A method and system for registering multi-sensor data of air, space and ground for transmission lines

Abstract

The present invention provides a method for registering multi-sensor data of air, space and ground for transmission lines, which includes: based on the ground control point information ledger, the coordinate systems of various ground sensors and the coordinate system of high-resolution satellite remote sensing images are uniformly converted into the Geodetic 2000 coordinate system to obtain the ground control point set and the high-resolution satellite remote sensing images in the Geodetic 2000 coordinate system respectively; using the multi-weight rational number model solution method, error registration of the high-resolution satellite remote sensing images and transmission towers is carried out based on the ground control point set in the Geodetic 2000 coordinate system; generating a three-dimensional space of the airborne transmission line based on the airborne information, and carrying out high-precision registration of the airborne transmission line and the transmission tower based on the mapping relationship between the ground control point set and various ground sensors in the three-dimensional space of the transmission line and the transmission tower; for the first time, a high-precision registration scheme suitable for the air, space and ground three-dimensional multi-sensor data of transmission lines is proposed, laying a foundation for high-precision spatial correlation analysis of multi-source sensor data for the power Internet of Things and transmission lines.

Description

Technical Field

[0001] The present invention belongs to the field of power grid transmission lines, and relates to a method and system for registering multi-sensor data of air, space and ground for transmission lines. Background Art

[0002] With the continuous development of strong intelligent power grids and power Internet of Things, the means of power grid observation and perception have evolved from simple ground sensors to drones, helicopters and satellite remote sensing, forming a "space-air-ground" three-dimensional perception system. However, under the condition of no control points, satellite remote sensing images are inevitably offset more or less in complex environments such as mountainous areas, and cannot be consistent with the designed coordinates of transmission towers in the internal management ledger, resulting in the inability to correctly associate various information such as environmental hazards extracted from satellite remote sensing images with the transmission towers in the ledger. At the same time, with the increasing application of ground sensors such as grating optical fibers and optical fiber composite overhead ground wires (OPGW), how to accurately register satellite remote sensing images, drone / helicopter images and ground sensors such as grating optical fibers and meteorological stations, and associate them with transmission lines one by one, has become the core basis for realizing the "space-air-ground" three-dimensional perception network of the power grid.

[0003] Currently, the main research focuses on the registration research and application of multi-scale and multi-temporal satellite remote sensing data, or the registration between satellite remote sensing and drone / helicopter images.

[0004] The essence of registration between different images is to perform spatial correction on the images, and use a certain spatial transformation model to convert the images to the same coordinate system according to their spatial distortion characteristics. The image registration process is to find the geometric transformation from the reference image to the image to be matched, under which the two images have the greatest degree of similarity. Among them, there are many transformation models, including but not limited to similarity transformation, affine transformation, etc., and different transformation models are applicable to different environments. During the research process in recent years, the image registration algorithms proposed by experts and scholars from institutions such as Wuhan University, Aerospace Information Research Institute of the Chinese Academy of Sciences, Beihang University, and China Electric Power Research Institute in China can be roughly divided into: registration based on gray information and registration based on features.

[0005] However, the above research has less on the spatial registration of multi-source sensors on the three different platforms of "space-air-ground". Specifically in the power industry, there is relatively less research on the high-precision registration technology among satellite remote sensing data, drone / helicopter images, and power electronics and optical fiber data. As a result, in some areas currently, only manual work can be relied on to achieve high-precision registration among satellite remote sensing images, transmission lines, and ground sensors, with extremely low efficiency and human errors. Summary of the Invention

[0006] In view of the inevitable offset of satellite remote sensing images to some extent in complex environments such as mountainous areas under the existing condition of no control points, which cannot be consistent with the designed coordinates of transmission towers in the internal management ledger, resulting in the inability to correctly associate various information such as environmental hazards extracted from satellite remote sensing images with the transmission towers in the ledger, the present invention provides a method for registering multi-sensor data of air, space and ground for transmission lines, including:

[0007] Based on the ground control point information ledger, the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image are uniformly converted into the Geodetic 2000 coordinate system, and the ground control point set and the high-resolution satellite remote sensing image in the Geodetic 2000 coordinate system are obtained respectively;

[0008] Using the multi-weight rational model solution method, error registration of the high-resolution satellite remote sensing image and the transmission tower is performed based on the ground control point set in the Geodetic 2000 coordinate system;

[0009] Generate an airborne transmission line three-dimensional space based on airborne information, and perform registration of the airborne transmission line and the transmission tower based on the mapping relationship between the ground control point set and various ground sensors in the transmission line three-dimensional space and the transmission tower.

