CN114842054A - A method and system for power inspection, positioning and tracking based on data fusion - Google Patents

Abstract

The invention provides a method and system for power inspection, positioning and tracking based on data fusion, which relate to the technical field of computer vision research, and obtain the center navigation coordinates of the first camera and the second camera; The spatial Cartesian coordinate system obtains the spatial Cartesian coordinates of the first camera and the second camera; obtains the target relative coordinates of the target power facility, and performs coordinate transformation to obtain its facility space Cartesian coordinates, and by converting the Beidou navigation coordinates of the target power facility, The target navigation coordinate information is obtained, and then the geographic information collection of the target power facility is completed. It solves the technical problem in the prior art that the positioning technology related to power inspection and surveying and mapping has insufficient positioning accuracy for the target and cannot accurately locate the target, and achieves the integration of Beidou positioning technology and binocular camera positioning technology. The purpose of improving the positioning accuracy of positioning and navigation in power inspection and mapping.

Description

A method and system for power inspection, positioning and tracking based on data fusion

technical field

The invention relates to the related technical fields of electric power inspection, surveying, mapping and positioning, and collectively relates to a power inspection, positioning and tracking method and system based on data fusion.

Background technique

Dou Satellite Navigation System is a global satellite navigation system independently established and operated by China focusing on the needs of national security and economic and social development. It can provide global users with all-weather, all-weather, high-precision positioning, navigation and timing services. It is an important national time and space. infrastructure.

In electric power inspection, surveying and mapping and other related application fields, vehicle-mounted positioning devices are very common and have a wide range of applications. However, the existing technology still has certain limitations, so that positioning devices cannot be optimally utilized.

The following technical problems exist in the prior art: the existing positioning technologies related to power inspection and surveying and mapping are insufficient in the tracking and positioning accuracy of the target, and cannot precisely locate the target.

SUMMARY OF THE INVENTION

The present application provides a method and system for power inspection, positioning and tracking based on data fusion, which are used to solve the problem of accurate tracking and positioning of targets by existing target positioning technologies related to power inspection and surveying and mapping existing in the prior art. The technical problem of insufficient degree of accuracy and inability to accurately locate the target.

In view of the above problems, the present application provides a method and system for power inspection, positioning and tracking based on data fusion.

In a first aspect, the present application provides a power inspection, positioning and tracking method based on data fusion, the method comprising: obtaining the center navigation coordinates of the first camera and the second camera; constructing a first space Cartesian coordinate system , and obtain the space rectangular coordinates of the first camera and the second camera according to the first space rectangular coordinate system; obtain the target relative coordinates of the target power facility through the first camera and the second camera; according to The space rectangular coordinates and the target relative coordinates are obtained to obtain the facility space rectangular coordinates of the target power facility; according to the facility space rectangular coordinates and the center navigation coordinates, the Beidou navigation coordinates of the target power facility are converted to obtain target navigation Coordinate information; complete the geographic information collection of the target power facility according to the target navigation coordinate information.

In a second aspect, the present application provides a power inspection, positioning and tracking system based on data fusion, the system includes: a first obtaining unit, where the first obtaining unit is configured to obtain the first camera and the second The center navigation coordinates of the camera; the first construction unit, the first construction unit is used to construct a first space Cartesian coordinate system, and obtain the first camera and the second camera according to the first space Cartesian coordinate system. space rectangular coordinates; a second obtaining unit, the second obtaining unit is used to obtain the target relative coordinates of the target power facility through the first camera and the second camera; a third obtaining unit, the third obtaining unit uses to obtain the facility space cartesian coordinates of the target power facility according to the space cartesian coordinates and the target relative coordinates; a fourth obtaining unit, the fourth obtaining unit is configured to navigate according to the facility space cartesian coordinates and the center The coordinates convert the Beidou navigation coordinates of the target power facility to obtain target navigation coordinate information; a first acquisition unit, the first acquisition unit is configured to complete geographic information collection 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, the processor is coupled with a memory, the memory is used for storing a program, and when the program is executed by the processor, the system causes the system to execute The method of any one of the first aspects.

