Historical track correction method and system for electric power operation positioning management and control
By pre-processing the historical trajectory of power operation positioning and control and segmenting obstacle avoidance areas, the problem of trajectory passing through the wall in traditional positioning methods is solved, and efficient and high-precision historical trajectory correction is achieved.
Patent Information
- Application Number
- CN202411269751.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-11
- Publication Date
- 2025-01-14
AI Technical Summary
Traditional positioning methods have problems with inaccurate positioning in power operations, which leads to historical trajectory passing through the wall and inaccurate historical trajectory data.
By obtaining the historical track point coordinate sequence in power operation positioning control, preprocessing and time division, removing the track points located in the preset obstacle avoidance area, generating the track line segment, and determining the intersection points with the obstacle avoidance area, passing the nearest and farthest The intersection points of the trajectory avoidance area are divided, and supplementary points are added to correct the trajectory line segment to form a modified trajectory point coordinate sequence.
The precise correction of historical trajectories is achieved, the phenomenon of trajectory passing through the wall is avoided, and the correction efficiency and accuracy are improved.
Smart Images
Figure CN119313009A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to trajectory correction technology, and in particular to a historical trajectory correction method and system for positioning and controlling power operations. Background Art
[0002] The UHV AC / DC stations in the power grid have large equipment, wide-ranging maintenance operations, and many operational risk points. Therefore, it is necessary to position and control power operations. On-site operation control based on positioning technology may locate and supervise personnel or equipment, and generate trajectory data for storage. The historical trajectory can be linked with the alarm to display the trajectory before and after the risk operation, showing the location at the time of the risk, and can generate an alarm record report on demand, which is instructive for subsequent operation control. However, traditional positioning methods have the problem of inaccurate positioning, and historical trajectories often penetrate walls, that is, some trajectory points pass through the walls of the building and drift into the building, resulting in inaccurate historical trajectory data. Therefore, a correction technology for the historical trajectory of power operation positioning control is needed. Summary of the invention
[0003] In view of the problems existing in the prior art, the object of the present invention is to provide a historical trajectory correction method and system for positioning and controlling power operations with high efficiency and high precision.
[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:
[0005] A method for correcting historical tracks of electric power operation positioning control comprises the following steps:
[0006] (1) Obtaining the trajectory point coordinate sequence of the historical trajectory of the target object in the power operation positioning control;
[0007] (2) preprocessing the trajectory point coordinate sequence and dividing it according to time to obtain the trajectory point coordinate subsequences of each time period;
[0008] (3) removing the coordinates of the trajectory points located in a preset obstacle avoidance area from each trajectory point coordinate subsequence, wherein the preset obstacle avoidance area is a range of buildings where the trajectory is likely to pass through walls;
[0009] (4) for each trajectory point coordinate subsequence processed in step (3), extract every two adjacent points therein to generate a trajectory segment;
[0010] (5) For each trajectory segment, determine whether the current trajectory segment intersects with any preset obstacle avoidance area. If not, use the current trajectory segment as the corrected trajectory segment. If intersecting, execute step (6);
[0011] (6) Obtaining the intersection of the current trajectory segment and the preset obstacle avoidance area, and calculating the distance from the starting point of the current trajectory segment to each of the multiple intersections, and extracting the intersection closest to and farthest from the starting point of the current trajectory segment;
[0012] (7) Using the line between the nearest and farthest intersection points, the preset obstacle avoidance area is divided into two obstacle avoidance sub-areas, and the outer boundary lines of each obstacle avoidance sub-area are obtained respectively. If the outer boundary line of one of the obstacle avoidance sub-areas has only one inflection point, the inflection point is used as a supplementary point. Otherwise, the length of the outer boundary line of each obstacle avoidance sub-area is calculated respectively, and the inflection point sequence of the outer boundary line with the shortest length is used as the supplementary point.
[0013] (8) in the current trajectory segment, the nearest intersection point, the supplementary point and the farthest intersection point are sequentially added between the starting point and the end point of the current trajectory segment to obtain a corrected trajectory segment;
[0014] (9) All corrected trajectory line segments are connected in order of the trajectory point coordinate subsequences to which they belong, to form several corrected trajectory point coordinate subsequences.