[0010] Preferably, the using the multi-weight rational model solution method to perform error registration of the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the Geodetic 2000 coordinate system includes:

[0011] Use the forward intersection method to generate a surface digital elevation data set from the high-resolution satellite remote sensing image;

[0012] Obtain the three-dimensional space coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation data set;

[0013] Calculate the error between the three-dimensional space coordinates of the high-resolution satellite remote sensing image and the ground control point information ledger of the transmission tower;

[0014] Use the multi-weight rational model solution method to register the error.

[0015] Preferably, the obtaining the three-dimensional space coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation data set includes:

[0016] Convert the coordinates of any numbered transmission tower in the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding transmission tower ground control point set to obtain the registration error within a preset range;

[0017] Based on the digital elevation dataset of the ground surface, to provide the elevation information of any numbered transmission tower to reduce the registration error, and obtain the three-dimensional spatial coordinates of each transmission tower.

[0018] Preferably, generating the three-dimensional space of the airborne transmission line based on the airborne information, and registering the airborne transmission line and the transmission tower based on the mapping relationship between the three-dimensional space of the transmission line and the transmission tower in combination with the various ground sensors of the ground control point set, including:

[0019] Pre-obtaining the airborne lidar point cloud or oblique photogrammetry image to scan and generate the three-dimensional space of the airborne transmission line, obtaining the coordinates of the airborne lidar or oblique photogrammetry image, and converting the coordinates of any airborne lidar or oblique photogrammetry image to the corresponding ground control point set of the transmission line tower or the designed true coordinates to obtain the error within the preset range;

[0020] Based on the coordinates of the airborne lidar or oblique photogrammetry image, in combination with the mapping relationship between the ground sensors in the three-dimensional space of the transmission line and the transmission tower, obtaining the error between the airborne lidar or oblique photogrammetry image and the ground sensors;

[0021] Using the angle-line combination feature registration method to register the error within the preset range and the error between the airborne lidar or oblique photogrammetry image and the ground sensors;

[0022] Among them, the three-dimensional space of the airborne transmission line includes: the precise three-dimensional spatial information of each point of the transmission tower body and various types of line bodies;

[0023] The ground sensors include: power electronic sensors, temperature sensors, galloping sensors or fiber Bragg grating sensors.

[0024] Preferably, the ground control point set includes: the coordinate control point set of the transmission line and the transmission tower, the Beidou site control point set, the field manual collection control point set, the GPS ground control points and the transmission line equipment management ledger;

[0025] The airborne information includes: lidar or oblique photogrammetry images carried by various unmanned aerial vehicles and helicopters.

[0026] Preferably, the mapping relationship between the ground sensors in the three-dimensional space of the transmission line and the transmission tower includes:

[0027] For ground sensors equipped with GPS chips, GPS + Beidou chips, or Beidou chips, obtain the three-dimensional spatial coordinates of the ground sensor through the GPS chip, obtain the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower, and obtain the three-dimensional spatial coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower;

[0028] For ground sensors without positioning and timing chips, obtain the three-dimensional spatial coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower obtained from the transmission line equipment management ledger;

[0029] Based on the three-dimensional spatial coordinates of the transmission tower, obtain the unique spatial number of the ground sensor in the three-dimensional space with respect to the transmission tower in terms of the transmission tower number, longitude and latitude of the transmission tower, line phase, and horizontal distance to the closest transmission tower.

[0030] Preferably, the method further includes:

[0031] Combine the error registration between the airborne lidar or oblique photography measurement image and the ground sensor in the three-dimensional space of the transmission line and the registration error between the high-resolution satellite remote sensing image and the transmission tower to obtain the three-dimensional space registration of air-space-ground.

[0032] Based on the same concept, the present invention provides a transmission line air-space-ground multi-sensor data registration system, including: a coordinate unification module, a satellite registration module, and an airborne registration module;

[0033] The coordinate unification module is used to uniformly convert the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image into the Geodetic 2000 coordinate system based on the ground control point information ledger, and respectively obtain the ground control point set and the high-resolution satellite remote sensing image in the Geodetic 2000 coordinate system;

[0034] The satellite registration module uses the multi-weight rational model solution method to perform error registration between the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the Geodetic 2000 coordinate system;

[0035] The airborne registration module generates an airborne transmission line three-dimensional space based on airborne information, and performs registration between the airborne transmission line and the transmission tower based on the ground control point set in combination with the mapping relationship between the various ground sensors and the transmission tower in the transmission line three-dimensional space.

