A method and device for reducing noise of a patrol route trajectory

Abstract

The application discloses a kind of method and device for reducing noise of inspection route trajectory, it is related to the technical field of electric power intelligent inspection, comprising: being visited point is sorted according to the order of inspection arrangement;Judge the record time difference of current trajectory point and last trajectory point;Judge whether trajectory point is located within the effective inspection range of being visited point;Further judge whether the vertical distance of trajectory point to the channel is within effective inspection distance: if it is within effective inspection distance, then judge that trajectory point is located within the inspection channel formed by adjacent two inspection points;If it exceeds effective inspection distance, then judge that trajectory point is trajectory noise point.The application realizes the effectiveness of continuous trajectory point inspection, according to the coordinate position of inspection point, in combination with the projection distance of trajectory point on inspection route and the distance from inspection point, more finely selects effective trajectory point.It has the characteristics of dynamic efficiency, low error rate.

Description

Technical Field

[0001] This invention discloses a method and apparatus for noise reduction of inspection route trajectory, which relates to the technical field of intelligent power inspection. Background Technology

[0002] With the rapid development of communication and information technology, and the widespread application of handheld positioning terminals and remote sensing positioning technology, modern equipment is used in many industries to track work routes and analyze data during inspection operations. However, in the field of power line inspection, the uncertainties in the operation of positioning terminals by on-site personnel can easily lead to chaotic and disorganized inspection trajectories.

[0003] Therefore, this technical field has begun to focus on the noise of the inspection route trajectory. It can be seen that there are related technical documents in the existing technology that have similar ideas:

[0004] Chinese patent document CN110738228A provides a trajectory processing method, apparatus, and electronic device. The method includes: acquiring trajectory point data and segmenting trajectory points from the same data source according to time intervals to form at least one trajectory segment; adjusting parameter values ​​in a denoising algorithm based on the characteristics of the trajectory points within the trajectory segment, and using the adjusted denoising algorithm to denoise the trajectory points within the corresponding trajectory segment, retaining non-noise trajectory points; smoothing the retained trajectory points in the trajectory segment to obtain a smoothed trajectory segment; and fitting the smoothed trajectory segment onto a real road to reconstruct the real road trajectory corresponding to the trajectory point data. The solution in this patent document can improve the accuracy of removing noise points from trajectory points, making the route reconstructed using the denoised trajectory closer to the real road trajectory.

[0005] The patent literature mentions trajectory correction and noise reduction on actual roads. However, in actual inspections, inspection points are usually not located on roads, but rather in complex terrain environments such as wilderness and mountains. Therefore, how to adjust the effective threshold parameters for different geographical environments during data processing becomes a key technical issue. Furthermore, the patent literature first processes trajectory points in segments according to time intervals. This approach is clearly unreasonable in complex wilderness environments, such as uninhabited mountainous areas where signal coverage is limited, often resulting in frequent interruptions in trajectory point uploads over extended periods. Therefore, existing technologies cannot effectively utilize the techniques mentioned in the patent literature. Moreover, current trajectory processing methods mostly rely on path fitting and trajectory correction, which still cannot solve the trajectory noise reduction issues addressed in existing technologies. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention discloses a method for noise reduction of patrol route trajectories.

[0007] This invention discloses an apparatus for implementing the above method.

[0008] This invention uses the distance between point coordinates to determine whether a point is within the radiation range of a tower and the inspection range of the passage between towers to determine whether the point is a usable trajectory point.

[0009] The detailed technical solution of this invention is as follows:

[0010] A method for noise reduction of patrol route trajectory, characterized by comprising:

[0011] S1: Data processing, which involves processing the patrol tracks and the points being patrolled. The patrol tracks need to be sorted and processed according to the time of each upload to form an ordered data set; the points being patrolled are sorted and processed according to the patrol order.

[0012] S2: Upload interval processing flow, except when traversing the first trajectory node, always determines the recording time difference between the current trajectory point and the previous trajectory point:

[0013] If the time difference is greater than the defined threshold, the current trajectory point is identified as a trajectory noise point; the defined threshold refers to the effective time interval.