[0015] Furthermore, step (2) specifically includes:
[0016] (2.1) Remove the coordinates of the trajectory points located in the indoor area from the trajectory point coordinate sequence;
[0017] (2.2) comparing the time interval between any two adjacent trajectory points in the trajectory point coordinate sequence processed in step (2.1) to see whether it exceeds the preset trajectory segmentation time threshold. If so, segment the trajectory point coordinate sequence using the current two trajectory points as the dividing point to obtain the trajectory point coordinate subsequences of each time period;
[0018] (2.3) Smooth each trajectory point coordinate subsequence.
[0019] Furthermore, the preset obstacle avoidance area is specifically a polygonal area drawn by the outer boundary line of the building.
[0020] Furthermore, the removal of the trajectory point coordinates located in the indoor area is specifically as follows: generating an indoor point coordinate set by sampling in the indoor area, comparing each trajectory point in the trajectory point coordinate sequence with the indoor point coordinate set, and deleting any trajectory point located in the indoor point coordinate set.
[0021] Furthermore, the smoothing process is performed on each trajectory point coordinate subsequence, specifically: based on a preset coordinate thinning distance threshold, a Douglas thinning algorithm is used to smooth each trajectory point coordinate subsequence.
[0022] A historical trajectory correction system for electric power operation positioning control, comprising:
[0023] A historical trajectory data acquisition module is used to obtain the trajectory point coordinate sequence of the historical trajectory of the target object in the power operation positioning control;
[0024] The trajectory preprocessing module is used to preprocess the trajectory point coordinate sequence and divide it according to time to obtain the trajectory point coordinate subsequences of each time period;
[0025] An obstacle point removal module is used to remove the coordinates of the trajectory points located in a preset obstacle avoidance area from each trajectory point coordinate subsequence, wherein the preset obstacle avoidance area is a range of buildings where the trajectory is easy to pass through the wall;
[0026] A trajectory segment generation module is used to extract every two adjacent points in each trajectory point coordinate subsequence processed by the obstacle point removal module to generate a trajectory segment;
[0027] The intersection judgment module is used to judge whether the current trajectory segment intersects with any preset obstacle avoidance area for each trajectory segment. If not, the current trajectory segment is used as the corrected trajectory segment. If intersecting, the intersection acquisition module is executed;
[0028] The intersection acquisition module is used to obtain the intersection of the current trajectory segment and the preset obstacle avoidance area, calculate the distance from the starting point of the current trajectory segment to each of the multiple intersections, and extract the intersection closest to and farthest from the starting point of the current trajectory segment;
[0029] A supplementary point acquisition module is used to divide the preset obstacle avoidance area into two obstacle avoidance sub-areas by connecting the nearest and farthest intersection points, and respectively obtain the outer boundary line of each obstacle avoidance sub-area. If there is only one inflection point on the outer boundary line of one of the obstacle avoidance sub-areas, the inflection point is used as a supplementary point. Otherwise, the length of the outer boundary line of each obstacle avoidance sub-area is calculated, and the inflection point sequence of the outer boundary line with the shortest length is used as a supplementary point.
[0030] A line segment correction module is used to sequentially add the nearest intersection point, the supplementary point and the farthest intersection point in the current trajectory segment between the starting point and the end point of the current trajectory segment to obtain a corrected trajectory segment;
[0031] The line segment linking module is used to connect all the corrected trajectory line segments in the order of the trajectory point coordinate subsequences to which they belong, to form a number of corrected trajectory point coordinate subsequences.
[0032] Furthermore, the trajectory preprocessing module specifically includes:
[0033] An indoor point removal unit, used to remove the coordinates of trajectory points located in the indoor area from the trajectory point coordinate sequence;
[0034] The trajectory segmentation unit is used to compare one by one the time interval between any two adjacent trajectory points in the trajectory point coordinate sequence processed by the indoor point removal unit to see whether it exceeds the preset trajectory segmentation time threshold. If it exceeds, the trajectory point coordinate sequence is segmented with the current two trajectory points as the dividing point to obtain the trajectory point coordinate subsequences of each time period;
[0035] The smoothing processing unit is used to perform smoothing on each trajectory point coordinate subsequence.
[0036] Furthermore, the preset obstacle avoidance area is specifically a polygonal area drawn by the outer boundary line of the building.
[0037] Furthermore, the indoor point removal unit is specifically used to generate an indoor point coordinate set by sampling in the indoor area, compare each trajectory point in the trajectory point coordinate sequence with the indoor point coordinate set, and delete any trajectory point located in the indoor point coordinate set.