[0036] Preferably, the satellite registration module includes: a data set generation sub-module, a three-dimensional coordinate sub-module, an error calculation sub-module, and a satellite error registration sub-module;

[0037] The data set generation sub-module generates a surface digital elevation data set from the high-resolution satellite remote sensing image by using the forward intersection method;

[0038] The three-dimensional coordinate sub-module obtains the three-dimensional space coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation data set;

[0039] The error calculation sub-module is used to calculate the error between the three-dimensional space coordinates of the high-resolution satellite remote sensing image and the information ledger of the ground control points of the transmission towers;

[0040] The satellite error registration sub-module registers the error by using the multi-weight rational model solution method.

[0041] Preferably, the three-dimensional coordinate sub-module includes: a satellite error unit and a satellite three-dimensional coordinate unit;

[0042] The satellite error unit is used to convert the coordinates of any numbered transmission tower in the multi-scale and multi-temporal high-resolution satellite remote sensing image into the actual coordinates of the corresponding ground control point set of the transmission tower to obtain the registration error within a preset range;

[0043] The satellite three-dimensional coordinate unit reduces the registration error by providing the elevation information of any numbered transmission tower based on the surface digital elevation data set to obtain the three-dimensional space coordinates of each transmission tower.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] 1. The present invention provides a method for registering multi-sensor data of air, space and ground for transmission lines, including: based on the information ledger of ground control points, uniformly converting the coordinate systems of various ground sensors and the coordinate system of high-resolution satellite remote sensing images into the Geodetic 2000 coordinate system, respectively obtaining the ground control point set and the high-resolution satellite remote sensing image in the Geodetic 2000 coordinate system; using the multi-weight rational model solution method to perform error registration of the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the Geodetic 2000 coordinate system; generating a three-dimensional space of the airborne transmission line based on airborne information, and performing high-precision registration of the airborne transmission line and the transmission tower based on the mapping relationship between the ground control point set and various ground sensors in the three-dimensional space of the transmission line and the transmission tower; for the first time, a high-precision registration solution suitable for multi-sensor data of air, space and ground for transmission lines is proposed, laying a foundation for high-precision spatial correlation analysis of multi-source sensor data for the construction of the power Internet of Things and the three-dimensional perception system of transmission lines.

[0046] 2. The present invention provides a method and system for registering multi-sensor data of air, space and ground for transmission lines, improving the efficiency of the existing manual registration and enhancing the intelligent level of high-precision registration of multi-sensor data of air, space and ground for transmission lines. Laying a foundation for subsequent automatic hidden danger information analysis.

[0047] 3. The present invention provides a method and system for registering multi-sensor data of air, space and ground for transmission lines. The registration error between the satellite remote sensing image and the transmission tower in complex environments such as mountainous areas under the existing condition of no control points is between 10m and 30m. The registration error between the satellite remote sensing image and the transmission tower obtained by the method of the present invention is not greater than 5m.

[0048] 4. The present invention provides a method and system for registering multi-sensor data of air, space and ground for transmission lines. By the method of the present invention, the optimal registration between the satellite remote sensing image and the design coordinates of the transmission line can be achieved, avoiding manual post-processing after geometric correction of the satellite remote sensing image and improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is the flowchart of the method provided by the present invention;

[0050] Figure 2 is the overall technical roadmap provided by the embodiment of the present invention;

[0051] Figure 3 is the spatial registration technical roadmap of multi-scale and multi-temporal remote sensing data and sensor data of the transmission corridor provided by the embodiment of the present invention;

[0052] Figure 4 is the "air-space-ground" precise three-dimensional space registration model diagram provided by the present invention;

[0053] Figure 5 This is the system structure diagram provided by the present invention. Specific implementation manners

[0054] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0055] Embodiment 1:

[0056] The present invention provides a method, which will be introduced in combination with Figure 1 the method flow chart provided by the present invention. The specific steps are as follows:

[0057] Step 1: Based on the ground control point information ledger, the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image are uniformly converted into the Geodetic 2000 coordinate system, and the ground control point set and the high-resolution satellite remote sensing image in the Geodetic 2000 coordinate system are obtained respectively;

[0058] Step 2: Using the multi-weight rational model solution method, perform error registration of the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the Geodetic 2000 coordinate system;

[0059] Step 3: Generate a three-dimensional space of the airborne transmission line based on the airborne information, and perform registration of the airborne transmission line and the transmission tower based on the mapping relationship between the transmission line three-dimensional space and the transmission tower in combination with the ground control point set and various ground sensors;