In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

One or more technical solutions provided in this application at least have the following technical effects or advantages:

The embodiment of the present application provides a method for power inspection, positioning and tracking based on data fusion, which obtains the center navigation coordinates of the first camera and the second camera; constructs a first space Cartesian coordinate system, and determines within the coordinate system The space rectangular coordinates of the first camera and the second camera are used as a reference system to obtain the target relative coordinates of the target power facility; the space rectangular coordinates and the target relative coordinates are obtained. The facility space Cartesian coordinates of the target power facility; the Beidou navigation coordinates of the target power facility are converted according to the facility space cartesian coordinates and the center navigation coordinates to obtain the target navigation coordinate information; complete the target navigation coordinate information according to the target navigation coordinate information. Geographic information collection of the target power facilities. By integrating Beidou positioning technology and binocular camera positioning technology, based on the spatial Cartesian coordinates of the first camera and the second camera and the target relative coordinates of the target power facility, the facility space Cartesian coordinates of the target power facility are obtained , determine its corresponding coordinates under the satellite positioning system through coordinate conversion, and adjust the tracking angles of the first camera and the second camera by calculating the offset angle during the movement of the target power facility, The tracking and positioning is performed at the optimal monitoring angle, and the tracking and positioning accuracy of the target power facility is improved through the above conversion.

The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description, and in order to make the above-mentioned and other purposes, features and advantages of the present application more obvious and easy to understand , and the specific embodiments of the present application are listed below.

Description of drawings

FIG. 1 provides a schematic flowchart of a method for power inspection, positioning and tracking based on data fusion for this application;

2 provides a schematic flowchart of a method for adjusting a tracking angle of a camera in a method for power inspection, positioning and tracking based on data fusion;

FIG. 3 provides a schematic diagram of a power inspection, positioning and tracking method based on data fusion for the present application;

FIG. 4 provides a schematic structural diagram of a power inspection, positioning and tracking system based on data fusion for this application;

FIG. 5 provides a schematic structural diagram of an electronic device for this application.

Reference numeral description: first obtaining unit 11, first constructing unit 12, second obtaining unit 13, third obtaining unit 14, fourth obtaining unit 15, first collecting unit 16, electronic device 300, memory 301, processor 302 , communication interface 303 , bus architecture 304 .

Detailed ways

The present application provides a method and system for power inspection, positioning and tracking based on data fusion, which is used to solve the problem of accurate tracking and positioning of targets by existing tracking and positioning technologies related to power inspection, surveying and mapping that exist in the prior art. The technical problem that the accuracy is insufficient and the target cannot be accurately positioned.

Application overview

With the development of location tracking technology, its related applications involve many fields, ranging from military to small to daily life. Through the Beidou system, navigation, positioning, short messages, etc., can be used to provide relevant services for special groups such as the elderly, children, and the disabled to ensure safety.

However, the existing positioning and tracking technology is not perfect enough, and there are certain limitations. The following technical problems exist in the existing technology: the current tracking and positioning technology for power inspection, surveying and mapping related to the tracking and positioning accuracy of the target Insufficient, unable to accurately locate the target.

In view of the above-mentioned technical problems, the general idea of the technical solution provided by this application is as follows:

The method provided by the present application obtains the center navigation coordinates of the first camera and the second camera; based on the constructed first spatial rectangular coordinate system, obtains the spatial rectangular coordinates of the first camera and the second camera , obtain the target relative coordinates of the target power facility through the first camera and the second camera; obtain the facility space Cartesian coordinates of the target power facility according to the space Cartesian coordinates and the target relative coordinates; The space rectangular coordinates and the central navigation coordinates are converted into the Beidou navigation coordinates of the target power facility to obtain target navigation coordinate information; the geographic information collection of the target power facility is completed according to the target navigation coordinate information.

After introducing the basic principles of the present application, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than the whole of the present application. Embodiments, it should be understood that the present application is not limited by the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, it should be noted that, for the convenience of description, the drawings only show a part related to the present application, but not the whole.

Example 1

As shown in FIG. 1 , the present application provides a method for power inspection, positioning and tracking based on data fusion. The method is applied to an intelligent positioning system. The intelligent positioning system is connected to a first camera and a second camera in communication. Methods include:

Step S100: obtaining the center navigation coordinates of the first camera and the second camera;

即所述中心导航坐标，通过对所述中心导航坐标的获取，为后期进行目标电力设施的定位追踪奠定了基础。Specifically, the first camera and the second camera are used to monitor the target power facility, and are connected in communication with an intelligent positioning system to track and locate the target power facility. Based on the Beidou positioning system, the first camera Coordinate positioning with the second camera, determine the navigation coordinates of the first camera and the second camera at a certain point in time, and set the navigation coordinates of the first camera and the second camera as (L ₁ , B ₁ , H ₁ ) and (L ₂ , B ₂ , H ₂ ), the Beidou positioning system refers to a satellite navigation system that can operate independently, which can provide global users with all-day high-precision positioning and navigation facilities. The center position coordinates of the first camera and the second camera

That is, the central navigation coordinates, through the acquisition of the central navigation coordinates, lays a foundation for the positioning and tracking of the target power facility in the later stage.

