A model association method for power distribution construction projects based on drone inspection

Abstract

The present application belongs to the field of drone inspection data processing technology, and in particular relates to a distribution construction project model association method based on drone inspection. It includes the following steps: obtaining aerial video images based on drone inspection; establishing a dynamic engineering model of the distribution construction project; visual processing of the dynamic engineering model of the distribution construction project; establishing an association model between the inspection camera position coordinates and the navigation perspective coordinates; establishing a camera position coordinate association model; establishing an inspection camera position coordinates and an optical perspective association model between the navigation perspective; The distribution construction project model association method based on drone inspection in the present application is mainly used to realize adaptive synchronous tracking of the dynamic engineering model with the inspection video during the planning and execution of the distribution construction project, and to realize synchronous acquisition of the model corresponding image data with the inspection video perspective, so as to facilitate the purpose of comparative analysis.

Description

Technical Field

[0001] The present application belongs to the technical field of drone inspection data processing, and in particular relates to a distribution construction project model association method based on drone inspection. Background Art

[0002] During the construction of power distribution projects along the transmission lines, due to the large construction scope and multiple construction sites, it is often difficult to rely on manpower to accurately obtain the real-time status of different construction areas during the construction status assessment and planning process. Through drone inspection technology, it is possible to quickly obtain image data of the construction site with almost no restrictions on space and distance, so as to facilitate real-time tracking and analysis of construction status, construction progress, etc., and improve the efficiency of construction planning and scheduling management of various tasks. However, due to the limitations of existing solutions, people can generally only use manual analysis and processing to achieve comparative analysis by continuously retrieving and disassembling video clips and model data. Because real-time data and project planning-related data need to be processed separately, the efficiency of production work is limited. Summary of the Invention

[0003] The purpose of this application is to provide a method for synchronously obtaining the corresponding perspective image data of the dynamic engineering model of the construction project based on the drone inspection video by associating the drone inspection video and the dynamic engineering model of the construction project, so as to simplify the construction project monitoring task based on the drone inspection video and improve efficiency.

[0004] To achieve the above objectives, this application adopts the following technical solutions.

[0005] The present invention provides a method for associating power distribution construction project models based on drone inspection, comprising the following steps:

[0006] Step 1: Obtain aerial video images based on drone inspection

[0007] Specifically, it refers to obtaining inspection videos of power distribution construction projects based on drone inspection tasks, and collecting drone inspection flight data at the same time. The drone inspection flight data includes the drone's body coordinates, camera posture, and camera parameters during the inspection process;

[0008] Step 2: Establish a dynamic engineering model for power distribution construction projects

[0009] Specifically, it means taking the monitoring objects, space and relative position relationships in the power distribution construction project as the main metadata or independent structure, and establishing a project dynamic engineering model formed by the combination of metadata or structured organization;

[0010] Step 3: Visualization of the dynamic engineering model of the power distribution construction project

[0011] Specifically, a visualization framework is established based on a browser-side image interaction engine (such as HTML5, JavaScript, or WebGL). The original dynamic engineering model of the power distribution construction project is lightweighted and configured accordingly, and then segmented and converted to meet the output standards of the visualization framework. Ultimately, a visual dynamic engineering model of the power distribution construction project is obtained. An appropriate perspective entry point is selected within the visualization framework, and a navigation perspective is configured to simulate the perspective of a drone inspection.

[0012] Step 4: Establish a correlation model between the inspection camera position coordinates and the navigation view coordinates

[0013] Specifically, it means: establishing a correlation between the physical and optical parameters of the inspection view and the navigation view, so that the UAV inspection image and the image obtained by the navigation view correspond to each other;

[0014] The physical parameters include: the physical space coordinate parameters and attitude parameters of the inspection camera extracted from the UAV inspection flight data; the physical space coordinates are the real-time satellite positioning coordinates obtained by the position sensor, including latitude and longitude data and altitude data; the attitude parameters are the yaw angle, pitch angle and roll angle of the camera obtained by the camera attitude sensor; the optical parameters include the focal length and resolution of the inspection camera; the specific steps include:

[0015] 4.1 Establishing a camera position coordinate association model

[0016] The correlation model between the inspection camera position coordinates and the navigation view coordinates is: virtual =f trans (P ture )