[0060] Among them, in Step 1: Based on the ground control point information ledger, the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image are uniformly converted into the Geodetic 2000 coordinate system, and the ground control point set and the high-resolution satellite remote sensing image in the Geodetic 2000 coordinate system are obtained respectively, which specifically includes:

[0061] (1) Construct a high-precision ground control point set suitable for the "air-space-ground" three-dimensional perception of the power grid, which will be introduced in combination with Figure 2 the overall technical roadmap. First, the present invention innovatively collects ground control point information. Combining the characteristics of the strip distribution of the transmission line and the high reliability of the transmission tower coordinates, the geographical coordinates of two tower bases at the diagonal of the transmission tower are collected every 2-3 kilometers, and combined with the existing PMS 2.0 ledger or the coordinates provided by the design institute, a coordinate control point set of the transmission tower points is formed. At the same time, if there are Beidou monitoring points for power grid geological disasters in the image coverage area, the coordinates of the geological disaster Beidou monitoring points are obtained as the Beidou site control point set. In addition, the coordinates of obvious texture features or ground objects with a large contrast in background color, such as buildings, crosswalks at intersections, and bridges, around the transmission line corridor are collected as evenly as possible to form a field artificial collection control point set. Combining some publicly available GPS ground control points, a high-precision ground control point set suitable for the "air-space-ground" three-dimensional perception of the power grid is formed.

[0062] (2) Spatial coordinate system 1

[0063] Currently, there may be four situations for ground sensors: without a positioning and timing chip, with built-in GPS, GPS + Beidou, or Beidou chip. For traditional sensors without a built-in chip, their spatial coordinate system is consistent with that of the transmission line and substation, which may be the Xi'an 80 coordinate system or the Geodetic 2000 (CGCS2000) coordinate system. For sensors with built-in GPS + Beidou or Beidou chip, the CGCS 2000 coordinate system used by the Beidou chip is directly adopted. For sensor devices that only use GPS chips, the WGS84 coordinate system is adopted. Therefore, other coordinate systems such as the Xi'an 80 coordinate system or the WGS84 coordinate system are converted into the CGCS2000 coordinate system.

[0064] Perform coordinate conversion on the high-precision ground control point set constructed in the first part. The coordinates of field manual collection points, public GPS reference points, and transmission line tower poles are respectively converted from the WBS84 coordinate system and the Xi'an 80 coordinate system to the CGCS2000 coordinate system. The Beidou stations for power grid geological disaster monitoring do not require coordinate conversion, and a ground control point set in the CGCS2000 coordinate system is constructed for the next-step coordinate conversion of high-resolution satellite remote sensing images and high-precision positioning.

[0065] Step 2: Use the multi-weight rational model solution method to perform error registration of the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the Geodetic 2000 coordinate system, specifically including:

[0066] Based on the above-mentioned ground control point set and other feature points in the CGCS2000 coordinate system, perform coordinate conversion on the sub-meter high-resolution satellite remote sensing image. For satellite remote sensing images to be programmed and taken in the future, directly define the CGCS2000 coordinate system during the geometric correction process to avoid secondary coordinate conversion. For existing historical archived satellite remote sensing images, if their original coordinate system is not CSGS2000, the seven-parameter model (Bursa-Wolf model) is used for coordinate conversion. By evenly selecting more than 3 homologous points as much as possible, use the least squares method to solve the coefficients of the seven-parameter model, and then based on the solved coefficients, use the seven-parameter model to complete the coordinate conversion of the satellite remote sensing image.

[0067] During the process of coordinate conversion using the seven-parameter model, since the single file of the satellite remote sensing image is large and there is a situation of continuous time-series observation (such as meteorological satellites), the existing multi-weight flux conservation resampling algorithm is used to resample the image data.

[0068] Using the existing registration method between satellite remote sensing images, through the coordinate system conversion of high-resolution satellite remote sensing images and the high-precision registration between multi-scale and multi-temporal satellite remote sensing images, the coordinate systems of multi-scale and multi-temporal satellite remote sensing images are unified into CSGS2000.

[0069] Through the above steps, the spatial coordinate system (CSGS2000 coordinate system) of remote sensing and sensing data related to the transmission corridor is completed.

[0070] In the process of high-precision registration / geocoding, the most fundamental and important thing is the selection of control points. Control points with different precisions, different qualities, and different distribution densities and rules have a great impact on the registration / geocoding accuracy. The selection of control points is one of the most important links in the high-precision registration / geocoding of satellite remote sensing images. Combined with Figure 3 the spatial registration technical roadmap of multi-scale and multi-temporal remote sensing data and sensing data of the transmission corridor is introduced.

