CN114842054A - Power inspection positioning and tracking method and system based on data fusion - Google Patents
Power inspection positioning and tracking method and system based on data fusion Download PDFInfo
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Abstract
The invention provides a power patrol inspection positioning and tracking method and system based on data fusion, which relate to the technical field of computer vision research and are used for obtaining central navigation coordinates of a first camera and a second camera; obtaining the spatial rectangular coordinates of the first camera and the second camera based on the established first spatial rectangular coordinate system; the method comprises the steps of obtaining a target relative coordinate of a target electric power facility, carrying out coordinate conversion to obtain a facility space rectangular coordinate of the target electric power facility, obtaining target navigation coordinate information by converting a Beidou navigation coordinate of the target electric power facility, and further completing geographic information acquisition of the target electric power facility. The problem of exist among the prior art to electric power patrol and examine, survey and drawing relevant location technique not enough to the location accuracy of target, can't advance the technical problem of accurate location to the target is solved, reached through fusing big dipper location technique and binocular camera location technique, improve the location navigation in the electric power patrol and examine and survey the purpose of the location accuracy in the aspect of drawing.
Description
Technical Field
The invention relates to the technical field of power inspection and mapping positioning, and in particular relates to a power inspection positioning and tracking method and system based on data fusion.
Background
The fighting satellite navigation system is a global satellite navigation system which is autonomously established and operated by paying attention to the development requirements of national security and economic society in China, can provide all-weather, all-time and high-precision positioning, navigation and time service for global users, and belongs to national important space-time infrastructure.
In the relevant application fields such as electric power inspection, survey and drawing, on-vehicle positioner is very general, and the range of application is extremely wide, however, prior art still has certain limitation for positioner can not obtain optimal utilization.
The prior art has the following technical problems: the existing positioning technology for electric power routing inspection and mapping is insufficient in target tracking and positioning accuracy and cannot accurately position a target.
Disclosure of Invention
The application provides a power inspection positioning and tracking method and system based on data fusion, which are used for solving the technical problems that the tracking positioning accuracy of the target is not enough and the target cannot be accurately positioned in the prior art by the existing target positioning technologies related to power inspection and mapping.
In view of the above problems, the present application provides a power inspection positioning and tracking method and system based on data fusion.
In a first aspect, the application provides a power patrol positioning and tracking method based on data fusion, and the method includes: obtaining central navigation coordinates of the first camera and the second camera; constructing a first space rectangular coordinate system, and obtaining space rectangular coordinates of the first camera and the second camera according to the first space rectangular coordinate system; obtaining target relative coordinates of a target power facility through the first camera and the second camera; acquiring a facility space rectangular coordinate of the target power facility according to the space rectangular coordinate and the target relative coordinate; converting the Beidou navigation coordinate of the target power facility according to the facility space rectangular coordinate and the center navigation coordinate to obtain target navigation coordinate information; and finishing the geographic information acquisition of the target power facility according to the target navigation coordinate information.
In a second aspect, the present application provides a power patrol locating and tracking system based on data fusion, the system includes: a first obtaining unit for obtaining center navigation coordinates of the first camera and the second camera; the first construction unit is used for constructing a first space rectangular coordinate system and obtaining space rectangular coordinates of the first camera and the second camera according to the first space rectangular coordinate system; a second obtaining unit for obtaining a target relative coordinate of a target electric power facility by the first camera and the second camera; a third obtaining unit configured to obtain a facility space rectangular coordinate of the target electric power facility from the space rectangular coordinate and the target relative coordinate; the fourth obtaining unit is used for carrying out Beidou navigation coordinate conversion on the target electric power facility according to the facility space rectangular coordinate and the center navigation coordinate to obtain target navigation coordinate information; and the first acquisition unit is used for finishing the acquisition of the geographic information of the target power facility according to the target navigation coordinate information.