[0017] Among them, P virtual is the coordinate position (x, y, z) of the navigation perspective in the visual dynamic engineering model; P ture is the real coordinate position of the inspection camera (l o ,l a ,a l ), l o is longitude, l a is latitude, a l is the altitude; f trans (x) is the coordinate conversion function; f trans(x) is a coordinate conversion function, which is a multi-level conversion function obtained by multiple conversions based on the actual coordinate system. In this application, it is necessary to associate the coordinate position of the drone with the coordinate position of the navigation view. Since the coordinate position of the drone is obtained by satellite positioning, it is generally established based on the WGS84 geocentric coordinate system or the GPS coordinate system; and the navigation view coordinate system is generally established based on the regional coordinate system according to the actual modeling process. Therefore, during the coordinate conversion process, the coordinate conversion function involves the following conversion model:

[0018] a. Coordinate system conversion model from geocentric coordinate system or GPS coordinate system to national coordinate system

[0019]

[0020] where (x0,y0,z0) T The coordinate vector of the UAV in the geocentric coordinate system or GPS coordinate system; (x1, y1, z1) T is the coordinate vector of the UAV in the national coordinate system; k1 is the scaling factor from the geocentric coordinate system or GPS coordinate system to the national coordinate system; ε x , ε y , ε z They are the rotation angles from the geocentric coordinate system or GPS coordinate system to the national coordinate system; (Δx1, Δy1, Δz1) T It is the translation vector from the geocentric coordinate system or GPS coordinate system to the national coordinate system;

[0021] b. Projection transformation model based on the transformation from geographic coordinate system to plane coordinate system

[0022] (x2,y2,z2) T =f2[(x1,y1,z1) T ]

[0023] Where f2(x) is the conversion function obtained based on the actual projection method used, which is provided by the GIS program; (x2, y2, z2) T =f2[(x1,y1,z1) T ] is (x2,y2,z2) T is the result of plane coordinate transformation;

[0024] c. Conversion model from national coordinate system to local plane coordinate system

[0025]

[0026] where (x3,y3,z3) Tis the plane coordinate vector of the UAV coordinate position in the local coordinate system, μ is the rotation angle; k3 is the scaling factor for converting the coordinate system from the national coordinate system to the local plane coordinate system; (Δx3, Δy3, Δz3) T is the translation vector from the national coordinate system to the local plane coordinate system;

[0027] 4.2 Establishing a correlation model between inspection camera position coordinates and navigation perspective

[0028]

[0029]

[0030] Among them, v e is the viewing direction vector of the navigation perspective in the visualization dynamic engineering model, v u is the upward vector of the navigation view in the visual dynamic engineering model, a is the yaw angle of the inspection camera, β is the pitch angle of the inspection camera, and γ is the roll angle of the inspection camera;

[0031] 4.3 Establishing an optical perspective correlation model between inspection camera position coordinates and navigation view

[0032] In order to avoid the difference between the direct or acquired image and the direct view image caused by factors such as the inspection camera's own optical parameters, an image perspective association model based on the aforementioned navigation perspective is established based on the basic principle of optical projection, so as to facilitate the matching of the image acquired based on the navigation perspective with the image acquired by the inspection camera, and establish an optical perspective association model between the inspection camera position coordinates and the navigation perspective:

[0033] [v fov v as l near l far ] T =[t for h r / w r k+∞] T

[0034] where v fov is the field of view of the navigation perspective; t fov is the field of view of the inspection camera; v as is the aspect ratio of the perspective projection plane; h r is the imaging height of the inspection camera; w r is the imaging width of the inspection camera; l near is the distance between the middle surface of the projected cone and the top of the cone with the navigation view as the top of the cone; l far is the distance between the cone base section and the cone top in the projection cone with the navigation view as the cone top; k is a very small number greater than zero.

[0035] To further supplement or improve the aforementioned distribution construction project model association method based on drone inspection, in the step 2, the modeling target includes the spatially linearly continuous facility structures in the distribution construction project, specifically: various spatially continuous transmission and distribution lines, vertically continuous distribution poles or towers, distribution substations along the distribution line, key permanent or semi-permanent buildings or facilities along the construction line, and safety control facilities or structures along the construction line.