[0071] In order to reduce the registration error caused by complex terrain and landforms, a high-precision digital elevation model (digital elevation data set) (data set in the form of pictures) (DEM) of the surface is generated from high-resolution optical satellite stereo images through methods such as forward intersection. Combining the DEM and the high-precision ground control point set obtained in the first step, using the existing multi-weight rational model solution method, the precise registration of high-resolution satellite remote sensing images and transmission towers is realized. Through the existing high-precision relative registration method between multi-scale and multi-temporal satellite remote sensing images, the precise registration of multi-scale and multi-temporal satellite remote sensing images and transmission towers is realized, and the registration error is less than 5m.

[0072] Suppose the actual coordinates of any transmission tower with the number #N in the transmission line record or design are (X, Y), and the coordinates of the #N transmission tower on the original satellite remote sensing image are (X original1 , Y original1 ). Through this step, the conversion from (X original1， Y original1 ) to (X, Y) can be completed, and the error between the two does not exceed 5m. The optimal error can be within 0.15m. At the same time, the digital elevation model (DEM) will provide the elevation information Z of the #N transmission tower. In summary, any transmission tower with the number #N in the transmission line is precisely registered with the satellite remote sensing image, and the spatial three-dimensional coordinate information of each transmission tower can be accurately obtained, which is (X, Y, Z).

[0073] For the airborne Lidar point cloud or oblique photogrammetry images obtained in the same line section, the existing software such as Pix4d is used to generate the 3D scene of the transmission line through 3D scene modeling. Combined with the high-precision ground control point set in the CGCS2000 coordinate system generated in step ①, high-precision registration between the airborne transmission line 3D scene and the transmission tower is achieved. The airborne here includes the Lidar or oblique photogrammetry images carried by various drones and helicopters.

[0074] Assume that the real coordinates of the tower numbered #N of the transmission line are (X, Y), and the coordinates of the original airborne Lidar or oblique photogrammetry image are (X original2 , Y original2 ), this step can complete (X original2 , Y original2 ) to (X, Y), the error between the two is no more than 0.2m. The optimal error can be within 0.01m. At the same time, the transmission line 3D scene will provide accurate spatial 3D information (X, Y) of each point on the transmission tower body and various line entities such as conductors, strips, and insulator strings. p , Y p , Z p In summary, any tower numbered #N of the transmission line is accurately registered with the airborne laser radar (Lidar) point cloud or oblique photogrammetry image, and the transmission line 3D scene will provide accurate spatial 3D information of each point on the transmission tower body and various types of line bodies such as conductors, strips, and insulator strings (X p , Y p , Z p ). Combined with step ①, the precise registration of satellite remote sensing, airborne radar (Lidar) or oblique photogrammetry images and transmission lines has been completed.

[0075] Step 3: Generate a three-dimensional space of the airborne transmission line based on the airborne information, and perform registration of the airborne transmission line with the transmission tower based on the mapping relationship between the three-dimensional space of the transmission line and the transmission tower in combination with the ground control point set and various ground sensors, specifically including:

[0076] For various ground sensors such as power electronics, temperature, vibration and fiber Bragg grating, extract the number N of the transmission tower closest to the fiber Bragg grating and the horizontal distance L to the nearest transmission tower from the sensor installation ledger, obtain the corresponding transmission tower coordinates, and construct a unique mapping relationship (N, X, Y, P, L) between each sensor and the transmission tower in three-dimensional space, as follows:

[0077] Transmission tower number N -> Latitude and longitude (X, Y) of the #N transmission tower -> Line phase P (for AC lines, P can be phase A, B, or C) -> Horizontal distance L from the #N transmission tower -> Unique spatial number (N, X, Y, P, L) of sensors such as ground power electronics and fiber Bragg gratings

[0078] Among them, if various sensors such as ground power electronics, temperature, galloping, and fiber Bragg gratings are installed on the transmission tower, then the above line phase P = 0, and the horizontal distance L from the #N transmission tower = 0. The unique spatial number of sensors such as ground power electronics and fiber Bragg gratings is simplified to: (N, X, Y, 0, 0).

[0079] It is worth mentioning that at this time, the unique spatial number of various sensors such as ground power electronics, temperature, galloping, and fiber Bragg gratings is not expressed in the general three-dimensional spatial coordinates, which hinders the integration of multi-source data in actual business.