[0038] Furthermore, the smoothing processing unit is specifically used to perform smoothing processing on each trajectory point coordinate subsequence based on a preset coordinate thinning distance threshold and using a Douglas thinning algorithm.
[0039] Compared with the prior art, the present invention has the following beneficial effects: the present invention can realize historical trajectory correction, and correct the points in the trajectory that pass through the wall, with high correction efficiency and high precision. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] Figure 1 It is a flow chart of a method for correcting a historical trajectory of electric power operation positioning control provided by an embodiment of the present invention;
[0041] Figure 2 It is a schematic diagram of two ways in which the trajectory segment intersects with the preset obstacle avoidance area. DETAILED DESCRIPTION
[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.
[0043] Embodiment 1
[0044] The embodiment of the present invention provides a method for correcting the historical trajectory of electric power operation positioning control, such as Figure 1 As shown, the following steps are included:
[0045] S1. Obtain the trajectory point coordinate sequence of the historical trajectory of the target object in the power operation positioning control.
[0046] The historical trajectory of the target object may be a query of the historical trajectory of a target object (person / vehicle) according to a time range, and there may be multiple discontinuous trajectories.
[0047] S2. Preprocess the trajectory point coordinate sequence and divide it according to time to obtain a trajectory point coordinate subsequence of each time period.
[0048] Among them, this step specifically includes: removing the coordinates of the trajectory points located in the indoor area from the trajectory point coordinate sequence, which can be implemented in the following way: generating an indoor point coordinate set by sampling in the indoor area, comparing each trajectory point in the trajectory point coordinate sequence with the indoor point coordinate set, and deleting the trajectory point located in the indoor point coordinate set if there is one; comparing the time interval between any two adjacent trajectory points in the processed trajectory point coordinate sequence one by one to see whether it exceeds the preset trajectory segmentation time threshold, and if it exceeds, segmenting the trajectory point coordinate sequence with the current two trajectory points as the dividing point to obtain the trajectory point coordinate subsequences of each time period; smoothing each trajectory point coordinate subsequence, specifically, based on the preset coordinate thinning distance threshold, using the Douglas thinning algorithm, smoothing each trajectory point coordinate subsequence to reduce trajectory jaggedness.
[0049] S3. Remove the coordinates of the trajectory points located in the preset obstacle avoidance area from each trajectory point coordinate subsequence.
[0050] The preset obstacle avoidance area is a range of buildings where the trajectory is easy to pass through walls, specifically a polygonal area drawn by the outer boundary line of the building.
[0051] S4. For each trajectory point coordinate subsequence processed in step S3, extract every two adjacent points therein to generate a trajectory segment.
[0052] For example, given the trajectory points P1, P2, P3…Pn, n-1 trajectory segments S1=P1P2, S2=P2P3.., S(n-1)=P(n-1)Pn can be generated.
[0053] S5. For each trajectory segment, determine whether the current trajectory segment intersects with any preset obstacle avoidance area. If not, use the current trajectory segment as the corrected trajectory segment. If intersecting, execute step S6.
[0054] S6. Obtain the intersection of the current trajectory segment and the preset obstacle avoidance area, calculate the distance from the starting point of the current trajectory segment to each of the multiple intersections, and extract the intersection closest to and farthest from the starting point of the current trajectory segment.
[0055] Figure 2 Schematic diagram of two intersection modes of the trajectory line segment S(n-1)=P(n-1)Pn and the preset obstacle avoidance area (gray area), as shown in Figure 2 As shown in (a) in the figure, the closest intersection point to the starting point P(n-1) of the trajectory segment S(n-1) is A, and the farthest intersection point is C. Figure 2As shown in (b), the intersection point closest to the starting point P(n-1) of the trajectory segment S(n-1) is A, and the farthest intersection point is D.
[0056] S7. Divide the preset obstacle avoidance area into two obstacle avoidance sub-areas using the line between the nearest and farthest intersection points, and obtain the outer boundary lines of each obstacle avoidance sub-area respectively. If the outer boundary line of one of the obstacle avoidance sub-areas has only one inflection point, use the inflection point as a supplementary point. Otherwise, calculate the length of the outer boundary line of each obstacle avoidance sub-area respectively, and use the inflection point sequence of the outer boundary line with the shortest length as the supplementary point.
