission line, taking a position of a height h right above the calibration mapping point as an updated calibration mapping point, updating the calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and carrying out geographic mapping on the initial mapping point and the updated calibration mapping point based on the total station.
The geographic mapping includes: horizontal angle measurement, vertical angle measurement, line of sight measurement and elevation measurement.
Example 2
The embodiment provides that for horizontal angle measurement, if there is a barrier from an initial mapping point to a calibrated mapping point of a target transmission line, the geographic mapping method includes:
obtaining geographic positions of a first calibration mapping point C and a second calibration mapping point D;
taking the position of a distance h1 right above the first calibration mapping point C as a first updating calibration mapping point E, and taking the position of a distance h2 right above the second calibration mapping point D as a second updating calibration mapping point B; hovering at a first updated calibration mapping point E and a second updated calibration mapping point B based on the unmanned aerial vehicle loaded optical prism combination, and simultaneously measuring an included angle alpha between the first updated calibration mapping point E and the second updated calibration mapping point B by using an initial mapping point as an original point O through a total station; the origin O, the first updated calibration mapping point E and the second updated calibration mapping point B are located at the same altitude;
the angle formed by the initial mapping point O, the first calibrated mapping point C and the second calibrated mapping point D is α.
As shown in fig. 3, the horizontal angle refers to an included angle formed by projecting two intersecting straight lines of space onto a horizontal plane, due to the limitation of terrain, the horizontal angle formed by the ADC cannot be directly observed, an unmanned aerial vehicle-mounted optical prism is adopted to be respectively pulled up to a vertical contour point E, B of a first calibration mapping point C and a second calibration mapping point D, a total station telescope observes a point B, an observation point E is rotated around a vertical axis, and an angle BOE is projected onto the horizontal plane, namely the horizontal angle of the ADC.
Example 3
The present embodiment provides for vertical angle measurement, if there is a barrier from a starting mapping point to a calibration mapping point of a target transmission line, the geographic mapping method includes:
obtaining geographic positions of a first calibration mapping point and a second calibration mapping point;
taking the position of the distance h3 right above the first calibration mapping point as a first updating calibration mapping point, and taking the position of the distance h3 right above the second calibration mapping point as a second updating calibration mapping point;
hovering at a first updated calibration mapping point and a second updated calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and measuring an included angle alpha 1 between a straight line formed by the origin to the first updated calibration mapping point and a horizontal plane and an included angle alpha 2 between the straight line formed by the origin to the second updated calibration mapping point by using the initial mapping point as an origin and using the zenith position as the origin by using the total station;
α1 is taken as the vertical angle of the first calibration mapping point and α2 is taken as the vertical angle of the second calibration mapping point.
The elevation of the origin is located between the first updated nominal mapping point and the second updated nominal mapping point.
As shown in fig. 4, vertical angle (vertical angle) observation: the concept of vertical angle, namely the included angle between the inclined line of sight and the horizontal line of sight in the same vertical plane, the total station generally takes the zenith, namely the OE direction, as the initial direction, and can not directly observe the vertical angles a and b of D, F points due to the blocking of hills (forests); the unmanned aerial vehicle is provided with a prism, and an equal-altitude point B, C which is vertical to the hover point D, F can be measured by the unmanned aerial vehicle;
observing B, C points by a total station to obtain pitch angles a 'and b' of the corresponding points D, F;
in calculating the angle, consider that the total station is also elevated to the E point equal to BD, FC, where A, A ', A' are auxiliary horizontal lines.
Example 4
The embodiment provides that for line-of-sight measurement and altitude difference measurement, if a barrier exists from a starting mapping point to a calibration mapping point of a target transmission line, the geographic mapping method comprises the following steps:
obtaining the geographic position of a calibrated mapping point;
the position of a distance h4 right above a first calibration mapping point is taken as an updated calibration mapping point, hovering is carried out on the updated calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, the total station takes an initial mapping point as an original point, the distance L from the original point to the updated calibration mapping point is measured, an included angle beta 1 between a straight line and a vertical direction is formed by the original point and the updated calibration mapping point, an included angle beta 2 between the straight line and a horizontal direction is formed by the original point and the updated calibration mapping point, and the apparent height and the height difference between the original point and the updated calibration mapping point are calculated based on the distance L, the included angle beta 1 and the included angle beta 2.
And calculating the apparent height and the height difference between the origin and the updated calibration mapping point through a single-foot function based on the distance L, the included angle beta 1 and the included angle beta 2.