[0080] Combined with the three-dimensional scene of the transmission line and the unique ground sensor number (N, X, Y, P, L), the three-dimensional coordinates (X', Y', Z') of the point with a horizontal distance L from the #N transmission tower and located on the P-phase conductor are found. This is the true three-dimensional spatial coordinates (X', Y', Z') corresponding to the unique ground sensor number (N, X, Y, P, L). In this way, the accurate registration of airborne lidar point cloud or oblique photogrammetry image and ground sensor is realized. Combined with the first step, the "air-space-ground" accurate three-dimensional spatial registration is completed. On this basis, using the existing geographic information technology (GIS), a "Power One Map" for three-dimensional perception and precise positioning of the power grid in the "air-space-ground" is constructed. The "air-space-ground" accurate three-dimensional spatial registration model is as Figure 4 shown.

[0081] Embodiment 2:

[0082] Based on the same concept, the present invention provides a method for registering multi-sensor data of air-space-ground of transmission lines, which is introduced in combination with Figure 5 the system structure diagram, including: a coordinate unification module, a satellite registration module, and an airborne registration module;

[0083] The coordinate unification module is used to uniformly convert the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image into the Geodetic 2000 coordinate system based on the ground control point information ledger, and respectively obtain the ground control point set and the high-resolution satellite remote sensing image in the Geodetic 2000 coordinate system;

[0084] The satellite registration module uses the multi-weight rational number model solution method to perform error registration of the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the Geodetic 2000 coordinate system;

[0085] The airborne registration module generates a three-dimensional space of the airborne transmission line based on airborne information, and performs registration of the airborne transmission line and the transmission tower based on the mapping relationship between the three-dimensional space of the transmission line and the transmission tower in combination with the ground control point set and various ground sensors.

[0086] The satellite registration module includes: a data set generation sub-module, a three-dimensional coordinate sub-module, an error calculation sub-module, and a satellite error registration sub-module;

[0087] The data set generation sub-module generates a surface digital elevation data set from the high-resolution satellite remote sensing image using the forward intersection method;

[0088] The three-dimensional coordinate sub-module obtains the three-dimensional space coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation data set;

[0089] The error calculation sub-module is used to calculate the error between the three-dimensional space coordinates of the high-resolution satellite remote sensing image and the information ledger of the ground control points of the transmission tower;

[0090] The satellite error registration sub-module uses the multi-weight rational number model solution method to register the error.

[0091] The three-dimensional coordinate sub-module includes: a satellite error unit and a satellite three-dimensional coordinate unit;

[0092] The satellite error unit is used to convert the coordinates of any numbered transmission tower in the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding ground control point set of the transmission tower, and obtain the registration error within a preset range;

[0093] The satellite three-dimensional coordinate unit provides the elevation information of any numbered transmission tower based on the surface digital elevation data set to reduce the registration error, and obtains the three-dimensional space coordinates of each transmission tower.

[0094] The airborne registration module includes: a radar error sub-module, a radar and sensor error sub-module, and an airborne error registration sub-module;

[0095] The radar error sub-module is used to generate a three-dimensional space of the airborne transmission line by scanning the pre-acquired airborne lidar point cloud or oblique photography measurement image, obtain the coordinates of the airborne lidar or oblique photography measurement image, and convert the coordinates of any airborne lidar or oblique photography measurement image to the actual coordinates of the corresponding ground control point set of the transmission line tower or the designed true coordinates, and obtain the error within a preset range;

[0096] The radar and sensor error sub-module obtains the error between the airborne lidar or oblique photogrammetry image and the ground sensor based on the coordinates of the airborne lidar or oblique photogrammetry image and in combination with the mapping relationship between the ground sensor and the transmission tower in the three-dimensional space of the transmission line.

[0097] The airborne error registration sub-module uses the angle-line combination feature registration method to register the error within the preset range and the error between the airborne lidar or oblique photogrammetry image and the ground sensor.

[0098] Among them, the three-dimensional space of the airborne transmission line includes: the precise three-dimensional spatial information of each point on the tower body of the transmission tower and various types of line bodies.

[0099] The ground sensors include: power electronic sensors, temperature sensors, galloping sensors, or fiber Bragg grating sensors.

[0100] The radar and sensor error sub-module includes: a positioning sensor coordinate unit, a non-positioning sensor coordinate unit, and a mapping number unit.

[0101] The positioning sensor coordinate unit is used for ground sensors with built-in GPS chips, built-in GPS + Beidou chips, or built-in Beidou chips. It obtains the three-dimensional spatial coordinates of the ground sensor through the GPS chip, gets the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower, and obtains the three-dimensional spatial coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower.

[0102] The non-positioning sensor coordinate unit is used for ground sensors without positioning and timing chips. It obtains the three-dimensional spatial coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower obtained from the transmission line equipment management ledger.