[0057] like Figure 2 As shown in (a) in FIG. 1 , line segment AC divides the preset obstacle avoidance area into two parts, namely, the upper left obstacle avoidance sub-area and the lower right obstacle avoidance sub-area. The outer boundary line of the upper left obstacle avoidance sub-area is ABC. There is only one inflection point B, so the inflection point B is used as a supplementary point. Figure 2 As shown in (b) in the figure, line segment AD divides the preset obstacle avoidance area into two parts, namely, the upper right obstacle avoidance sub-area and the lower left obstacle avoidance sub-area. Both the upper right obstacle avoidance sub-area and the lower left obstacle avoidance sub-area have multiple inflection points. The length of the outer boundary line of the upper right obstacle avoidance sub-area is relatively low. The inflection point sequence of the outer boundary line of the upper right obstacle avoidance sub-area is used as a supplementary point, that is, the sequence {B, C} is used as a supplementary point.
[0058] S8. In the current trajectory segment, the nearest intersection point, the supplementary point and the farthest intersection point are sequentially added between the starting point and the end point of the current trajectory segment to obtain a corrected trajectory segment.
[0059] for Figure 2 In the case shown in (a), the nearest intersection point A, supplementary point B and farthest intersection point C are added to the starting point P(n-1) and the end point Pn of the current trajectory segment in sequence. The trajectory points of the corrected trajectory segment are {P(n-1), A, B, C, Pn}. Figure 2 As shown in (b), the nearest intersection point A, supplementary points {B, C} and the farthest intersection point D are added between the starting point P(n-1) and the end point Pn of the current trajectory segment in sequence. The trajectory points of the corrected trajectory segment are {P(n-1), A, B, C, D, Pn}.
[0060] S9. Connect all corrected trajectory line segments in order of their corresponding trajectory point coordinate subsequences to form a number of corrected trajectory point coordinate subsequences.
[0061] Embodiment 2
[0062] An embodiment of the present invention provides a historical trajectory correction system for positioning control of electric power operations, which can be implemented in software and / or hardware, including:
[0063] A historical trajectory data acquisition module is used to obtain the trajectory point coordinate sequence of the historical trajectory of the target object in the power operation positioning control;
[0064] The trajectory preprocessing module is used to preprocess the trajectory point coordinate sequence and divide it according to time to obtain the trajectory point coordinate subsequences of each time period;
[0065] An obstacle point removal module is used to remove the coordinates of the trajectory points located in the preset obstacle avoidance area from each trajectory point coordinate subsequence, wherein the preset obstacle avoidance area is the range of buildings where the trajectory is easy to pass through the wall, specifically a polygonal area drawn by the outer boundary line of the building;
[0066] A trajectory segment generation module is used to extract every two adjacent points in each trajectory point coordinate subsequence processed by the obstacle point removal module to generate a trajectory segment;
[0067] The intersection judgment module is used to judge whether the current trajectory segment intersects with any preset obstacle avoidance area for each trajectory segment. If not, the current trajectory segment is used as the corrected trajectory segment. If intersecting, the intersection acquisition module is executed;
[0068] The intersection acquisition module is used to obtain the intersection of the current trajectory segment and the preset obstacle avoidance area, calculate the distance from the starting point of the current trajectory segment to each of the multiple intersections, and extract the intersection closest to and farthest from the starting point of the current trajectory segment;
[0069] A supplementary point acquisition module is used to divide the preset obstacle avoidance area into two obstacle avoidance sub-areas by connecting the nearest and farthest intersection points, and respectively obtain the outer boundary line of each obstacle avoidance sub-area. If there is only one inflection point on the outer boundary line of one of the obstacle avoidance sub-areas, the inflection point is used as a supplementary point. Otherwise, the length of the outer boundary line of each obstacle avoidance sub-area is calculated, and the inflection point sequence of the outer boundary line with the shortest length is used as a supplementary point.
[0070] A line segment correction module is used to sequentially add the nearest intersection point, the supplementary point and the farthest intersection point in the current trajectory segment between the starting point and the end point of the current trajectory segment to obtain a corrected trajectory segment;
[0071] The line segment linking module is used to connect all the corrected trajectory line segments in the order of the trajectory point coordinate subsequences to which they belong, to form a number of corrected trajectory point coordinate subsequences.