The total station performs geographical mapping through the telescope, and the calibrated mapping points need to meet the measuring range of the telescope.
As shown in fig. 5, the measurement principles of the horizontal line of sight, the inclined line of sight and the height difference thereof are almost the same, and the inclined line of sight needs to be calculated through a trigonometric function; due to the obstruction of the obstacle, the total station is also unable to directly observe the line of sight and the altitude difference of the point a.
And the unmanned aerial vehicle mounting prism is vertically lifted to a point B from the point A, and the AB height is measured.
And observing the point B by the total station, measuring OB, BOE and OBE, and calculating the viewing distance D=OE. Height difference h=ab-BE-I.
Example 5
The embodiment provides a power transmission line mapping system based on an unmanned aerial vehicle and a total station, which is used for realizing the power transmission line mapping method based on the unmanned aerial vehicle and the total station of embodiment 1, and comprises the following steps:
the acquisition module is used for acquiring geographic information and calibration information of the target transmission line;
the mapping module is used for determining a mapping mode based on the geographic information and the calibration information of the target power transmission line and carrying out geographic mapping:
if no barrier exists from the initial mapping point to the calibration mapping point of the target transmission line, directly performing geographic mapping on the initial mapping point and the calibration mapping point based on the total station;
if a barrier exists from an initial mapping point to a calibration mapping point of the target transmission line, taking a position of a height h right above the calibration mapping point as an updated calibration mapping point, updating the calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and carrying out geographic mapping on the initial mapping point and the updated calibration mapping point based on the total station.
Example 6
The present embodiment provides a computer-readable medium having stored thereon a computer program that is executed by a processor to implement the unmanned aerial vehicle and total station-based transmission line mapping method of embodiment 1.
The embodiment solves the problems of visibility, manual handling and the like in actual measurement work, and gives priority to using the existing equipment, finding a method from thought, comprehensively researching measurement items, decomposing a measurement unit, solving the actual problem, forming an optimization scheme and being applied to reality. On one hand, the problem that the common total station needs visibility in the range of sight and the walking difficulty of the manual carrying optical prism is solved, and on the other hand, the traffic problem that the GPS total station needs the manual carrying mobile station to the target measuring point is solved, a precedent is created for the flexibility of the total station, and meanwhile, the direction is provided for the function expansion of the unmanned aerial vehicle; has great popularization value.
Example 7
In the embodiment, the total station and the unmanned aerial vehicle-mounted optical prism are taken as main monitoring devices, unmanned aerial vehicle-mounted flight experiments are carried out, and vertical hovering point finding and height finding experiments are carried out on ground measuring points after the unmanned aerial vehicle-mounted optical prism is carried out; the verification of basic measurement items such as horizontal line of sight and height difference, inclined line of sight and height difference, horizontal angle, vertical angle and the like is carried out on the site with complex terrain; in the field of complex terrains, two measurement modes of a GPS total station and an unmanned aerial vehicle carrying an optical prism are used for measuring and comparing basic measurement items; the contrast test sets that the range of vision has barriers and cannot be seen. From the comparison of the measurement results of the first table, the measurement results of the GPS total station are more accurate in theory, the measurement results of the total station matched with the unmanned aerial vehicle are slightly weaker than those of the GPS total station, but the related requirements of the measurement of the transmission line are completely met, the time required by the measurement project is completed, and the advantage of the total station matched with the unmanned aerial vehicle scheme is very obvious.
Table one comparison of measurement results
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The utility model provides a transmission line mapping method based on unmanned aerial vehicle and total powerstation which characterized in that includes:
step one: obtaining geographic information and calibration information of a target power transmission line;
step two: determining a mapping mode based on geographic information and calibration information of a target power transmission line and performing geographic mapping:
if no barrier exists from the initial mapping point to the calibration mapping point of the target transmission line, directly performing geographic mapping on the initial mapping point and the calibration mapping point based on the total station;
if a barrier exists from an initial mapping point to a calibration mapping point of the target transmission line, taking a position of a height h right above the calibration mapping point as an updated calibration mapping point, updating the calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and carrying out geographic mapping on the initial mapping point and the updated calibration mapping point based on the total station.
2. The unmanned aerial vehicle and total station based transmission line mapping method of claim 1, wherein the geographical mapping comprises: horizontal angle measurement, vertical angle measurement, line of sight measurement and elevation measurement.