Step S200: constructing a first space Cartesian coordinate system, and obtaining the space Cartesian coordinates of the first camera and the second camera according to the first space Cartesian coordinate system;

Step S300: obtaining the target relative coordinates of the target power facility through the first camera and the second camera;

Specifically, based on the three-dimensional space, a space rectangular coordinate system is established, that is, the first space rectangular coordinate system, and the position coordinates of the first camera and the second camera are determined in the first space rectangular coordinate system, By performing coordinate transformation on the navigation coordinates (L ₁ , B ₁ , H ₁ ) and (L ₂ , B ₂ , H ₂ ) of the first camera and the second camera, the first camera is obtained through coordinate transformation and the coordinates of the center point of the second camera, that is, the space Cartesian coordinates, the space Cartesian coordinates refer to the coordinate transformation of the center navigation coordinates of the first camera and the second camera, and the obtained coordinate position, Defining it as (X, Y, Z) can effectively realize the accurate collection of the geographic information of the target power facility.

Specifically, the target relative coordinates of the target power facility refer to using the spatial Cartesian coordinates of the first camera and the second camera as the reference coordinates to collect images of the target power facility based on the acquired image-related information. , and then determine the relative position of the obtained target power facility with respect to the reference coordinates for the corresponding distance and direction angle data of the target power facility to the reference coordinates, and further determine the corresponding coordinates of the target power facility. Determine, denoted as (x, y, z), at the same moment when the first camera and the second camera navigation target are collected, superimpose the target relative coordinates of the target power facility and the space Cartesian coordinates Operation is performed to obtain the position coordinates of the target power facility in the first space Cartesian coordinate system, that is, the facility space Cartesian coordinates, denoted as (x _d =x+X, y _d =y+Y, z _d = z+Z), by using the space rectangular coordinates as the reference coordinates, the calculation of the space rectangular coordinates of the facility is performed, which lays a foundation for coordinate conversion and positioning tracking in the later stage.

Step S400: obtaining the facility space cartesian coordinates of the target power facility according to the space cartesian coordinates and the target relative coordinates;

Specifically, the target power facility refers to a power generation facility, power line facility, etc. to be tracked and located, such as a charging station, a dedicated power communication line, a communication cable, an optical fiber cable, a communication tower, a communication station, and the like. The coordinates of the center point of the camera and the second camera, that is, the space rectangular coordinates, and the relative position coordinates of the first camera and the second camera are determined by the target power facility. The second camera captures the image of the target power facility, determines the relative position information of the target power facility, and further determines the target relative coordinates of the target power facility. The relative coordinates of the target are determined, and the corresponding position coordinates of the target power facility are determined in the first space Cartesian coordinate system, that is, the facility space Cartesian coordinates are obtained by obtaining the facility space Cartesian coordinates of the target power facility. , which is convenient to perform coordinate conversion of the facility space rectangular coordinates later, and further calculate and obtain the Beidou navigation coordinates of the target power facility.

Step S500: converting the Beidou navigation coordinates of the target power facility according to the facility space Cartesian coordinates and the center navigation coordinates to obtain target navigation coordinate information;

Specifically, based on the established first space rectangular coordinate system, the observation target, that is, the corresponding position point coordinates of the target power facility, are obtained, and at the same time, the first camera and the second camera under the Beidou positioning system are obtained. The navigation coordinates of the center point of the camera, based on the above two coordinate points, perform coordinate transformation on the target power facility, calculate the coordinates of each coordinate axis through the conversion formula, and convert the target power facility in the first space Cartesian coordinates The rectangular coordinates of the facility space in the system are converted into the corresponding coordinates monitored by the Beidou positioning system, that is, the target navigation coordinate information, which is recorded as (L _d , B _d , H _d ). The target navigation coordinate information is acquired for the target power facility through coordinate transformation, so as to obtain the specific location information of the target power facility under the Beidou positioning system, which is convenient for later positioning and tracking of the target power facility.

Step S600: Complete geographic information collection of the target power facility according to the target navigation coordinate information.

