Transformer substation complex environment cross-field-of-view target tracking method based on three-dimensional digital model

Abstract

The invention discloses a transformer substation complex environment cross-field-of-view target tracking method based on a three-dimensional digital model. The technical scheme is that monitoring cameras are arranged in the area of a transformer substation requiring monitoring in a spaced way, the adjacent monitoring cameras photograph the position and the state of work personnel and maintenance equipment in a cross way, a nonlinear system is linearized by using extended Kalman filtering through Taylor series, and the original system model is converted into a station equation and an observation equation expressed in the form of error under the condition of neglecting high-order error; and the motion equation of the moving target is constructed under a transformer substation three-dimensional coordinate system by using a second-order kinetic model, multiple monitoring cameras are utilized to perform initial positioning and the result acts as the initial value of EKF tracking after the target is monitored for the first time, then the detection value of the corresponding image space target is utilized to convert the position error of the three-dimensional coordinates and substitute inthe state equation for iteration, and the filter estimates the position of the target in case of temporarily removing out of the field of view of the target or switching of the field of view so thathigh tracking precision can be acquired.

Description

Technical field: [0001] The invention relates to a target tracking method for on-site operation of a substation, in particular to a method for tracking a target across a complex environment of a substation based on a three-dimensional digital model. Background technique: [0002] At present, the on-site safety control of the substation adopts the method of manual observation. When the substation is working, there will be a safety supervisor to observe the situation of the work site in real time, observe whether the on-site staff keeps a sufficient safe distance from the live equipment, and use safety fences in the work area of ​​the substation. method to control the working area. However, in the actual operation site of the substation, the access passages in the substation are too long, and it is basically impossible to completely close them. When the site is large and there are many operating sites, there are insufficient on-site safety monitoring personnel, and it is diff...

AI Technical Summary

Problems solved by technology

However, in the actual operation site of the substation, the access passages in the substation are too long, and it is basically impossible to completely close them. When the site is large and there are many operating sites, there are insufficient on-site safety monitoring personnel, and it is difficult to monitor the operating area in real time, which increases the safety risk

[0003] In the substation working environment, there are many kinds of equipment, and there may be mutual occlusion problems between equipment and staff, which will increase the difficulty of accurately identifying each target

At the same time, due to the movement of the target, it will cause the problem of switching the target in different camera fields of view, which brings great difficulties to the recognition and continuous tracking of the target

Even if GPS positioning or other regional positioning technologies are used, their accuracy or cost cannot meet the requirements, and the problem of clearance calculation cannot be solved

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