[0014] If the time difference is less than or equal to the defined threshold, then execute S3;

[0015] S3: Inspection range processing flow of the inspected point. By calculating the distance between the trajectory point and the inspected point, it is determined whether the trajectory point is within the effective inspection range of the inspected point.

[0016] S4: Inspection range processing flow for inspection channels: Determine whether a trajectory point is located within the inspection channel formed by it and two adjacent inspection points; connect the two inspection points to form a channel; then determine whether the vertical distance from the trajectory point to the channel is within the effective inspection distance.

[0017] If it is within the effective patrol distance, then the trajectory point is determined to be within the patrol channel formed by it and the two adjacent patrol points;

[0018] If the effective patrol distance is exceeded, the trajectory point is judged as trajectory noise.

[0019] According to a preferred embodiment of the present invention, the defined threshold and effective patrol distance are determined based on the patrol environment:

[0020] When the patrol environment is urban roads, the defined threshold is less than 5 minutes and the effective patrol distance is less than 100 meters.

[0021] When the patrol environment is a non-urban road, the defined threshold is less than 10 minutes and the effective patrol distance is less than 100 meters.

[0022] When the patrol environment is non-urban and without roads, the defined threshold is less than 30 minutes and the effective patrol distance is less than 500 meters.

[0023] When the patrol environment is mountainous, the defined thresholds are less than 30 minutes and the effective patrol distance is less than 1000 meters.

[0024] When the patrol environment is an uninhabited area, the defined threshold is less than 60 minutes and the effective patrol distance is less than 2000 meters.

[0025] According to a preferred embodiment of the present invention, the defined threshold and effective patrol distance are determined based on the patrol environment:

[0026] When the patrol environment is urban roads, the defined threshold is 1 minute and the effective patrol distance is 10 meters.

[0027] When the patrol environment is a non-urban road, the defined threshold is 5 minutes and the effective patrol distance is 10 meters.

[0028] When the patrol environment is non-urban and without roads, the defined threshold is 10 minutes and the effective patrol distance is 100 meters.

[0029] When the patrol environment is mountainous, the defined threshold is 10 minutes and the effective patrol distance is 500 meters.

[0030] When the patrol environment is an uninhabited area, the defined threshold is 30 minutes and the effective patrol distance is 1000 meters.

[0031] According to a preferred embodiment of the present invention, in step S3, the distance between the calculated trajectory point and the inspected point is:

[0032]

[0033] In formula (1), E is the Earth's radius; the coordinates of point1 on the patrol trajectory are (lat1, lon1); the coordinates of point2 in C0(point) are (lat2, lon2);

[0034] Obtain the distance set C dis Find the shortest distance d from it. min Determine whether the trajectory point is within the effective inspection range of the inspected point:

[0035] If the shortest distance d min If the patrol area is outside the effective patrol range, continue with step S4.

[0036] If the shortest distance d min If the effective patrol range is not exceeded, skip S4 and traverse the next trajectory point.

[0037] According to a preferred embodiment of the present invention, in S4, for coordinate points that do not meet the conditions in S3, in the distance set C dis Continue to find the second smallest distance d smin Then find the location of d respectively. min and d smin At point p corresponding to C0 min (lat3,lon3) and p smin (lat4,lon4), and point p is... min and p smin Substitute the coordinates into the equation of the line y = ax + b, where lat is x and lon is y; to obtain the values ​​of a and b;

[0038] Substituting the latitude and longitude values ​​of trajectory point c and the obtained values ​​of a and b into formula (2), we can obtain the coordinates of trajectory point c and p. min p smin The coordinates of the foot of the perpendicular from the line connecting the two points are p. fp (lat3,lon3):

[0039] The formula for calculating the foot of the perpendicular is:

[0040] In formula (2), x p Let lat1 be the longitude value of trajectory point c; y p Let lon1 be the latitude value of point c;

[0041] Formula (1) is used again to calculate the coordinates of point1 and the foot of the perpendicular p. fp The vertical distance is determined, and it is judged whether it is less than the effective inspection range:

[0042] If it is within the effective patrol distance, then the trajectory point1 is determined to be within the patrol channel formed by it and the two adjacent patrol points;

[0043] If the effective patrol distance is exceeded, then the trajectory point 1 is determined to be trajectory noise.