Specifically, the target navigation coordinate information refers to the position point coordinates of the target power facility under the Beidou positioning system through coordinate conversion. Use the Beidou positioning system to accurately locate the target navigation coordinates of the target power facility to determine the specific location of the target power facility, and based on this, collect the geographic information of the target power facility, including Wind speed, meteorology, hydrology, geology, resources, etc., to judge the corresponding operation status of the target power facilities and the relative impact of the surrounding geographical environment on it, and make corresponding adjustments according to the existing conditions according to real-time geographical information to achieve Maximize the utilization of surrounding environmental resources to ensure the efficient and error-free operation of the target power facilities.

Further, the geographic information also affects the running speed, angular offset, etc. of the target power facility, and the real-time operating status of the target power facility is acquired based on the geographic information to determine the relationship between the first camera and the target power facility. The position and angle of the first camera and the second camera are adjusted according to the offset of the center position coordinates, and the position and angle of the first camera and the second camera are further adjusted. Track and locate power facilities. Based on the collection of the geographic information of the target power facility, the relative position of the target power facility can be predicted based on this, and the monitoring angle can be adjusted in time to perform corresponding target positioning and tracking.

Further, step S100 of this application further includes:

Step S110: Obtain the first navigation coordinates of the first camera, denoted as (L ₁ , B ₁ , H ₁ ), and obtain the second navigation coordinates of the second camera, denoted as (L ₂ , B ₂ , H ) ₂ );

Step S120: Calculate the center navigation coordinates according to the first navigation coordinates and the second navigation coordinates, and obtain the center navigation coordinates:

即所述中心导航坐标，基于所述第一导航坐标与所述第二导航坐标计算所述中心导航坐标，以确定所述北斗定位系统下所述第一摄像头与所述第二摄像头的中心位置点的坐标，通过对所述中心导航坐标的计算，便于后期根据所述中心导航坐标与所述目标电力设施的相对位置判断所述中心导航坐标的偏移量，以进行所述目标电力设施的精准追踪。Specifically, the first navigation coordinates refer to the position point coordinates obtained by positioning the first camera based on the Beidou positioning system, and the second navigation coordinates refer to the position obtained by the Beidou positioning system positioning the second camera Point coordinates, the first navigation coordinates and the second navigation coordinates are respectively marked as (L ₁ , B ₁ , H ₁ ), (L ₂ , B ₂ , H ₂ ), based on the above navigation coordinates, for each coordinate The axis direction coordinate values are averaged to obtain the center point coordinates of the first navigation coordinates and the second navigation coordinates

That is, the center navigation coordinates, the center navigation coordinates are calculated based on the first navigation coordinates and the second navigation coordinates to determine the center positions of the first camera and the second camera under the Beidou positioning system The coordinates of the point, through the calculation of the center navigation coordinates, it is convenient to later judge the offset of the center navigation coordinates according to the relative position of the center navigation coordinates and the target power facility, so as to carry out the calculation of the target power facility. Accurate tracking.

Further, step S200 of the present application also includes:

进行坐标转换，获得所述空间直角坐标(X，Y，Z)；Step S210: Navigate the center coordinates according to the first space rectangular coordinate system

Perform coordinate transformation to obtain the space rectangular coordinates (X, Y, Z);

Step S220: Perform a superposition operation on the relative coordinates of the target (x, y, z) and the space rectangular coordinates to obtain the facility space rectangular coordinates (x _d =x+X, y _d =y+Y, z _d =z+Z).

Specifically, the first space Cartesian coordinate system refers to a space Cartesian coordinate system established based on a three-dimensional space, and the center navigation coordinate is converted in the first space Cartesian coordinate system to determine the center navigation coordinate The position coordinates located in the first space Cartesian coordinate system are denoted as (X, Y, Z), that is, the space Cartesian coordinates, and the first camera coordinates and the second camera coordinates are used as reference coordinates. The relative coordinates of the target are used for positioning, and the relative coordinates of the target refer to the relative position coordinates of the target power facility to the first camera and the second camera, denoted as (x, y, z). The relative coordinates and the space rectangular coordinates are superimposed to obtain the position coordinates of the target power facility in the first space rectangular coordinate system, that is, the space rectangular coordinates of the facility, denoted as (x _d =x+X, y _d = y+Y, z _d = z+Z), the spatial rectangular coordinates of the target power facility are determined by calculation, and based on this, the coordinates of the target power facility under the Beidou positioning system can be converted, and at the same time, it is The later movement provides a reference to compare the position coordinates and determine the relevant movement parameters.