[0036] To further supplement or improve the aforementioned distribution construction project model association method based on drone inspection, in step 2, the metadata is used to store the following parameters: coordinate reference system parameters established based on the distribution construction project inspection starting point, structural node position coordinate parameters established based on the aforementioned reference coordinate system, model basic size parameters, and auxiliary attribute tags of specific structures;

[0037] The structured organization is used to store the following data: dynamic engineering model data of modeling targets established in standard models and editing modes within the modeling program, dynamic engineering model data of continuous structures formed by copying or arraying existing dynamic engineering models, main facility paths or trend routes of distribution construction projects, and visible contour model data.

[0038] Further supplements or improvements to the aforementioned distribution construction project model association method based on drone inspections include:

[0039] Step 5: Roaming association between drone inspection and visual dynamic engineering model; specifically includes

[0040] Get the current playback progress T of the drone inspection video L , Inspection video start recording time T S ; Calculate the current frame acquisition time T G =T L +T S , based on the current frame acquisition time, the corresponding position and attitude data are obtained from the UAV inspection flight data, and further based on the above steps, the real-time status of the navigation perspective in the visual dynamic engineering model is obtained (p4,v e ,v u ); Repeat the above steps and update the state of the navigation perspective in the visual dynamic engineering model at the next moment, and display the impact of the navigation perspective through the visual dynamic engineering model;

[0041] Where p4 is the coordinate vector (x4, y4, z4) of the UAV in the visual dynamic engineering model T , and (x4,y4,z4) T =(x3,y3,z3) T +(Δx4,Δy4,0) T, where (Δx4, Δy4, 0) T It is the translation vector from the origin of the local plane coordinate system to the origin of the coordinate system of the visual dynamic engineering model.

[0042] As a further supplement or improvement to the aforementioned distribution construction project model association method based on drone inspection, the auxiliary attribute tags include annotative text, material attributes, and building construction specifications and standards.

[0043] To further supplement or improve the aforementioned distribution construction project model association method based on drone inspection, in the process of establishing the dynamic engineering model of the aforementioned continuous structure, the model is constructed in the form of a combination of vertical sections, and the vertical sections are used in conjunction with the continuous structure contour for lofting to generate a dynamic engineering model.

[0044] To further supplement or improve the aforementioned distribution construction project model association method based on drone inspection, a dynamic engineering model of a modular structure of standard parts or standard structures for distribution construction is established using the existing standardized models in the modeling program. The modular model includes: distribution boxes, transmission towers, standardized node equipment and facilities, etc.; the dynamic engineering model of the modular structure serves as a component of other basic structure dynamic engineering models during the modeling process.

[0045] As a further supplement or improvement to the aforementioned distribution construction project model association method based on drone inspections, the metadata also includes auxiliary data for monitoring and expressing hidden facility structures in underground and underwater locations in distribution construction projects;

[0046] The structured organization also stores necessary terrain structure data formed by elevations and contour lines extracted from a GIS geographic information program.

[0047] Its beneficial effects are:

[0048] The distribution construction project model association method based on drone inspection in this application is mainly used to realize adaptive synchronous tracking of dynamic engineering models with inspection videos during the planning and execution of distribution construction projects, and to obtain corresponding image data of the model synchronously with the inspection video perspective, so as to facilitate comparative analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flowchart of the roaming association between drone inspection and visual dynamic engineering models. DETAILED DESCRIPTION

[0050] The present application is described in detail below with reference to specific embodiments.

[0051] The power distribution construction project model association method based on drone inspection in this application is mainly used to build a visual dynamic association scheme between drone inspection videos and construction project models. This allows construction project management and maintenance personnel to use drone inspection videos to obtain construction site status while simultaneously using the construction project model to conduct comparative analysis of construction project planning and management, as well as potential problems. By synchronizing perspectives and coordinates, they can better understand construction progress and identify issues that require attention. The basic steps include:

[0052] Step 1: Obtain aerial video images based on drone inspection

[0053] Specifically, it means obtaining inspection videos of power distribution construction projects based on drone inspection tasks, and collecting drone inspection flight data at the same time. The drone inspection flight data includes the drone's body coordinates, camera posture, and camera parameters during the inspection process;

[0054] The corresponding image data in the drone inspection video is associated with the current coordinate position of the drone and the relevant parameters of the inspection camera. The corresponding coordinate position data can be obtained from the drone flight data, and the relevant parameters of the inspection camera are determined by the fixed parameters of the inspection camera. Through the comprehensive processing of the inspection flight data, the inspection image can be associated with the flight data, and then it can be associated with the dynamic engineering model memory, and finally the associated processing of the inspection video and the dynamic engineering model is realized.