In a third aspect, the present application provides an electronic device, comprising: a processor coupled to a memory, the memory for storing a program that, when executed by the processor, causes the system to perform the method of any of the first aspects.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of any one of the first aspect.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
according to the power patrol locating and tracking method based on data fusion, the center navigation coordinates of the first camera and the second camera are obtained; constructing a first space rectangular coordinate system, determining space rectangular coordinates of the first camera and the second camera in the coordinate system, and taking the space rectangular coordinates as a reference system to obtain target relative coordinates of a target power facility; obtaining a facility space rectangular coordinate of the target electric power facility from the space rectangular coordinate and the target relative coordinate; carrying out Beidou navigation coordinate conversion on the target power facility according to the facility space rectangular coordinate and the center navigation coordinate to obtain target navigation coordinate information; and finishing the geographic information acquisition of the target power facility according to the target navigation coordinate information. Through fusing a Beidou positioning technology and a binocular camera positioning technology, acquiring a facility space rectangular coordinate of a target power facility based on a space rectangular coordinate of a first camera and a second camera and a target relative coordinate of the target power facility, determining a corresponding coordinate of the satellite positioning system through coordinate conversion, and adjusting a tracking angle of the first camera and the second camera through calculating an offset angle in the moving process of the target power facility to track and position an optimal monitoring angle.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
Fig. 1 is a schematic flow chart of a power inspection positioning and tracking method based on data fusion according to the present application;
fig. 2 is a schematic flow chart of a camera tracking angle adjustment method in the power inspection positioning and tracking method based on data fusion according to the present application;
FIG. 3 is a diagram of a power patrol locating and tracking method based on data fusion;
fig. 4 is a schematic structural diagram of a power inspection positioning and tracking system based on data fusion according to the present application;
fig. 5 is a schematic structural diagram of an electronic device provided in the present application.
Description of the reference numerals: the system comprises a first obtaining unit 11, a first constructing unit 12, a second obtaining unit 13, a third obtaining unit 14, a fourth obtaining unit 15, a first acquiring unit 16, an electronic device 300, a memory 301, a processor 302, a communication interface 303 and a bus architecture 304.
Detailed Description
The application provides a data fusion-based electric power inspection positioning and tracking method and system, and aims to solve the technical problems that tracking and positioning accuracy of tracking and positioning technologies related to electric power inspection and mapping existing in the prior art to a target is not enough, and the target cannot be accurately positioned.
Summary of the application
With the development of the positioning and tracking technology, the related application relates to a plurality of fields, such as military and daily life, and the tracking can be observed, which is essential for normal social operation. Navigation, positioning, short messages and the like can be carried out through the Beidou system, and then related services are provided for special people such as the old, children and the disabled, and safety guarantee is carried out.
However, the existing localization tracking technology is not perfect enough, and has a certain limitation, and the following technical problems exist in the prior art: the tracking and positioning accuracy of the existing tracking and positioning technology related to electric power routing inspection and mapping is insufficient, and the target cannot be accurately positioned.
In view of the above technical problems, the technical solution provided by the present application has the following general idea:
the method comprises the steps of obtaining center navigation coordinates of the first camera and the second camera; obtaining space rectangular coordinates of the first camera and the second camera based on the constructed first space rectangular coordinate system, and obtaining target relative coordinates of a target power facility through the first camera and the second camera; acquiring a facility space rectangular coordinate of the target power facility according to the space rectangular coordinate and the target relative coordinate; carrying out Beidou navigation coordinate conversion on the target power facility according to the facility space rectangular coordinate and the center navigation coordinate to obtain target navigation coordinate information; and finishing the geographic information acquisition of the target power facility according to the target navigation coordinate information.
Having described the basic principles of the present application, the technical solutions in the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments of the present application, and the present application is not limited to the exemplary embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application. It should be further noted that, for the convenience of description, only some but not all of the elements relevant to the present application are shown in the drawings.
Example one
As shown in fig. 1, the present application provides a power inspection positioning and tracking method based on data fusion, which is applied to an intelligent positioning system, where the intelligent positioning system is in communication connection with a first camera and a second camera, and the method includes:
step S100: obtaining central navigation coordinates of the first camera and the second camera;
specifically, what is shownThe first camera and the second camera are used for monitoring a target electric power facility and are in communication connection with an intelligent positioning system so as to track and position the target electric power facility, coordinate positioning is carried out on the first camera and the second camera based on a Beidou positioning system, navigation coordinates of the first camera and the second camera at a certain time point are determined, and the navigation coordinates of the first camera and the second camera are determined to be (L) 1 ，B 1 ，H 1 ) And (L) 2 ，B 2 ，H 2 ) The Beidou positioning system is a satellite navigation system capable of operating independently, can provide facilities for global users to position and navigate in high precision all day, and determines the coordinates of the central positions of the first camera and the second camera
The central navigation coordinate lays a foundation for positioning and tracking the target power facility in the later period by acquiring the central navigation coordinate.