[0044] An apparatus for implementing a method for noise reduction of patrol route trajectories, the apparatus storing an executable computer program that, when executed, performs noise reduction processing on the patrol route trajectory.

[0045] The technical advantages of this invention are:

[0046] This invention uses program flow control to check the validity of continuous trajectory points. Based on the coordinates of the inspection points, combined with the projection distance of the trajectory points on the inspection route and their distance from the inspection points, it can more precisely filter out valid trajectory points. It features dynamic efficiency and a low error rate.

[0047] This invention addresses patrol tasks in different geographical environments by flexibly adjusting effective threshold parameters based on actual conditions during processing. Simultaneously, it calculates the perpendiculars from the trajectory point to the two nearest adjacent patrol points, effectively preserving patrol trajectory points within the passageway environment between patrol points. Attached Figure Description

[0048] Appendix Figure 1 This is a schematic flowchart of the method of the present invention;

[0049] Appendix Figure 2 This is a schematic diagram illustrating the principle of step S4 in an embodiment of the present invention;

[0050] Appendix Figure 3 This is a patrol route trajectory map that has not been processed by the method described in this invention;

[0051] Appendix Figure 4 The image shows the patrol route trajectory after processing by the method described in this invention. Figure 3 , 4 The explanation of the markings in the document is recorded in Figure 4 The bottom right corner. Specific implementation methods

[0052] The present invention will now be described in detail with reference to the embodiments and accompanying drawings, but is not limited thereto.

[0053] Example 1

[0054] like Figure 1 As shown, a method for noise reduction of patrol route trajectory includes:

[0055] S1: Data processing, which involves processing the patrol tracks and the points being patrolled. The patrol tracks need to be sorted and processed according to the time of each upload to form an ordered data set; the points being patrolled are sorted and processed according to the patrol order.

[0056] S2: Upload interval processing flow, except when traversing the first trajectory node, always determines the recording time difference between the current trajectory point and the previous trajectory point:

[0057] If the time difference is greater than the defined threshold, the current trajectory point is identified as a trajectory noise point; the defined threshold refers to the effective time interval.

[0058] If the time difference is less than or equal to the defined threshold, then execute S3;

[0059] As detailed in S1 and S2 above:

[0060] Sort the patrol trajectory points into ascending order according to their recording time, and organize the patrol point set C1(time,point); organize the patrol points into the patrol task set C0(point);

[0061] The point data format is a binary tuple.<Latitude,longitude> Latitude is the longitude value of the geographic coordinates, and longitude is the latitude value of the geographic coordinates.

[0062] Start traversing the set of trajectory points C1. Let c(time1,point1) be the trajectory point taken out in each traversal, where the latitude and longitude of point1 are lat1 and lon1.

[0063] First, determine if the interval between the recording time (time1) of trajectory point c and the recording time (time) of its previous trajectory point is less than 10 minutes. If c is the first node of the convenience, skip this step. If the time interval is greater than the valid time interval, skip the following steps to traverse the next trajectory point. If the interval is less than the valid time interval, execute S3.

[0064] S3: Inspection range processing flow of the inspected point. By calculating the distance between the trajectory point and the inspected point, it is determined whether the trajectory point is within the effective inspection range of the inspected point.

[0065] S4: Inspection range processing flow for inspection channels: Determine whether a trajectory point is located within the inspection channel formed by it and two adjacent inspection points; connect the two inspection points to form a channel; then determine whether the vertical distance from the trajectory point to the channel is within the effective inspection distance.

[0066] If it is within the effective patrol distance, then the trajectory point is determined to be within the patrol channel formed by it and the two adjacent patrol points;

[0067] If the effective patrol distance is exceeded, the trajectory point is judged as trajectory noise.

[0068] The defined threshold and effective inspection distance are determined based on the inspection environment:

[0069] When the patrol environment is urban roads, the defined threshold is less than 5 minutes and the effective patrol distance is less than 100 meters.