[0055] Step 2: Establish a dynamic engineering model for power distribution construction projects

[0056] Specifically, it means taking the monitoring objects, space and relative position relationships in the power distribution construction project as the main metadata or independent structure, and establishing a project dynamic engineering model formed by the combination of metadata or structured organization;

[0057] Thanks to the development of digital technology, various engineering modeling management and dynamic BIM models are constantly emerging. By using engineering programs such as Revit and PowerCivil, a dynamic engineering model can be established for free inspection and observation from all angles and in all directions. Based on this, we can configure a virtual inspection camera in the dynamic engineering model, reference the drone flight data to the virtual inspection camera, and perform simulated image acquisition to achieve the reproduction of the corresponding drone inspection video in the dynamic model. By continuously acquiring the corresponding image data during the reproduction process, a virtual inspection video corresponding to the inspection video can be obtained, and then data linkage can be achieved, which is convenient for people to compare and analyze the real inspection video and the virtual inspection video, and then control the construction progress and manage the construction work tasks.

[0058] To better manage and control the modeling process and facilitate data processing in the subsequent model matching process, in this embodiment, the modeling targets include spatially linearly continuous facility structures in the power distribution construction project, specifically: various spatially continuous transmission and distribution lines, vertically continuous distribution poles or towers, distribution substations along the distribution lines, key permanent or semi-permanent buildings or facilities along the construction lines, and safety control facilities or structures along the construction lines;

[0059] Metadata is used to store the following parameters: coordinate reference system parameters based on the inspection starting point of the power distribution construction project, structural node position coordinate parameters based on the aforementioned reference coordinate system, basic model size parameters, and auxiliary attribute tags for specific structures.

[0060] In particular, auxiliary attribute tags include annotation text, material properties, and building construction specifications and standards;

[0061] The structured organization is used to store the following data: dynamic engineering model data of modeling targets established in standard models and editing modes within a modeling program, dynamic engineering model data of continuous structures formed by copying or arraying existing dynamic engineering models, main facility paths or trend routes of power distribution construction projects, and visible contour model data;

[0062] In particular, the structured organization also stores the necessary terrain structure data formed by elevation and contour lines extracted from GIS geographic information programs;

[0063] In particular, in order to facilitate the matching of the model building data formation process with the drone inspection process and to make the data association process more stable and effective, in the process of establishing the dynamic engineering model of the aforementioned continuous structure, the model is constructed in the form of a combination of vertical sections, and the dynamic engineering model is generated by lofting the vertical sections in conjunction with the continuous structure contour;

[0064] In particular, to simplify the model building process and compress the amount of data, the standardized models already in the modeling program are used to build a dynamic engineering model of a modular structure of standard components or standard structures for power distribution construction. The modular model includes: distribution boxes, transmission towers, standardized node equipment and facilities, etc. The dynamic engineering model of the modular structure serves as a component of the dynamic engineering model of other infrastructure during the modeling process.

[0065] In particular, metadata also includes auxiliary data used to monitor and express hidden facility structures in underground and underwater locations in power distribution construction projects;

[0066] Step 3: Visualization of the dynamic engineering model of the power distribution construction project

[0067] Specifically, a visualization framework is established based on a browser-side image interaction engine (such as HTML5, JavaScript, or WebGL). The original dynamic engineering model of the power distribution construction project is lightweighted and configured accordingly, and then segmented and converted to meet the output standards of the visualization framework. Ultimately, a visual dynamic engineering model of the power distribution construction project is obtained. An appropriate perspective entry point is selected within the visualization framework, and a navigation perspective is configured to simulate the perspective of a drone inspection.