Step S200: constructing a first space rectangular coordinate system, and obtaining space rectangular coordinates of the first camera and the second camera according to the first space rectangular coordinate system;
step S300: obtaining target relative coordinates of a target power facility through the first camera and the second camera;
specifically, a spatial rectangular coordinate system, i.e., the first spatial rectangular coordinate system, is established based on a three-dimensional space, the position coordinates of the first camera and the second camera are determined in the first spatial rectangular coordinate system, and navigation coordinates (L) of the first camera and the second camera are determined based on the first spatial rectangular coordinate system and the second camera 1 ，B 1 ，H 1 )、(L 2 ，B 2 ，H 2 ) Coordinate conversion is carried out, and coordinates of the central points of the first camera and the second camera, namely the space rectangular coordinates, are obtained through the coordinate conversionThe coordinates are obtained by performing coordinate conversion on the central navigation coordinates of the first camera and the second camera, and the obtained coordinate position is defined as (X, Y, Z), so that accurate acquisition of the geographic information of the target power facility can be effectively realized.
Specifically, the target relative coordinates of the target electric power facility refers to acquiring an image of the target electric power facility with spatial rectangular coordinates of the first camera and the second camera as reference coordinates, determining a relative position of the acquired target electric power facility with respect to the reference coordinates based on the acquired image-related information and further on corresponding distance and direction angle data of the target electric power facility with respect to the reference coordinates, further determining corresponding coordinates of the target electric power facility, which are denoted as (x, y, z), and performing a superposition operation on the target relative coordinates of the target electric power facility and the spatial rectangular coordinates at the same time when the first camera and the second camera navigate the target acquisition to obtain position coordinates of the target electric power facility in the first spatial rectangular coordinate system, i.e. the facility space rectangular coordinates, noted (x) d ＝x+X，y d ＝y+Y，z d Z + Z), the space rectangular coordinate is used as a reference coordinate, the facility space rectangular coordinate is calculated, and a foundation is laid for coordinate conversion and positioning tracking in the later period.
Step S400: acquiring a facility space rectangular coordinate of the target power facility according to the space rectangular coordinate and the target relative coordinate;
specifically, the target electric power facility refers to an electric power generation facility, an electric power line facility, or the like, such as a charging station, an electric power dedicated communication line, a communication cable, a communication tower, a communication station, or the like, to which tracking and positioning are performed, the coordinates of the center points of the first camera and the second camera, that is, spatial rectangular coordinates, and the coordinates of the target electric power facility relative to the coordinates of the first camera and the second camera are determined, the image acquisition performed on the target electric power facility by the first camera and the second camera determines the relative position information of the target electric power facility, further determines the target relative coordinates of the target electric power facility, and determines the corresponding position coordinates of the target electric power facility in the first spatial rectangular coordinate system according to the obtained spatial rectangular coordinates and the obtained target relative coordinates, the facility space rectangular coordinate is obtained, so that the facility space rectangular coordinate of the target electric power facility can be conveniently converted in the later period, and the Beidou navigation coordinate of the target electric power facility is further calculated and obtained.
Step S500: carrying out Beidou navigation coordinate conversion on the target power facility according to the facility space rectangular coordinate and the center navigation coordinate to obtain target navigation coordinate information;
specifically, based on the established first rectangular spatial coordinate system, coordinates of corresponding position points of the observation target, namely the target power facility, are obtained, meanwhile, navigation coordinates of the first camera and the second camera are obtained under the Beidou positioning system, coordinate conversion is carried out on the target power facility based on the two coordinate points, calculation of direction coordinates of each coordinate axis is carried out through a conversion formula, facility spatial rectangular coordinates of the target power facility in the first rectangular spatial coordinate system are converted into corresponding coordinates monitored by the Beidou positioning system, namely target navigation coordinate information is recorded as (L) navigation coordinate information d ,B d ,H d ). And acquiring the target navigation coordinate information of the target power facility through coordinate conversion so as to acquire specific position information of the target power facility under a Beidou positioning system, thereby facilitating positioning and tracking of the target power facility in the later stage.
Step S600: and finishing the geographic information acquisition of the target power facility according to the target navigation coordinate information.
Specifically, the target navigation coordinate information refers to coordinates of a position point of the target electric power facility under the beidou positioning system through coordinate conversion. The Beidou positioning system is used for accurately positioning the target navigation coordinates of the target electric power facility so as to determine the specific position of the target electric power facility, and on the basis, the geographical information of the target electric power facility, including wind speed, weather, hydrology, geology, resources and the like, is collected so as to judge the corresponding operating state of the target electric power facility and the related influence degree of the surrounding geographical environment on the target electric power facility, and is correspondingly adjusted according to the real-time geographical information and the existing conditions so as to realize the maximum utilization of the surrounding environment resources and ensure the efficient and error-free operation of the target electric power facility.