[0072] Wherein, the trajectory preprocessing module specifically includes:
[0073] The indoor point removal unit is used to remove the trajectory point coordinates located in the indoor area from the trajectory point coordinate sequence; specifically, the indoor point coordinate set can be generated by sampling in the indoor area, and each trajectory point in the trajectory point coordinate sequence is compared with the indoor point coordinate set. If there is a trajectory point located in the indoor point coordinate set, it is deleted;
[0074] The trajectory segmentation unit is used to compare one by one the time interval between any two adjacent trajectory points in the trajectory point coordinate sequence processed by the indoor point removal unit to see whether it exceeds the preset trajectory segmentation time threshold. If it exceeds, the trajectory point coordinate sequence is segmented with the current two trajectory points as the dividing point to obtain the trajectory point coordinate subsequences of each time period;
[0075] The smoothing processing unit is used to perform smoothing processing on each trajectory point coordinate subsequence. Specifically, the Douglas thinning algorithm can be used to smooth each trajectory point coordinate subsequence based on a preset coordinate thinning distance threshold.
[0076] The system provided in the embodiment of the present invention can be used to execute the method provided in the first embodiment of the present invention, and has the corresponding functions and beneficial effects of the execution method.
[0077] It is worth noting that in the embodiment of the above system, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.
[0078] The embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, or of course, it can be implemented only by hardware, as long as the function or effect can be achieved.
[0079] It should be understood that the above embodiments and descriptions only describe the principles, main features and advantages of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, and these changes and improvements all fall within the scope of protection of the present invention.
Claims
1. A method for correcting historical tracks of electric power operation positioning control, characterized in that: The steps include: (1) Obtaining the trajectory point coordinate sequence of the historical trajectory of the target object in the power operation positioning control; (2) preprocessing the trajectory point coordinate sequence and dividing it according to time to obtain the trajectory point coordinate subsequences of each time period; (3) removing the coordinates of the trajectory points located in a preset obstacle avoidance area from each trajectory point coordinate subsequence, wherein the preset obstacle avoidance area is a range of buildings where the trajectory is likely to pass through walls; (4) for each trajectory point coordinate subsequence processed in step (3), extract every two adjacent points therein to generate a trajectory segment; (5) For each trajectory segment, determine whether the current trajectory segment intersects with any preset obstacle avoidance area. If not, use the current trajectory segment as the corrected trajectory segment. If intersecting, execute step (6); (6) Obtaining the intersection of the current trajectory segment and the preset obstacle avoidance area, and calculating the distance from the starting point of the current trajectory segment to each of the multiple intersections, and extracting the intersection closest to and farthest from the starting point of the current trajectory segment; (7) Using the line between the nearest and farthest intersection points, the preset obstacle avoidance area is divided into two obstacle avoidance sub-areas, and the outer boundary lines of each obstacle avoidance sub-area are obtained respectively. If the outer boundary line of one of the obstacle avoidance sub-areas has only one inflection point, the inflection point is used as a supplementary point. Otherwise, the length of the outer boundary line of each obstacle avoidance sub-area is calculated respectively, and the inflection point sequence of the outer boundary line with the shortest length is used as the supplementary point. (8) in the current trajectory segment, the nearest intersection point, the supplementary point and the farthest intersection point are sequentially added between the starting point and the end point of the current trajectory segment to obtain a corrected trajectory segment; (9) All corrected trajectory line segments are connected in order of the trajectory point coordinate subsequences to which they belong, to form several corrected trajectory point coordinate subsequences.
2. The method for correcting the historical trajectory of electric power operation positioning control according to claim 1 is characterized in that: Step (2) specifically includes: (2.1) Remove the coordinates of the trajectory points located in the indoor area from the trajectory point coordinate sequence; (2.2) comparing the time interval between any two adjacent trajectory points in the trajectory point coordinate sequence processed in step (2.1) to see whether it exceeds the preset trajectory segmentation time threshold. If so, segment the trajectory point coordinate sequence using the current two trajectory points as the dividing point to obtain the trajectory point coordinate subsequences of each time period; (2.3) Smooth each trajectory point coordinate subsequence.
3. The method for correcting the historical trajectory of electric power operation positioning control according to claim 1 is characterized in that: The preset obstacle avoidance area is specifically a polygonal area drawn by the outer boundary line of the building.