[0068] Step 4: Establish a correlation model between the inspection camera position coordinates and the navigation view coordinates

[0069] This step is used to establish a correlation between the inspection view and the navigation view in terms of physical and optical parameters, so that the UAV inspection image and the image obtained from the navigation view correspond to each other;

[0070] The physical parameters include: the physical space coordinate parameters and attitude parameters of the inspection camera extracted from the UAV inspection flight data; the physical space coordinates are the real-time satellite positioning coordinates obtained by the position sensor, including latitude and longitude data and altitude data; the attitude parameters are the yaw angle, pitch angle and roll angle of the camera obtained by the camera attitude sensor; the optical parameters include the focal length and resolution of the inspection camera; the specific steps include:

[0071] 4.1 Establishing a camera position coordinate association model

[0072] The correlation model between the inspection camera position coordinates and the navigation view coordinates is: virtual =f trans (P ture )

[0073] Among them, P virtual is the coordinate position (x, y, z) of the navigation perspective in the visual dynamic engineering model; P ture is the real coordinate position of the inspection camera (l o ,l a ,a l ), l o is longitude, l a is latitude, a l is the altitude; f trans (x) is the coordinate conversion function; f trans(x) is a coordinate conversion function, which is a multi-level conversion function obtained by multiple conversions based on the actual coordinate system. In this application, it is necessary to associate the coordinate position of the drone with the coordinate position of the navigation view. Since the coordinate position of the drone is obtained by satellite positioning, it is generally established based on the WGS84 geocentric coordinate system or the GPS coordinate system; and the navigation view coordinate system is generally established based on the regional coordinate system according to the actual modeling process. Therefore, during the coordinate conversion process, the coordinate conversion function involves the following conversion model:

[0074] a. Coordinate system conversion model from geocentric coordinate system or GPS coordinate system to national coordinate system

[0075]

[0076] where (x0,y0,z0) T The coordinate vector of the UAV in the geocentric coordinate system or GPS coordinate system; (x1, y1, z1) T is the coordinate vector of the UAV in the national coordinate system; k1 is the scaling factor from the geocentric coordinate system or GPS coordinate system to the national coordinate system; ε x , ε y , ε z They are the rotation angles from the geocentric coordinate system or GPS coordinate system to the national coordinate system; (Δx1, Δy1, Δz1) T It is the translation vector from the geocentric coordinate system or GPS coordinate system to the national coordinate system;

[0077] b. Projection transformation model based on the transformation from geographic coordinate system to plane coordinate system

[0078] (x2,y2,z2) T =f2[(x1,y1,z1) T ]

[0079] Where f2(x) is the conversion function obtained based on the actual projection method used, which is provided by the GIS program; (x2, y2, z2) T =f2[(x1,y1,z1) T ] is (x2,y2,z2) T is the result of plane coordinate transformation;

[0080] c. Conversion model from national coordinate system to local plane coordinate system

[0081]

[0082] where (x3,y3,z3) Tis the plane coordinate vector of the UAV coordinate position in the local coordinate system, μ is the rotation angle; k3 is the scaling factor for converting the coordinate system from the national coordinate system to the local plane coordinate system; (Δx3, Δy3, Δz3) T is the translation vector from the national coordinate system to the local plane coordinate system;

[0083] 4.2 Establishing a correlation model between inspection camera position coordinates and navigation perspective

[0084]

[0085]

[0086] Among them, v e is the viewing direction vector of the navigation perspective in the visualization dynamic engineering model, v u is the upward vector of the navigation view in the visual dynamic engineering model, a is the yaw angle of the inspection camera, β is the pitch angle of the inspection camera, and γ is the roll angle of the inspection camera;

[0087] 4.3 Establishing an optical perspective correlation model between inspection camera position coordinates and navigation view

[0088] In order to avoid the difference between the direct or acquired image and the direct view image caused by factors such as the inspection camera's own optical parameters, an image perspective association model based on the aforementioned navigation perspective is established based on the basic principle of optical projection, so as to facilitate the matching of the image acquired based on the navigation perspective with the image acquired by the inspection camera, and establish an optical perspective association model between the inspection camera position coordinates and the navigation perspective:

[0089] [v fov v as l near l far ] T =[t for h r / w r k+∞] T

[0090] where v fov is the field of view of the navigation perspective; t fov is the field of view of the inspection camera; v as is the aspect ratio of the perspective projection plane; h r is the imaging height of the inspection camera; w r is the imaging width of the inspection camera; l near is the distance between the middle surface of the projected cone and the top of the cone with the navigation view as the top of the cone; l far is the distance between the cone base section and the cone top in the projection cone with the navigation view as the cone top; k is a very small number greater than zero;

[0091] Step 5: Roaming association between drone inspection and visual dynamic engineering model;

[0092] In particular, in order to facilitate the temporary association of the visual dynamic engineering model during the playback of the drone inspection video, this application also provides step five, such as Figure 1 As shown, it specifically includes