Further, the geographic information may also affect the operation speed, the angle offset, and the like of the target electric power facility, the real-time operation state of the target electric power facility is obtained based on the geographic information, so as to determine the center position coordinates of the first camera and the second camera after moving along with the target electric power facility, and the position and the angle of the first camera and the second camera are adjusted according to the offset of the center position coordinates, so as to further track and position the target electric power facility. Based on the acquisition of the geographic information of the target electric power facility, the relative position of the target electric power facility can be predicted, and the monitoring angle can be adjusted in time to perform corresponding target positioning tracking.
Further, step S100 of the present application further includes:
step S110: obtaining a first navigation coordinate of the first camera, noted as (L) 1 ，B 1 ，H 1 ) Obtaining a second navigation coordinate of the second camera, and recording as (L) 2 ，B 2 ，H 2 )；
Step S120: calculating the central navigation coordinate according to the first navigation coordinate and the second navigation coordinate to obtain the central navigation coordinate:
specifically, the first navigation coordinate refers to a position point coordinate obtained by positioning the first camera based on a Beidou positioning system, and the second navigation coordinate refers to positioning the second camera by the Beidou positioning systemThe obtained position point coordinates respectively record the first navigation coordinate and the second navigation coordinate as (L) 1 ，B 1 ，H 1 )、(L 2 ，B 2 ，H 2 ) Based on the navigation coordinate, averaging coordinate values of coordinate axes to obtain the first navigation coordinate and the second navigation coordinate central point coordinate
The central navigation coordinate is calculated based on the first navigation coordinate and the second navigation coordinate to determine the coordinate of the central position point of the first camera and the second camera under the Beidou positioning system, and the offset of the central navigation coordinate is judged according to the relative position of the central navigation coordinate and the target electric power facility in the later period through calculation of the central navigation coordinate, so that the target electric power facility is accurately tracked.
Further, step S200 of the present application further includes:
step S210: according to the first space rectangular coordinate system, the center navigation coordinate is set
Performing coordinate conversion to obtain the space rectangular coordinates (X, Y, Z);
step S220: performing superposition operation on the target relative coordinate (x, y, z) and the space rectangular coordinate to obtain the facility space rectangular coordinate (x) d ＝x+X，y d ＝y+Y，z d ＝z+Z)。
Specifically, the first spatial rectangular coordinate system refers to a spatial rectangular coordinate system established based on a three-dimensional space, and the central navigation coordinate is converted in the first spatial rectangular coordinate system to determine a position coordinate of the central navigation coordinate in the first spatial rectangular coordinate system, which is denoted as (X, Y, Z), that is, the spatial rectangular coordinate systemAnd angular coordinates, taking the first camera coordinates and the second camera coordinates as reference coordinates, positioning the target relative coordinates, wherein the target relative coordinates refer to the relative position coordinates of the target electric power facility to the first camera and the second camera, and are marked as (x, y, z), and the target relative coordinates and the space rectangular coordinates are superposed to obtain the position coordinates of the target electric power facility in the first space rectangular coordinate system, namely the facility space rectangular coordinates, which are marked as (x, y, z) d ＝x+X，y d ＝y+Y，z d Z + Z), the spatial rectangular coordinate of the target electric facility is determined through calculation, the coordinate of the target electric facility under the Beidou positioning system can be converted based on the spatial rectangular coordinate, and meanwhile, a reference is provided for later movement so as to compare position coordinates and determine related movement parameters.
Further, step S210 of the present application further includes:
step S211: and performing coordinate conversion of the central navigation coordinate according to a formula, wherein the conversion formula is as follows:
wherein N is the radius of circular curvature of the earth, and e is the eccentricity of the earth, so as to satisfy
e 2 ＝a -2 (a 2 -b 2 )
Wherein, a is the earth major semiaxis, and b is the earth minor semiaxis.
Specifically, coordinate conversion is performed on a central point coordinate, namely a central navigation coordinate, of the first camera and the second camera, a spatial rectangular coordinate system is established based on a three-dimensional space, namely the first spatial rectangular coordinate system, the central navigation coordinate is converted into a position coordinate point in the first spatial rectangular coordinate system, and the position coordinate point is converted according to the conversionFormula (II)
Carrying out corresponding transformation to obtain the rectangular space coordinates (X, Y, Z), wherein N is the circular curvature radius of the earth, the value of the circular curvature radius can be accurate to 0.1%, and the calculation formula of the curvature radius of the earth is as follows
e is the eccentricity of the earth, and the correlation calculation satisfies e 2 ＝a -2 (a 2 -b 2 ) The eccentricity ratio of the earth is 0.0167, wherein a is a major semi-axis of the earth, and b is a minor semi-axis of the earth. And performing coordinate conversion on the central navigation coordinate based on the first space rectangular coordinate system, and providing a basis for calculating the space rectangular coordinate of the target electric power facility at the later stage.