Further, step S210 of this application further includes:

Step S211: Perform the coordinate conversion of the center navigation coordinates according to the formula, and the conversion formula is as follows:

Among them, N is the radius of curvature of the earth, and e is the eccentricity of the earth, satisfying

e ² =a ^-2 (a ² -b ² )

Among them, a is the semi-major axis of the earth, and b is the semi-minor axis of the earth.

进行相应的变换，获得所述直角空间坐标(X，Y，Z)，其中，N为地球的圆曲率半径，其取值可精确到0.1％的精度，地球曲率半径计算公式为

e为地球的偏心率，相关计算满足e²＝a^-2(a²-b²)，即描述地球绕太阳运动轨道圆扁程度的大小，值越大越扁，越小则越圆，由于其运动过程中受到行星间重力吸引不同会有所变化，地球现在的偏心率为0.0167，其中，a为地球长半轴，b为地球短半轴。基于所述第一空间直角坐标系，对所述中心导航坐标进行坐标转换，为后期计算所述目标电力设施的空间直角坐标提供了根据。Specifically, coordinate transformation is performed on the center point coordinates of the first camera and the second camera, that is, the center navigation coordinates, and a space Cartesian coordinate system, that is, the first space Cartesian coordinate system, is established based on the three-dimensional space. The center navigation coordinate is converted into the position coordinate point in the first space Cartesian coordinate system, according to the conversion formula

Perform corresponding transformation to obtain the rectangular space coordinates (X, Y, Z), where N is the radius of curvature of the earth, and its value can be accurate to an accuracy of 0.1%. The calculation formula for the radius of curvature of the earth is:

e is the eccentricity of the earth, and the relevant calculation satisfies e ² =a ^-2 (a ² -b ² ), that is, it describes the degree of flatness of the earth's orbit around the sun. During the movement, the gravitational attraction between the planets will vary. The current eccentricity of the earth is 0.0167, where a is the long semi-axis of the earth, and b is the short semi-axis of the earth. Based on the first space rectangular coordinate system, coordinate transformation is performed on the center navigation coordinates, which provides a basis for later calculation of the space rectangular coordinates of the target power facility.

Further, converting the Beidou navigation coordinates of the target power facility according to the facility space rectangular coordinates and the central navigation coordinates to obtain target navigation coordinate information, step S500 of the present application further includes:

According to the formula, the coordinate conversion of the rectangular coordinates of the facility space is carried out. The conversion formula is as follows:

The formula for calculating θ is as follows:

Among them, (L _d , B _d , H _d ) is the target navigation coordinate information.

对所述目标电力设施的目标导航坐标信息进行计算，其中，x_d，y_d，z_d分别为所述目标电力设施在所述第一空间直角坐标系中位置坐标，即所述设施空间直角坐标的坐标值，x_d＝x+X，y_d＝y+Y，z_d＝z+Z，N为地球的圆曲率半径，其取值精度为0.1％，θ为方向角，计算公式为

Specifically, based on the spatial rectangular coordinates of the target power facility, it is converted to the position point coordinates, and the spatial rectangular coordinates are the corresponding position coordinates of the target power facility in the constructed first spatial rectangular coordinate system. (X, Y, Z), via conversion formula

Calculate the target navigation coordinate information of the target power facility, wherein x _d , y _d , and z _d are the position coordinates of the target power facility in the first space rectangular coordinate system, that is, the facility space right angle The coordinate value of the coordinates, x _d = x + X, y _d = y + Y, z _d = z + Z, N is the radius of curvature of the earth, its value accuracy is 0.1%, θ is the direction angle, the calculation formula is

By performing coordinate transformation on the facility space rectangular coordinates of the target power facility to obtain the Beidou navigation coordinates of the spatial rectangular coordinates, it is convenient to perform target offset monitoring under the Beidou positioning system in the later stage. The precise positioning of the positioning system can effectively improve the tracking and positioning accuracy of the target power facility.

Further, as shown in FIG. 2 , step S600 of the present application further includes:

Step S610: obtaining the first movement speed, the first movement angle, and the first movement time of the center navigation coordinates;

Step S620: Calculate the coordinates of the center point after the movement of the first camera and the second camera according to the first motion speed, the first motion angle and the first motion time, and obtain first offset coordinates;

Step S630: obtaining a first adjustment angle according to the first offset coordinate;