[0093] Get the current playback progress T of the drone inspection video L , Inspection video start recording time T S ; Calculate the current frame acquisition time T G =T L +T S , based on the current frame acquisition time, the corresponding position and attitude data are obtained from the UAV inspection flight data, and further based on the above steps, the real-time status of the navigation perspective in the visual dynamic engineering model is obtained (p4,v e ,v u ); Repeat the above steps and update the state of the navigation perspective in the visual dynamic engineering model at the next moment, and display the impact of the navigation perspective through the visual dynamic engineering model;

[0094] Where p4 is the coordinate vector (x4, y4, z4) of the UAV in the visual dynamic engineering model T , and (x4,y4,z4) T =(x3,y3,z3) T +(Δx4,Δy4,0) T , where (Δx4, Δy4, 0) T It is the translation vector from the origin of the local plane coordinate system to the origin of the coordinate system of the visual dynamic engineering model.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A distribution construction project model association method based on drone inspection, characterized in that: The steps include: Step 1: Obtain aerial video images based on drone inspection Specifically, it refers to obtaining inspection videos of power distribution construction projects based on drone inspection tasks, and collecting drone inspection flight data at the same time. The drone inspection flight data includes the drone's body coordinates, camera posture, and camera parameters during the inspection process; Step 2: Establish a dynamic engineering model for power distribution construction projects Specifically, it means taking the monitoring objects, space and relative position relationship modeling targets in the power distribution construction project as metadata or independent structures, and establishing a project dynamic engineering model formed by the combination of metadata or structured organizations; Step 3: Visualization of the dynamic engineering model of the power distribution construction project Specifically, a visualization framework is established based on the browser-side image interaction engine. The original dynamic engineering model of the power distribution construction project is lightweighted and configured accordingly, and then segmented and converted to meet the output standards of the visualization framework. Ultimately, a visual dynamic engineering model of the power distribution construction project is obtained. An appropriate perspective entry point is selected within the visualization framework, and a navigation perspective is configured to simulate the perspective of a drone inspection. Step 4: Establish a correlation model between the inspection camera position coordinates and the navigation view coordinates Specifically, it refers to: the correlation model between the inspection camera position coordinates and the navigation view coordinates, so that the UAV inspection image and the image obtained by the navigation view correspond to each other; The physical parameters include: the physical space coordinate parameters and attitude parameters of the inspection camera extracted from the UAV inspection flight data; the physical space coordinates are the real-time satellite positioning coordinates obtained by the position sensor, including latitude, longitude and altitude data; the attitude parameters are the yaw angle, pitch angle and roll angle of the camera obtained by the camera attitude sensor; the optical parameters include the focal length and resolution of the inspection camera; The specific steps include: 4.1 Establishing the correlation model between the inspection camera position coordinates and the navigation view coordinates The correlation model between the inspection camera position coordinates and the navigation view coordinates is: in The coordinate position of the navigation perspective in the visual dynamic engineering model ; The real coordinate position of the inspection camera , is the longitude, is the latitude, is the altitude; The coordinate conversion function is a multi-level conversion function obtained after multiple conversions based on the actual coordinate system. It is necessary to associate the coordinate position of the drone with the coordinate position of the navigation view. Since the coordinate position of the drone is obtained by satellite positioning, it is established based on the WGS84 geocentric coordinate system or the GPS coordinate system; and the navigation view coordinate system is established based on the regional coordinate system according to the actual modeling process. In the coordinate conversion process, the coordinate conversion function involves the following conversion model: a. Coordinate system conversion model from geocentric coordinate system or GPS coordinate system to national coordinate system ； in is the coordinate vector of the UAV in the geocentric coordinate system or GPS coordinate system; is the coordinate vector of the UAV in the national coordinate system; The scaling factor from the geocentric coordinate system or GPS coordinate system to the national coordinate system; They are the rotation angles from the geocentric coordinate system or GPS coordinate system to the national coordinate system; It is the translation vector from the geocentric coordinate system or GPS coordinate system to the national coordinate system; b. Projection transformation model based on the transformation from geographic coordinate system to plane coordinate system in It is a conversion function based on the actual projection method used, which is provided by the GIS program; for The plane coordinate transformation result of ; c. Conversion model from national coordinate system to local plane coordinate system ； in is the plane coordinate vector of the UAV coordinate position in the local coordinate system, is the rotation angle; The scaling factor for converting the national coordinate system to the local plane coordinate system; is the translation vector from the national coordinate system to the local plane coordinate system; 4.2 Establishing a correlation model between inspection camera position coordinates and navigation perspective ； in To visualize the viewing direction vector of the navigation perspective in the dynamic engineering model, To visualize the upward vector of the navigation perspective in the dynamic engineering model, is the yaw angle of the inspection camera, is the pitch angle of the inspection camera, is the roll angle of the inspection camera; 4.3 Establishing an optical perspective correlation model between inspection camera position coordinates and navigation view In order to avoid the difference between the direct or acquired image and the direct view image caused by the influence of the inspection camera's own optical parameters, an image perspective association model based on the aforementioned navigation perspective is established based on the basic principle of optical projection, so as to facilitate the matching of the image acquired based on the navigation perspective with the image acquired by the inspection camera, and establish an optical perspective association model between the inspection camera position coordinates and the navigation perspective: in is the field of view of the navigation perspective; is the field of view of the inspection camera; is the aspect ratio of the perspective projection plane; is the imaging height of the inspection camera; is the imaging width of the inspection camera; is the distance between the middle surface of the projected vertebra and the top of the cone with the navigation view as the top of the cone; is the distance between the cone base section and the cone top in the projection cone with the navigation view as the cone top; k is a very small number greater than zero.