Further, according to the facility space rectangular coordinate and the center navigation coordinate, the Beidou navigation coordinate conversion of the target power facility is performed to obtain target navigation coordinate information, and the step S500 of the application further includes:
and (3) carrying out coordinate conversion of facility space rectangular coordinates according to a formula, wherein the conversion formula is as follows:
the formula for θ is as follows:
wherein (L) d ,B d ,H d ) The coordinate information is navigated to the target.
Specifically, the coordinates of the location point are converted based on the spatial rectangular coordinates of the target electric power facilityThe space rectangular coordinate is corresponding position coordinates (X, Y, Z) of the target electric power facility in the first space rectangular coordinate system which is constructed through a conversion formula
Calculating target navigation coordinate information of the target electric power facility, wherein x d ，y d ，z d Respectively are the position coordinates of the target electric power facility in the first space rectangular coordinate system, namely the coordinate values of the facility space rectangular coordinate, x d ＝x+X，y d ＝y+Y，z d Z + Z, N is the radius of the circular curvature of the earth, the value precision is 0.1%, theta is the direction angle, and the calculation formula is
Through right the target electric power facility the facility space rectangular coordinate carries out coordinate conversion to obtain space rectangular coordinate's big dipper navigation coordinate, the later stage of being convenient for is in carry out the skew monitoring of target under the big dipper positioning system, based on big dipper positioning system's accurate positioning, can effectively improve right the tracking location accuracy of target electric power facility.
Further, as shown in fig. 2, step S600 of the present application further includes:
step S610: obtaining a first movement speed, a first movement angle and a first movement time of the central navigation coordinate;
step S620: calculating the coordinates of the center point after the first camera and the second camera move according to the first movement speed, the first movement angle and the first movement time to obtain a first offset coordinate;
step S630: obtaining a first adjustment angle according to the first offset coordinate;
step S640: and adjusting the tracking angle of the first camera and the second camera according to the first adjustment angle.
Specifically, based on the movement of the target power facility, the relative positions of the target power facility and the central points of the first camera and the second camera are kept unchanged, and a first movement speed, a first movement angle and a first movement time of the central navigation coordinate are obtained through the Beidou positioning system. The first movement speed refers to a movement speed of the central navigation coordinate within a period of time and is also a movement speed of the target electric power facility, the first movement angle refers to a movement time of the central navigation coordinate along with movement of the target electric power facility, and the corresponding central coordinate changes along with movement of the target electric power facility while keeping a relative position of the central coordinate and the spatial rectangular coordinate unchanged, and the first movement time is a corresponding movement time of the central navigation coordinate along with movement of the target electric power facility within a period of time. The method comprises the steps of carrying out corresponding movement on a first camera and a second camera according to a first movement speed, a first movement angle and a first movement time, calculating the center point coordinates of the first camera and the second camera after movement to obtain a first offset coordinate, judging a corresponding offset angle based on the first offset coordinate and the center point coordinates before the first camera and the second camera move to obtain a first adjustment angle, and carrying out synchronous angle adjustment on the first camera and the second camera based on the first adjustment angle to adjust a corresponding tracking angle.
The coordinates of the central points of the first camera and the second camera after movement are calculated according to the movement of the central navigation coordinate, and an adjustment angle is judged based on the obtained first offset coordinate, so that the tracking angles of the first camera and the second camera are adjusted, and the target electric power facility can be further tracked and positioned.
Further, the step S620 further includes calculating coordinates of a center point after the first camera and the second camera move according to the first movement speed, the first movement angle, and the first movement time, and obtaining a first offset coordinate, where:
the first offset coordinate calculation formula is as follows:
wherein, (x' d ,y′ d ,z d ') is the first offset coordinate, β is the first movement angle, D is the movement distance, D ═ v Δ t, where v is the first movement velocity and Δ t is the first movement time.
Specifically, the first offset coordinate refers to a coordinate of a center point of the first camera and the second camera after the first camera and the second camera move, and represents an offset of the center point of the first camera coordinate and the second camera coordinate, (x) d 、y d 、z d ) Calculating a formula based on the first offset coordinate as a spatial rectangular coordinate of the target
Calculating the first offset coordinate to determine the first offset coordinate
Is (x' d ,y′ d ,z d ') where β is a first movement angle, D is a movement distance, and the movement distance in the time Δ t is D ═ v Δ t, where v is a first movement speed and Δ t is a first movement time. Through calculating the first offset coordinate, the adjusting directions of the first camera and the second camera can be determined according to the first offset coordinate, and then the tracking angles of the first camera and the second camera are adjusted, so that the target power facility can be accurately tracked and positioned.