3. The unmanned aerial vehicle and total station-based transmission line mapping method according to claim 2, wherein for horizontal angle measurement, if there is a barrier from the starting mapping point to the calibration mapping point of the target transmission line, the geographical mapping method comprises:
obtaining geographic positions of a first calibration mapping point and a second calibration mapping point;
taking the position of a distance h1 right above the first calibration mapping point as a first updating calibration mapping point, and taking the position of a distance h2 right above the second calibration mapping point as a second updating calibration mapping point; hovering at a first updated calibrated mapping point and a second updated calibrated mapping point based on the unmanned aerial vehicle loaded optical prism combination, and measuring an included angle alpha between the first updated calibrated mapping point and the second updated calibrated mapping point by using the initial mapping point as an origin of the total station; the origin, the first updated calibration mapping point and the second updated calibration mapping point are located at the same altitude;
and an included angle formed by the initial mapping point, the first calibration mapping point and the second calibration mapping point is alpha.
4. The unmanned aerial vehicle and total station-based transmission line mapping method of claim 1, wherein for vertical angle measurements, if there is a barrier from the starting mapping point to the nominal mapping point of the target transmission line, the geographical mapping method comprises:
obtaining geographic positions of a first calibration mapping point and a second calibration mapping point;
taking the position of the distance h3 right above the first calibration mapping point as a first updating calibration mapping point, and taking the position of the distance h3 right above the second calibration mapping point as a second updating calibration mapping point;
hovering at a first updated calibration mapping point and a second updated calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and measuring an included angle alpha 1 between a straight line formed by the origin to the first updated calibration mapping point and a horizontal plane and an included angle alpha 2 between the straight line formed by the origin to the second updated calibration mapping point by using the initial mapping point as an origin and using the zenith position as the origin by using the total station;
α1 is taken as the vertical angle of the first calibration mapping point and α2 is taken as the vertical angle of the second calibration mapping point.
5. The unmanned aerial vehicle and total station based transmission line mapping method of claim 4, wherein the elevation of the origin is located between the first updated calibrated mapping point and the second updated calibrated mapping point.
6. The unmanned aerial vehicle and total station-based transmission line mapping method of claim 1, wherein for line-of-sight measurements and altitude difference measurements, if there is a barrier from the starting mapping point to the nominal mapping point of the target transmission line, the geographical mapping method comprises:
obtaining the geographic position of a calibrated mapping point;
the position of a distance h4 right above a first calibration mapping point is taken as an updated calibration mapping point, hovering is carried out on the updated calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, the total station takes an initial mapping point as an original point, the distance L from the original point to the updated calibration mapping point is measured, an included angle beta 1 between a straight line and a vertical direction is formed by the original point and the updated calibration mapping point, an included angle beta 2 between the straight line and a horizontal direction is formed by the original point and the updated calibration mapping point, and the apparent height and the height difference between the original point and the updated calibration mapping point are calculated based on the distance L, the included angle beta 1 and the included angle beta 2.
7. The unmanned aerial vehicle and total station-based transmission line mapping method according to claim 6, wherein the apparent height and the height difference between the origin and the updated calibration mapping point are calculated by a single-foot function based on the distance L, the included angle β1 and the included angle β2.
8. The method for mapping the transmission line based on the unmanned aerial vehicle and the total station according to claim 1, wherein the total station performs geographical mapping through a telescope, and the calibration mapping point needs to meet the measuring range of the telescope.
9. The power transmission line mapping system based on the unmanned aerial vehicle and the total station, which is characterized by being used for realizing the power transmission line mapping method based on the unmanned aerial vehicle and the total station according to any one of claims 1-8, and comprising:
the acquisition module is used for acquiring geographic information and calibration information of the target transmission line;
the mapping module is used for determining a mapping mode based on the geographic information and the calibration information of the target power transmission line and carrying out geographic mapping:
if no barrier exists from the initial mapping point to the calibration mapping point of the target transmission line, directly performing geographic mapping on the initial mapping point and the calibration mapping point based on the total station;
if a barrier exists from an initial mapping point to a calibration mapping point of the target transmission line, taking a position of a height h right above the calibration mapping point as an updated calibration mapping point, updating the calibration mapping point based on the unmanned aerial vehicle loaded optical prism combination, and carrying out geographic mapping on the initial mapping point and the updated calibration mapping point based on the total station.
10. A computer readable medium having stored thereon a computer program, wherein the computer program is executed by a processor to implement the unmanned aerial vehicle and total station based transmission line mapping method of any of claims 1-8.
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