[0103] The mapping number unit obtains the unique spatial number of the ground sensor in the three-dimensional space with respect to the transmission tower regarding the transmission tower number, the longitude and latitude of the transmission tower, the line phase, and the horizontal distance to the closest transmission tower based on the three-dimensional spatial coordinates of the transmission tower.

[0104] The system further includes: an air-space-earth registration module.

[0105] The air-space-ground registration module is used to obtain the three-dimensional space registration of air-space-ground by combining the error registration of the airborne lidar or oblique photogrammetry image and the ground sensor in the three-dimensional space of the transmission line and the registration error of the high-resolution satellite remote sensing image and the transmission tower.

[0106] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0108] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0110] The above are only embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. A method for registering multi-sensor data of air, space and ground for transmission lines, characterized in that Including: Based on the ground control point information ledger, the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image are uniformly converted into the CGCS2000 coordinate system, and the ground control point set and the high-resolution satellite remote sensing image in the CGCS2000 coordinate system are obtained respectively; Using the multi-weight rational model solution method, error registration of the high-resolution satellite remote sensing image and the transmission tower is performed based on the ground control point set in the CGCS2000 coordinate system; Generating a three-dimensional space of the airborne transmission line based on the airborne information, and performing registration of the airborne transmission line and the transmission tower based on the ground control point set and the mapping relationship between the various ground sensors in the three-dimensional space of the transmission line and the transmission tower; The error registration of the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the CGCS2000 coordinate system includes: Generating a surface digital elevation data set from the high-resolution satellite remote sensing image using the forward intersection method; Obtaining the three-dimensional space coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation data set; Calculating the error between the three-dimensional space coordinates of the high-resolution satellite remote sensing image and the ground control point information ledger of the transmission tower; Using the multi-weight rational model solution method to register the error; The generating of the three-dimensional space of the airborne transmission line based on the airborne information, and the registration of the airborne transmission line and the transmission tower based on the ground control point set and the mapping relationship between the various ground sensors in the three-dimensional space of the transmission line and the transmission tower includes: Pre-acquiring airborne lidar point cloud or oblique photogrammetry image to scan and generate the three-dimensional space of the airborne transmission line, obtaining the coordinates of the airborne lidar or oblique photogrammetry image, and converting the coordinates of any one of the airborne lidar or oblique photogrammetry image to the corresponding transmission line tower ground control point set or the designed true coordinates to obtain the error within a preset range; Based on the coordinates of the airborne lidar or oblique photogrammetry image, combining the mapping relationship between the ground sensors in the three-dimensional space of the transmission line and the transmission tower to obtain the error between the airborne lidar or oblique photogrammetry image and the ground sensors; Using the angle-line combination feature registration method to register the error within the preset range and the error between the airborne lidar or oblique photogrammetry image and the ground sensors; Wherein, the three-dimensional space of the airborne transmission line includes: precise three-dimensional spatial information of each point of the transmission tower body and various line bodies; The ground sensors include: power electronic sensors, temperature sensors, galloping sensors or fiber Bragg grating sensors; The mapping relationship between the ground sensors in the three-dimensional space of the transmission line and the transmission tower includes: For ground sensors equipped with GPS chips, GPS + Beidou chips, or Beidou chips, obtain the three-dimensional spatial coordinates of the ground sensor through the GPS chip, obtain the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower, and obtain the three-dimensional spatial coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower; For ground sensors without positioning and timing chips, obtain the three-dimensional spatial coordinates of the transmission tower based on the transmission tower number closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower obtained from the transmission line equipment management ledger; Based on the three-dimensional spatial coordinates of the transmission tower, obtain the unique spatial number of the ground sensor in the three-dimensional space with respect to the transmission tower number, the longitude and latitude of the transmission tower, the line phase, and the horizontal distance from the closest transmission tower; 2. The method according to claim 1, wherein The obtaining of the three-dimensional spatial coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation dataset includes: Convert the coordinates of the transmission tower with any number in the multi-scale and multi-temporal high-resolution satellite remote sensing image to the actual coordinates of the corresponding transmission tower ground control point set to obtain the registration error within a preset range; Based on the surface digital elevation dataset, provide the elevation information of the transmission tower with any number to reduce the registration error and obtain the three-dimensional spatial coordinates of each transmission tower; 3. The method according to claim 1, characterized in that The ground control point set includes: the coordinate control point set of the transmission line and the transmission tower, the Beidou station control point set, the field manually collected control point set, the GPS ground control