Further, as shown in fig. 3, by fusing Beidou positioning data and binocular positioning data, the navigation coordinate of the target power facility is accurately calculated, and a rectangular spatial coordinate system is established based on a three-dimensional space, wherein the rectangular spatial coordinate system is established based on X 1 、Y 1 、Z 1 Establishing the first camera position coordinate system, X, for a direction 2 、Y 2 、Z 2 For the second camera position coordinate system, X as the camera position moves L 、Y L 、Z L Representing the first camera image coordinate system, X R 、Y R 、Z R Representing the second camera image coordinate system, O 1 ，O 2 Respectively representing the mass center coordinates of the first camera and the second camera, and determining the mass center coordinates of the first camera and the second camera to be (L) based on a Beidou positioning system 1 ，B 1 ，H 1 )、(L 2 ，B 2 ，H 2 ) Determining a central point coordinate and converting the central point coordinate into a spatial rectangular coordinate (X, Y, Z), determining the relative position of a tracking target to the central point coordinate, determining the spatial rectangular coordinate of a target electric facility, performing coordinate conversion on the spatial rectangular coordinate to obtain a Beidou navigation coordinate, acquiring a corresponding offset coordinate of the central point coordinate based on the movement of the target electric facility, converting the offset coordinate into a corresponding position coordinate under the spatial rectangular coordinate, judging the position offset, and performing corresponding tracking adjustment based on the position offset to adjust the tracking directions of the first camera and the second camera.
In summary, the power patrol locating and tracking method and system based on data fusion provided by the application have the following technical effects:
1. the power patrol inspection positioning and tracking method based on data fusion is based on the Beidou positioning system, obtains the center navigation coordinates of the first camera and the second camera, obtaining spatial rectangular coordinates of the first camera and the second camera according to the constructed first spatial rectangular coordinate system, obtaining target relative coordinates of the target power facility based on the first camera and the second camera, obtaining spatial rectangular coordinates of the target power facility based on the spatial rectangular coordinates and the target relative coordinates, obtaining a facility space rectangular coordinate of the target electrical facility, based on the facility space rectangular coordinate and the center navigation coordinate, and carrying out Beidou navigation coordinate conversion on the target electric power facility to obtain the target navigation coordinate information, and acquiring the geographic information of the target electric power facility based on the target navigation coordinate information. This application carries out corresponding integration through to big dipper location technique and binocular camera location technique, based on first camera with the space rectangular coordinate of second camera with the target relative coordinate of target electric power facility acquires the facility space rectangular coordinate of target electric power facility is confirmed through the coordinate conversion satellite positioning system is its corresponding coordinate down, through calculating the skew angle of target electric power facility removal in-process is right first camera with the tracking angle of second camera is adjusted to the location is tracked to the optimal monitoring angle, through the aforesaid conversion, makes right the tracking positioning accuracy of target electric power facility has obtained certain promotion, has improved positioning accuracy.
2. And performing coordinate conversion under a Beidou positioning system on the target electric power facility and the coordinates of the center point after the first camera and the second camera move in the first space rectangular coordinate system based on a conversion formula, and further determining the specific position coordinates of the target electric power facility.
3. And calculating the coordinates of the central point after the first camera and the second camera move based on the obtained first movement speed, the first movement angle and the first movement time of the central navigation coordinate, and obtaining a corresponding adjustment angle to adjust the tracking angle of the first camera and the second camera so as to obtain an optimal tracking position and improve the accuracy of positioning and tracking.
Example two
Based on the same inventive concept as the power inspection positioning and tracking method based on data fusion in the foregoing embodiment, as shown in fig. 4, the present application provides a power inspection positioning and tracking system based on data fusion, wherein the system includes:
a first obtaining unit 11, wherein the first obtaining unit 11 is used for obtaining central navigation coordinates of the first camera and the second camera;
a first constructing unit 12, where the first constructing unit 12 is configured to construct a first spatial rectangular coordinate system, and obtain spatial rectangular coordinates of the first camera and the second camera according to the first spatial rectangular coordinate system;
a second obtaining unit 13, wherein the second obtaining unit 13 is configured to obtain a target relative coordinate of a target electric power facility through the first camera and the second camera;
a third obtaining unit 14, wherein the third obtaining unit 14 is configured to obtain a facility space rectangular coordinate of the target power facility according to the space rectangular coordinate and the target relative coordinate;
a fourth obtaining unit 15, where the fourth obtaining unit 15 is configured to perform Beidou navigation coordinate conversion on the target electric power facility according to the facility space rectangular coordinate and the center navigation coordinate, and obtain target navigation coordinate information;
the first acquisition unit 16, the first acquisition unit 16 is configured to complete the geographic information acquisition of the target electric power facility according to the target navigation coordinate information.
