Method for recognizing high-voltage wire by laser radar based on wavelet transformation

Abstract

A method for recognizing a high-voltage wire by a laser radar based on wavelet transformation is characterized in that the ground is scanned by an airborne laser radar scanner to obtain reflected nebular laser point data densely distributed, the measurement data of an airborne laser radar system not only comprises coordinate information of coordinate points X, Y and Z, but also comprises object reflecting intensity information, output RGB (Red, Green, Blue) image data is converted to a grey-scale map and then compressed in a wavelet way, and the image is decomposed into low frequency components with a half resolution ratio and high frequency components with a full resolution ratio for multiple times. As a result, high frequency information on the edge of the high-voltage wire is greatly reserved, useless low frequency information is greatly compressed, the data of the image processed by wavelet compression and encoding is sent to a ground base station to be analyzed and recorded, and a command is sent back to airborne equipment by the base station to carry out diffusion scanning on a suspected high-voltage wire obstacle, find a high-voltage pylon and confirm whether the high-voltage wire really exists. The method has the advantages of simplicity, high accuracy and easiness in realization.

Description

technical field [0001] The invention relates to a low-altitude flight control technology for a small unmanned aerial vehicle, in particular to a low-altitude flight control method, in particular to a wavelet transform-based laser radar high-voltage line identification method. Background technique [0002] As we all know, small unmanned aerial vehicles are prone to collide with high-voltage wires and crash when flying at low altitude. In order to solve this problem, people have adopted a variety of methods and procedures. The following are commonly used solutions: [0003] 1. Robert J Fontana, J F Larrick, Jeffrey E Cade, Eugene P Rivers Jr, An Ultra Wideband Synthetic Vision Sensor for Airborne Wire Detection, Proceedings of SPIE (Vol 3364), 1998, 2-10. [0004] Using ultra-wideband radar, using extremely short pulses to obtain higher resolution, wider frequency bands can also detect more targets, and the anti-jamming performance is also better. The disadvantage is that due...

AI Technical Summary

Problems solved by technology

[0015] The purpose of the present invention is to solve the problem that the existing low-altitude aircraft has poor judgment on high-voltage lines, which is prone to misjudgment, collides with high-voltage lines, and crashes, and invents a laser radar high-voltage line identification method based on wavelet transform. The transformation principle recognizes the high voltage line of the image and extracts edge features for positioning

Images