points, and the transmission line equipment management ledger; The airborne information includes: lidar or oblique photography measurement images carried by various unmanned aerial vehicles and helicopters; 4. The method according to claim 1, wherein It also includes: Combine the error registration between the airborne lidar or oblique photography measurement image and the ground sensor in the three-dimensional space of the transmission line and the registration error between the high-resolution satellite remote sensing image and the transmission tower to obtain the three-dimensional space registration of air-space-ground; 5. A multi-sensor data registration system for power transmission lines in air, space and ground, characterized in that, It includes: A coordinate unification module, a satellite registration module, and an airborne registration module; The coordinate unification module is used to uniformly convert the coordinate systems of various ground sensors and the coordinate system of the high-resolution satellite remote sensing image into the Geodetic 2000 coordinate system based on the ground control point information ledger, and respectively obtain the ground control point set and the high-resolution satellite remote sensing image in the Geodetic 2000 coordinate system; The satellite registration module uses the multi-weight rational model solution method to perform error registration between the high-resolution satellite remote sensing image and the transmission tower based on the ground control point set in the Geodetic 2000 coordinate system; The airborne registration module generates an airborne transmission line three-dimensional space based on the airborne information, and performs registration between the airborne transmission line and the transmission tower based on the ground control point set and the mapping relationship between the various ground sensors and the transmission tower in the transmission line three-dimensional space; The satellite registration module includes: a data set generation sub-module, a three-dimensional coordinate sub-module, an error calculation sub-module, and a satellite error registration sub-module; The data set generation sub-module generates a surface digital elevation data set from the high-resolution satellite remote sensing image by using the forward intersection method; The three-dimensional coordinate sub-module obtains the three-dimensional spatial coordinates of the high-resolution satellite remote sensing image based on the surface digital elevation data set; The error calculation sub-module is used to calculate the error between the three-dimensional spatial coordinates of the high-resolution satellite remote sensing image and the information ledger of the ground control points of the transmission tower; The satellite error registration sub-module registers the error by using the multi-weight rational number model solution method; The airborne registration module is specifically used for: Pre-acquiring the airborne lidar point cloud or the oblique photogrammetry image to scan and generate the three-dimensional space of the airborne transmission line, obtaining the coordinates of the airborne lidar or the oblique photogrammetry image, and converting the coordinates of any one of the airborne lidar or the oblique photogrammetry image to the corresponding ground control point set of the transmission line tower or the designed true coordinates to obtain the error within a preset range; Based on the coordinates of the airborne lidar or the oblique photogrammetry image, combining the mapping relationship between the ground sensor and the transmission tower in the three-dimensional space of the transmission line, obtaining the error between the airborne lidar or the oblique photogrammetry image and the ground sensor; Using the angle-line combination feature registration method to register the error within the preset range and the error between the airborne lidar or the oblique photogrammetry image and the ground sensor; Among them, the three-dimensional space of the airborne transmission line includes: the precise three-dimensional spatial information of each point of the transmission tower body and various line bodies; The ground sensors include: power electronic sensors, temperature sensors, galloping sensors, or fiber Bragg grating sensors; The mapping relationship between the ground sensor in the airborne registration module and the transmission tower in the three-dimensional space of the transmission line specifically includes: For the ground sensors with built-in GPS chips, built-in GPS + Beidou chips, or built-in Beidou chips, obtaining the three-dimensional spatial coordinates of the ground sensor through the GPS chip, obtaining the number of the transmission tower closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower, and obtaining the three-dimensional spatial coordinates of the transmission tower based on the number of the transmission tower closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower; For the ground sensors without positioning and timing chips, obtaining the three-dimensional spatial coordinates of the transmission tower based on the number of the transmission tower closest to the ground sensor and the horizontal distance from the ground sensor to the closest transmission tower obtained from the transmission line equipment management ledger; Based on the three-dimensional spatial coordinates of the transmission tower, obtaining the unique spatial number of the ground sensor in the three-dimensional space with respect to the transmission tower in terms of the transmission tower number, the longitude and latitude of the transmission tower, the line phase, and the horizontal distance from the closest transmission tower; 6. The system according to claim 5, wherein The three-dimensional coordinate sub-module includes: a satellite error unit and a satellite three-dimensional coordinate unit; The satellite error unit is used to convert the coordinates of the transmission tower with any number in the multi-scale and multi-temporal high-resolution satellite remote sensing images to the actual coordinates of the corresponding ground control point set of the transmission tower, so as to obtain the registration error within a preset range; The satellite three-dimensional coordinate unit reduces the registration error based on the surface digital elevation data set to provide the elevation information of the transmission tower with any number, and obtains the three-dimensional space coordinates of each transmission tower.

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