Further, the system further comprises:
a fifth obtaining unit for obtaining a first navigation coordinate of the first camera, denoted as (L) 1 ，B 1 ，H 1 ) Obtaining a second navigation coordinate of the second camera, and recording as (L) 2 ，B 2 ，H 2 )；
A first calculating unit, configured to perform the central navigation coordinate calculation according to the first navigation coordinate and the second navigation coordinate, to obtain the central navigation coordinate:
further, the system further comprises:
a sixth obtaining unit configured to obtain the center navigation coordinate according to the first spatial rectangular coordinate system
Performing coordinate conversion to obtain the space rectangular coordinates (X, Y, Z);
a seventh obtaining unit that obtains the first image data,the seventh obtaining unit is configured to perform a superposition operation on the target relative coordinate (x, y, z) and the spatial rectangular coordinate to obtain the facility spatial rectangular coordinate (x) d ＝x+X，y d ＝y+Y，z d ＝z+Z)。
Further, the system further comprises:
a first conversion unit, configured to perform coordinate conversion of the central navigation coordinate according to a formula, where the conversion formula is as follows:
wherein N is the radius of circular curvature of the earth, and e is the eccentricity of the earth, so as to satisfy
e 2 ＝a -2 (a 2 -b 2 )
Wherein, a is the earth major semiaxis, and b is the earth minor semiaxis.
Further, the system further comprises:
a second conversion unit configured to perform coordinate conversion of facility space rectangular coordinates according to a formula as follows:
the formula for θ is as follows:
wherein (L) d ,B d ,H d ) The coordinate information is navigated to the target.
Further, the system further comprises:
an eighth obtaining unit, configured to obtain a first movement speed, a first movement angle, and a first movement time of the central navigation coordinate;
a ninth obtaining unit, configured to perform center point coordinate calculation after the first camera and the second camera move according to the first motion speed, the first motion angle, and the first motion time, and obtain a first offset coordinate;
a tenth obtaining unit, configured to obtain a first adjustment angle according to the first offset coordinate;
and the first adjusting unit is used for adjusting the tracking angles of the first camera and the second camera according to the first adjusting angle.
Further, the system further comprises:
a second calculation unit configured to calculate the first offset coordinate as follows:
wherein, (x' d ,y′ d ,z d ') is the first offset coordinate, β is the first movement angle, D is the movement distance, D ═ v Δ t, where v is the first movement velocity and Δ t is the first movement time.
EXAMPLE III
Based on the same inventive concept as the data fusion-based power patrol positioning and tracking method in the foregoing embodiment, the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method in the first embodiment.
In the present disclosure, through the foregoing detailed description of the power inspection positioning and tracking method based on data fusion, those skilled in the art can clearly know that the power inspection positioning and tracking method and system based on data fusion in the present embodiment are not described in detail herein for brevity of the description. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Exemplary electronic device
The electronic device of the embodiment of the present application is described below with reference to fig. 5.
Based on the same inventive concept as the power patrol inspection positioning and tracking method based on data fusion in the foregoing embodiment, the present application also provides a power patrol inspection positioning and tracking system based on data fusion, which includes: a processor coupled to a memory, the memory for storing a program that, when executed by the processor, causes the system to perform the steps of the method of embodiment one.
The electronic device 300 includes: processor 302, communication interface 303, memory 301. Optionally, the electronic device 300 may also include a bus architecture 304. Wherein, the communication interface 303, the processor 302 and the memory 301 may be connected to each other through a bus architecture 304; the bus architecture 304 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus architecture 304 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
The communication interface 303 may be any device, such as a transceiver, for communicating with other devices or communication networks, such as an ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), a wired access network, and the like.
The memory 301 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an electrically erasable Programmable read-only memory (EEPROM), a compact-read-only-memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be self-contained and coupled to the processor through a bus architecture 304. The memory may also be integral to the processor.
The memory 301 is used for storing computer-executable instructions for implementing the present application, and is controlled by the processor 302 to execute. The processor 302 is configured to execute the computer-executable instructions stored in the memory 301, so as to implement the power patrol locating and tracking method based on data fusion provided by the above-mentioned embodiment of the present application.
Those of ordinary skill in the art will understand that: the various numbers of the first, second, etc. mentioned in this application are for convenience of description and are not intended to limit the scope of this application nor to indicate the order of precedence. "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. "at least one" means one or more. At least two means two or more. "at least one," "any," or similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one (one ) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions described in accordance with the present application are generated, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The various illustrative logical units and circuits described in this application may be implemented or operated through the design of a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in this application may be embodied directly in hardware, in a software element executed by a processor, or in a combination of the two. The software cells may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be disposed in a terminal. In the alternative, the processor and the storage medium may reside in different components within the terminal. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations may be made thereto without departing from the spirit and scope of the application.