2. A power distribution construction project model association method based on drone inspection according to claim 1, characterized in that: In step 2, the modeling targets include the spatially linearly continuous facility structures in the power distribution construction project, specifically: various spatially continuous transmission and distribution lines, vertically continuous distribution poles or towers, distribution substations along the distribution lines, key permanent or semi-permanent buildings or facilities along the construction lines, and safety control facilities or structures along the construction lines.

3. A distribution construction project model association method based on drone inspection according to claim 1, characterized in that: In step 2, the metadata is used to store the following parameters: coordinate reference system parameters established based on the inspection starting point of the power distribution construction project, structural node position coordinate parameters established based on the aforementioned coordinate reference system, basic model size parameters, and auxiliary attribute tags of specific structures; The structured organization is used to store the following data: dynamic engineering model data of modeling targets established in standard models and editing modes within the modeling program, dynamic engineering model data of continuous structures formed by copying or arraying existing dynamic engineering models, main facility paths or trend routes of distribution construction projects, and visible contour model data.

4. A distribution construction project model association method based on drone inspection according to claim 1, characterized in that: It also includes: Step 5, roaming association between drone inspection and visual dynamic engineering model; specifically includes Get the current playback progress of the drone inspection video , Inspection video start recording time ; Calculate the current frame acquisition time , based on the current frame acquisition time, obtain the corresponding position and attitude data from the UAV inspection flight data, and further obtain the real-time status of the navigation perspective in the visual dynamic engineering model based on the above steps Repeat the above steps and update the state of the navigation perspective in the visual dynamic engineering model at the next moment, and display the impact of the navigation perspective through the visual dynamic engineering model; is the coordinate vector of the UAV in the visual dynamic engineering model ,and ,in It is the translation vector from the origin of the local plane coordinate system to the origin of the coordinate system of the visual dynamic engineering model.

5. A distribution construction project model association method based on drone inspection according to claim 3, characterized in that: The auxiliary attribute tags include annotation text, material attributes and building construction specifications and standards.

6. A distribution construction project model association method based on drone inspection according to claim 3, characterized in that: In the process of establishing the dynamic engineering model of the aforementioned continuous structure, the model is constructed in the form of a combination of vertical sections, and the dynamic engineering model is generated by lofting the vertical sections in conjunction with the continuous structure outline.

7. A power distribution construction project model association method based on drone inspection according to claim 1, characterized in that: A dynamic engineering model of a modular structure of standard parts or standard structures for power distribution construction is established using the existing standardized models in the modeling program. The modular model includes: distribution boxes, transmission towers, and standardized node equipment and facilities. During the modeling process, the dynamic engineering model of the modular structure serves as a component of the dynamic engineering model of other infrastructure structures.

8. A power distribution construction project model association method based on drone inspection according to claim 3, characterized in that: The metadata also includes auxiliary data for monitoring and expressing hidden facility structures in underground and underwater locations in power distribution construction projects; The structured organization also stores necessary terrain structure data formed by elevations and contour lines extracted from a GIS geographic information program.

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