4. The method for correcting the historical trajectory of electric power operation positioning control according to claim 2 is characterized in that: The removal of the coordinates of the trajectory points located in the indoor area is specifically as follows: Indoor point coordinate sets are generated by sampling in the indoor area, and each trajectory point in the trajectory point coordinate sequence is compared with the indoor point coordinate set. If there is a trajectory point located in the indoor point coordinate set, it is deleted.
5. The method for correcting the historical trajectory of electric power operation positioning control according to claim 2, characterized in that: The smoothing process for each trajectory point coordinate subsequence is specifically as follows: Based on the preset coordinate thinning distance threshold, the Douglas thinning algorithm is used to smooth each trajectory point coordinate subsequence.
6. A historical trajectory correction system for positioning and controlling power operations, characterized in that: include: A historical trajectory data acquisition module is used to obtain the trajectory point coordinate sequence of the historical trajectory of the target object in the power operation positioning control; The trajectory preprocessing module is used to preprocess the trajectory point coordinate sequence and divide it according to time to obtain the trajectory point coordinate subsequences of each time period; An obstacle point removal module is used to remove the coordinates of the trajectory points located in a preset obstacle avoidance area from each trajectory point coordinate subsequence, wherein the preset obstacle avoidance area is a range of buildings where the trajectory is easy to pass through the wall; A trajectory segment generation module is used to extract every two adjacent points in each trajectory point coordinate subsequence processed by the obstacle point removal module to generate a trajectory segment; The intersection judgment module is used to judge whether the current trajectory segment intersects with any preset obstacle avoidance area for each trajectory segment. If not, the current trajectory segment is used as the corrected trajectory segment. If intersecting, the intersection acquisition module is executed; The intersection acquisition module is used to obtain the intersection of the current trajectory segment and the preset obstacle avoidance area, calculate the distance from the starting point of the current trajectory segment to each of the multiple intersections, and extract the intersection closest to and farthest from the starting point of the current trajectory segment; A supplementary point acquisition module is used to divide the preset obstacle avoidance area into two obstacle avoidance sub-areas by connecting the nearest and farthest intersection points, and respectively obtain the outer boundary line of each obstacle avoidance sub-area. If there is only one inflection point on the outer boundary line of one of the obstacle avoidance sub-areas, the inflection point is used as a supplementary point. Otherwise, the length of the outer boundary line of each obstacle avoidance sub-area is calculated, and the inflection point sequence of the outer boundary line with the shortest length is used as a supplementary point. A line segment correction module is used to sequentially add the nearest intersection point, the supplementary point and the farthest intersection point in the current trajectory segment between the starting point and the end point of the current trajectory segment to obtain a corrected trajectory segment; The line segment linking module is used to connect all the corrected trajectory line segments in the order of the trajectory point coordinate subsequences to which they belong, to form a number of corrected trajectory point coordinate subsequences.
7. The historical trajectory correction system for electric power operation positioning control according to claim 6 is characterized in that: The trajectory preprocessing module specifically includes: An indoor point removal unit, used to remove the coordinates of trajectory points located in the indoor area from the trajectory point coordinate sequence; The trajectory segmentation unit is used to compare one by one the time interval between any two adjacent trajectory points in the trajectory point coordinate sequence processed by the indoor point removal unit to see whether it exceeds the preset trajectory segmentation time threshold. If it exceeds, the trajectory point coordinate sequence is segmented with the current two trajectory points as the dividing point to obtain the trajectory point coordinate subsequences of each time period; The smoothing processing unit is used to perform smoothing on each trajectory point coordinate subsequence.
8. The historical trajectory correction system for electric power operation positioning control according to claim 6 is characterized in that: The preset obstacle avoidance area is specifically a polygonal area drawn by the outer boundary line of the building.
9. The historical trajectory correction system for electric power operation positioning control according to claim 7, characterized in that: The indoor point removal unit is specifically used to generate an indoor point coordinate set by sampling in the indoor area, compare each trajectory point in the trajectory point coordinate sequence with the indoor point coordinate set, and delete any trajectory point located in the indoor point coordinate set.
10. The historical trajectory correction system for electric power operation positioning control according to claim 7, characterized in that: The smoothing processing unit is specifically used to perform smoothing processing on each trajectory point coordinate subsequence based on a preset coordinate thinning distance threshold and using a Douglas thinning algorithm.