Accordingly, the specification and figures are merely exemplary of the application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the present application and its equivalent technology, it is intended that the present application include such modifications and variations.
Claims (10)
1. The electric power inspection positioning and tracking method based on data fusion is characterized in that the method is applied to an intelligent positioning system, the intelligent positioning system is in communication connection with a first camera and a second camera, and the method comprises the following steps:
obtaining central navigation coordinates of the first camera and the second camera;
constructing a first space rectangular coordinate system, and obtaining space rectangular coordinates of the first camera and the second camera according to the first space rectangular coordinate system;
obtaining target relative coordinates of a target power facility through the first camera and the second camera;
acquiring a facility space rectangular coordinate of the target power facility according to the space rectangular coordinate and the target relative coordinate;
carrying out Beidou navigation coordinate conversion on the target power facility according to the facility space rectangular coordinate and the center navigation coordinate to obtain target navigation coordinate information;
and finishing the geographic information acquisition of the target power facility according to the target navigation coordinate information.
2. The method of claim 1, wherein the method further comprises:
obtaining a first navigation coordinate of the first camera, noted as (L) 1 ，B 1 ，H 1 ) Obtaining a second navigation coordinate of the second camera, and recording as (L) 2 ，B 2 ，H 2 )；
Calculating the central navigation coordinate according to the first navigation coordinate and the second navigation coordinate to obtain the central navigation coordinate:
3. the method of claim 2, wherein the method further comprises:
according to the first space rectangular coordinate system, the center navigation coordinate is set
Performing coordinate conversion to obtain the space rectangular coordinates (X, Y, Z);
performing superposition operation on the target relative coordinate (x, y, z) and the space rectangular coordinate to obtain the facility space rectangular coordinate (x) d ＝x+X，y d ＝y+Y，z d ＝z+Z)。
4. The method of claim 3, wherein the obtaining the spatial rectangular coordinates further comprises:
and performing coordinate conversion of the central navigation coordinate according to a formula, wherein the conversion formula is as follows:
wherein N is the radius of circular curvature of the earth, and e is the eccentricity of the earth, so as to satisfy
e 2 ＝a -2 (a 2 -b 2 )
Wherein, a is the earth major semiaxis, and b is the earth minor semiaxis.
5. The method of claim 4, wherein the obtaining target navigation coordinate information further comprises:
and (3) carrying out coordinate conversion of facility space rectangular coordinates according to a formula, wherein the conversion formula is as follows:
the formula for θ is as follows:
wherein (L) d ,B d ,H d ) The coordinate information is navigated to the target.
6. The method of claim 1, wherein the method further comprises:
obtaining a first movement speed, a first movement angle and a first movement time of the central navigation coordinate;
calculating the coordinates of the center point after the first camera and the second camera move according to the first movement speed, the first movement angle and the first movement time to obtain a first offset coordinate;
obtaining a first adjusting angle according to the first offset coordinate;
and adjusting the tracking angle of the first camera and the second camera according to the first adjustment angle.
7. The method of claim 6, wherein the method further comprises:
the first offset coordinate calculation formula is as follows:
wherein, (x' d ,y′ d ,z d ') is the first offset coordinate, β is the first movement angle, D is the movement distance, D ═ v Δ t, where v is the first movement velocity and Δ t is the first movement time.
8. A power patrol positioning and tracking system based on data fusion is characterized in that the system comprises:
the first obtaining unit is used for obtaining central navigation coordinates of the first camera and the second camera;
the first construction unit is used for constructing a first space rectangular coordinate system and obtaining space rectangular coordinates of the first camera and the second camera according to the first space rectangular coordinate system;
a second obtaining unit for obtaining a target relative coordinate of a target electric power facility by the first camera and the second camera;
a third obtaining unit configured to obtain a facility space rectangular coordinate of the target electric power facility from the space rectangular coordinate and the target relative coordinate;
the fourth obtaining unit is used for carrying out Beidou navigation coordinate conversion on the target electric power facility according to the facility space rectangular coordinate and the center navigation coordinate to obtain target navigation coordinate information;
and the first acquisition unit is used for completing the geographic information acquisition of the target electric power facility according to the target navigation coordinate information.
9. The utility model provides a location tracking system is patrolled and examined to electric power based on data fusion which characterized in that includes: a processor coupled to a memory, the memory for storing a program that, when executed by the processor, causes a system to perform the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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