Step S640: Adjust the tracking angles 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 center point of the first camera and the second camera are kept unchanged, and the central navigation is obtained through the Beidou positioning system The first movement speed of the coordinates, the first movement angle, and the first movement time. The first movement speed refers to the movement speed of the center navigation coordinates within a period of time, and is also the movement speed of the target power facility, and the first movement angle refers to keeping the center point coordinates relative to the space rectangular coordinates. The position does not change. With the movement of the target power facility, the corresponding coordinates of the center point change accordingly. The first movement time is the movement of the target power facility within a period of time. the corresponding exercise time. The first camera and the second camera are moved correspondingly according to the first movement speed, the first movement angle and the first movement time, and the distance between the first camera and the second camera after the movement is calculated. The coordinates of the center point to obtain the first offset coordinates, and based on the first offset coordinates and the coordinates of the center point before the first camera and the second camera move, determine the corresponding offset angle to obtain the first offset Adjusting the angle, based on the first adjustment angle, synchronously adjusting the angle of the first camera and the second camera to adjust the corresponding tracking angle.

By calculating the center point coordinates of the first camera and the second camera after moving according to the movement of the center navigation coordinates, the adjustment angle is determined based on the obtained first offset coordinates, and then the first camera and the second camera are adjusted. The tracking angle of the second camera can be adjusted to further track and locate the target power facility.

Further, according to the first movement speed, the first movement angle and the first movement time, the coordinates of the center point after the movement of the first camera and the second camera are calculated to obtain the first offset coordinates, so The step S620 further includes:

The first offset coordinate calculation formula is as follows:

Among them, (x' _d , y' _d , z _d ') is the first offset coordinate, β is the first movement angle, D is the movement distance, D=vΔt, where v is the first movement speed, Δt for the first exercise time.

进行所述第一偏移坐标的计算，确定所述第一偏移坐标Specifically, the first offset coordinate refers to the center point coordinate of the first camera and the second camera after moving, and expresses the offset of the center point of the first camera coordinate and the second camera coordinate , (x _d , y _d , z _d ) are the spatial Cartesian coordinates of the target, based on the first offset coordinate calculation formula

Calculate the first offset coordinate to determine the first offset coordinate

is (x′ _d , y′ _d , z _d ′), where β is the first movement angle, D is the movement distance, and the movement distance within Δt time is D=vΔt, where v is the first movement speed, Δt for the first exercise time. By calculating the first offset coordinates, the adjustment orientations of the first camera and the second camera can be determined according to the first offset coordinates, and then the first camera and the second camera can be adjusted. The tracking angle is adjusted to achieve accurate tracking and positioning of the target power facility.

Further, as shown in Figure 3, by fusing Beidou positioning data and binocular positioning data, the navigation coordinates of the target power facility are accurately calculated, and a space rectangular coordinate system is established based on a three-dimensional space, wherein, based on X ₁ , Y ₁ , Z1 is the direction to establish the _first camera position coordinate system, _X2 , _Y2 , _Z2 are the _second camera position coordinate system, with the movement of the camera position, _XL , YL, _ZL represent the The first camera image coordinate system, X _R , Y _R , and Z _R represent the second camera image coordinate system, O ₁ , O ₂ represent the centroid coordinates of the first camera and the second camera, respectively, based on Beidou positioning The system determines the coordinates of the centroid of the first camera and the second camera as (L ₁ , B ₁ , H ₁ ), (L ₂ , B ₂ , H ₂ ), determines the coordinates of the center point and converts them into space right angles Coordinates (X, Y, Z), determine the relative position of the tracking target to the coordinates of the center point, determine the spatial Cartesian coordinates of the target power facility, perform coordinate transformation on it, and obtain the Beidou navigation coordinates, based on the movement of the target power facility , obtain the corresponding offset coordinate of the center point coordinate, convert it into the corresponding position coordinate in the space rectangular coordinate system, determine its position offset and make corresponding tracking adjustment based on this, so as to adjust the relationship between the first camera and all Describe the tracking orientation of the second camera.

To sum up, the method and system for power inspection, positioning and tracking based on data fusion provided by this application have the following technical effects:

1. A data fusion-based power inspection, positioning and tracking method provided by this application is based on the Beidou positioning system, and obtains the center navigation coordinates of the first camera and the second camera, according to the constructed first camera. The spatial Cartesian coordinate system obtains the spatial Cartesian coordinates of the first camera and the second camera, and obtains the target relative coordinates of the target power facility based on the first camera and the second camera, based on the spatial Cartesian coordinates and the relative coordinates of the target, obtain the facility space Cartesian coordinates of the target power facility, and based on the facility space cartesian coordinates and the center navigation coordinates, perform Beidou navigation coordinates conversion on the target power facility, and obtain the The target navigation coordinate information, based on the target navigation coordinate information, the geographic information of the target power facility is collected. The present application obtains the target power based on the spatial Cartesian coordinates of the first camera and the second camera and the target relative coordinates of the target power facility through the corresponding fusion of the Beidou positioning technology and the binocular camera positioning technology. The facility space Cartesian coordinates of the facility, through coordinate transformation, determine its corresponding coordinates under the satellite positioning system, and calculate the offset angle during the movement of the target power facility to determine the first camera and the second camera. The tracking angle is adjusted according to the optimal monitoring angle, and the tracking and positioning is performed at the optimal monitoring angle. Through the above conversion, the tracking and positioning accuracy of the target power facility is improved to a certain extent, and the positioning accuracy is improved.

2. Based on the conversion formula, the coordinates of the target power facility in the first space rectangular coordinate system and the coordinates of the center point after the first camera and the second camera are moved are subjected to coordinate transformation under the Beidou positioning system, and further Determine the specific location coordinates of the target power facility.

3. Based on the obtained first motion speed of the center navigation coordinates, the first motion angle, and the first motion time, carry out the calculation of the center point coordinates after the first camera and the second camera move, and obtain the corresponding adjustment angle The tracking angles of the first camera and the second camera are adjusted to obtain an optimal tracking position, which improves the accuracy of positioning tracking.

Embodiment 2

Based on the same inventive concept as the data fusion-based power inspection, positioning and tracking method in the foregoing embodiment, as shown in FIG. 4 , the present application provides a data fusion-based power inspection, positioning and tracking system, wherein the The system includes:

a first obtaining unit 11, the first obtaining unit 11 is used to obtain the center navigation coordinates of the first camera and the second camera;

a first construction unit 12, the first construction unit 12 is configured to construct a first space Cartesian coordinate system, and obtain the space Cartesian coordinates of the first camera and the second camera according to the first space Cartesian coordinate system;

a second obtaining unit 13, the second obtaining unit 13 is configured to obtain the target relative coordinates of the target power facility through the first camera and the second camera;

a third obtaining unit 14, the third obtaining unit 14 is configured to obtain the facility space cartesian coordinates of the target power facility according to the space cartesian coordinates and the target relative coordinates;

a fourth obtaining unit 15, the fourth obtaining unit 15 is configured to perform Beidou navigation coordinate conversion of the target power facility according to the facility space Cartesian coordinates and the center navigation coordinates, and obtain target navigation coordinate information;

A first collection unit 16, the first collection unit 16 is configured to complete geographic information collection of the target power facility according to the target navigation coordinate information.

Further, the system also includes:

a fifth obtaining unit, the fifth obtaining unit is used to obtain the first navigation coordinates of the first camera, denoted as (L ₁ , B ₁ , H ₁ ), and obtain the second navigation coordinates of the second camera, Denoted as (L ₂ , B ₂ , H ₂ );

A first calculation unit, the first calculation unit is configured to calculate the center navigation coordinates according to the first navigation coordinates and the second navigation coordinates, and obtain the center navigation coordinates:

Further, the system also includes:

进行坐标转换，获得所述空间直角坐标(X，Y，Z)；The sixth obtaining unit, the sixth obtaining unit is used for navigating the coordinates of the center according to the first space rectangular coordinate system

Perform coordinate transformation to obtain the space rectangular coordinates (X, Y, Z);

A seventh obtaining unit, the seventh obtaining unit is configured to perform a superposition operation on the relative coordinates of the target (x, y, z) and the space rectangular coordinates to obtain the facility space rectangular coordinates (x _d =x+X ) , y _d =y+Y, z _d =z+Z).

Further, the system also includes:

A first conversion unit, which is used to perform coordinate conversion of the center navigation coordinates according to a formula, and the conversion formula is as follows:

Among them, N is the radius of curvature of the earth, and e is the eccentricity of the earth, satisfying

e ² =a ^-2 (a ² -b ² )

Among them, a is the semi-major axis of the earth, and b is the semi-minor axis of the earth.

Further, the system also includes:

The second conversion unit, the second conversion unit is used to perform the coordinate conversion of the rectangular coordinates of the facility space according to the formula, and the conversion formula is as follows:

The formula for calculating θ is as follows:

Among them, (L _d , B _d , H _d ) is the target navigation coordinate information.

Further, the system also includes:

an eighth obtaining unit, the eighth obtaining unit is used to obtain the first movement speed, the first movement angle, and the first movement time of the center navigation coordinates;

Ninth obtaining unit, the ninth obtaining unit is configured to calculate the coordinates of the center point after the movement of the first camera and the second camera according to the first movement speed, the first movement angle and the first movement time , obtain the first offset coordinate;

a tenth obtaining unit, where the tenth obtaining unit is configured to obtain a first adjustment angle according to the first offset coordinate;

A first adjustment unit, configured to adjust the tracking angles of the first camera and the second camera according to the first adjustment angle.

Further, the system also includes:

The second calculation unit, the second calculation unit is used for the first offset coordinate calculation formula as follows:

Among them, (x' _d , y' _d , z _d ') is the first offset coordinate, β is the first movement angle, D is the movement distance, D=vΔt, where v is the first movement speed, Δt for the first exercise time.

Embodiment 3

Based on the same inventive concept as the method for power inspection, positioning and tracking based on data fusion in the foregoing embodiments, the present application also provides a computer-readable storage medium, where a computer program is stored on the storage medium, and the computer program When executed by the processor, the method in the first embodiment is implemented.

Through the foregoing detailed description of a power inspection, positioning and tracking method based on data fusion in this specification, those skilled in the art can clearly know the method and system for power inspection, positioning and tracking based on data fusion in this embodiment, so in order to The description is concise and will not be described in detail here. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The above description of the disclosed embodiments enables 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 implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this 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 Electronics

The electronic device according to the embodiment of the present application is described below with reference to FIG. 5 .

Based on the same inventive concept as the data fusion-based power inspection, positioning and tracking method in the foregoing embodiment, the present application also provides a data fusion-based power inspection, positioning and tracking system, including: a processor, the processor Coupled with a memory, the memory is used for storing a program, and when the program is executed by the processor, the system enables the system to execute the steps of the method in the first embodiment.

The electronic device 300 includes: a processor 302 , a communication interface 303 , and a memory 301 . Optionally, the electronic device 300 may further include a bus architecture 304 . Wherein, the communication interface 303, the processor 302 and the memory 301 can be connected to each other through a bus architecture 304; the bus architecture 304 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (extended industry standard architecture, abbreviated as PCI) bus EISA) bus, etc. The bus architecture 304 can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in FIG. 5, but it does not mean that there is only one bus or one type of bus.

The processor 302 may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the programs of the present application.

Communication interface 303, using any transceiver-like device, for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), wired access network, etc.

The memory 301 can be a ROM or other types of static storage devices that can store static information and instructions, a RAM or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory. read-only memory, EEPROM), compact disc-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, 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, without limitation. The memory may exist independently and be connected to the processor through the bus fabric 304 . The memory can also be integrated with the processor.

The memory 301 is used for storing computer-executed instructions for executing the solution of the present application, and the execution is controlled by the processor 302 . The processor 302 is configured to execute the computer-executable instructions stored in the memory 301, thereby implementing the data fusion-based power inspection, location and tracking method provided by the foregoing embodiments of the present application.

Those of ordinary skill in the art can understand that the first, second, and other numerical numbers involved in this application are only for the convenience of description, and are not used to limit the scope of the application, nor do they indicate a sequence. "And/or", which describes the association relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. The character "/" generally indicates that the associated objects are an "or" relationship. "At least one" means one or more. At least two means two or more. "At least one", "any one", or similar expressions, refers to any combination of these items, including any combination of single item(s) or plural item(s). For example, at least one item (single, species) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can 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. The computer program instructions, when loaded and executed on a computer, produce, in whole or in part, the processes or functions described herein. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server, or data center is by wire (eg, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that a computer can access, or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), and the like.

The various illustrative logic elements and circuits described in this application may be implemented by a general purpose processor, digital signal processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate Or transistor logic, discrete hardware components, or any combination of the above are designed to implement or operate the described functions. A general-purpose processor may be a microprocessor, or alternatively, the general-purpose processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a digital signal processor core, or any other similar configuration. accomplish.

The steps of a method or algorithm described in this application may be directly embedded in hardware, a software unit executed by a processor, or a combination of the two. A software unit may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. Illustratively, a storage medium may be coupled to the processor such that the processor may read information from, and store information in, the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium may be provided in the ASIC, and the ASIC may be provided in the terminal. Alternatively, the processor and the storage medium may also be provided in different components in the terminal. These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

Although the application has been described in conjunction with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made therein without departing from the spirit and scope of the application.

Accordingly, this specification and drawings are merely exemplary illustrations of the present application, and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, provided that these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application is intended to 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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