[0070] When the patrol environment is a non-urban road, the defined threshold is less than 10 minutes and the effective patrol distance is less than 100 meters.

[0071] When the patrol environment is non-urban and without roads, the defined threshold is less than 30 minutes and the effective patrol distance is less than 500 meters.

[0072] When the patrol environment is mountainous, the defined thresholds are less than 30 minutes and the effective patrol distance is less than 1000 meters.

[0073] When the patrol environment is an uninhabited area, the defined threshold is less than 60 minutes and the effective patrol distance is less than 2000 meters.

[0074] Preferably, the defined threshold and effective patrol distance are determined based on the patrol environment:

[0075] When the patrol environment is urban roads, the defined threshold is 1 minute and the effective patrol distance is 10 meters.

[0076] When the patrol environment is a non-urban road, the defined threshold is 5 minutes and the effective patrol distance is 10 meters.

[0077] When the patrol environment is non-urban and without roads, the defined threshold is 10 minutes and the effective patrol distance is 100 meters.

[0078] When the patrol environment is mountainous, the defined threshold is 10 minutes and the effective patrol distance is 500 meters.

[0079] When the patrol environment is an uninhabited area, the defined threshold is 30 minutes and the effective patrol distance is 1000 meters.

[0080] Example 2

[0081] As described in Example 1, in a method for noise reduction of a patrol route trajectory, in step S3, the distance between the trajectory point and the patrolled point is calculated as follows:

[0082]

[0083] In formula (1), E is the Earth's radius; the coordinates of point1 on the patrol trajectory are (lat1, lon1); the coordinates of point2 in C0(point) are (lat2, lon2);

[0084] Obtain the distance set C dis Find the shortest distance d from it. min Determine whether the trajectory point is within the effective inspection range of the inspected point:

[0085] If the shortest distance d min If the patrol area is outside the effective patrol range, continue with step S4.

[0086] If the shortest distance dmin If the effective patrol range is not exceeded, skip S4 and traverse the next trajectory point.

[0087] In S4, for coordinate points that do not meet the conditions in S3, the distance set C is... dis Continue to find the second smallest distance d smin Then find the location of d respectively. min and d smin At point p corresponding to C0 min (lat3,lon3) and p smin (lat4,lon4), and point p is... min and p smin Substitute the coordinates into the equation of the line y = ax + b, where lat is x and lon is y; to obtain the values ​​of a and b;

[0088] Substituting the latitude and longitude values ​​of trajectory point c and the obtained values ​​of a and b into formula (2), we can obtain the coordinates of trajectory point c and p. min p smin The coordinates of the foot of the perpendicular from the line connecting the two points are p. fp (lat3,lon3):

[0089] The formula for calculating the foot of the perpendicular is:

[0090] In formula (2), x p Let lat1 be the longitude value of trajectory point c; y p Let lon1 be the latitude value of point c;

[0091] Formula (1) is used again to calculate the coordinates of point1 and the foot of the perpendicular p. fp The vertical distance is determined, and it is judged whether it is less than the effective inspection range:

[0092] If it is within the effective patrol distance, then the trajectory point1 is determined to be within the patrol channel formed by it and the two adjacent patrol points;

[0093] If the effective patrol distance is exceeded, then the trajectory point 1 is determined to be trajectory noise.

[0094] Example 3

[0095] An apparatus for implementing a method for noise reduction of patrol route trajectories, the apparatus storing an executable computer program that, when executed, performs noise reduction processing on the patrol route trajectory.

Claims

1. A method for reducing noise in a patrol route trajectory, the method comprising: Comprise: S1: data arrangement, the patrol trajectory and the visited point are arranged, wherein the patrol trajectory needs to be sorted according to the time of each upload in order to form an ordered data set; the visited point is sorted according to the patrol order; S2: upload interval processing procedure, except for traversing the first track node, the time difference between the current track point and the last track point is judged: If the time difference is greater than the defined threshold, the current track point is identified as a track noise point; If the time difference is less than or equal to the defined threshold, S3 is executed; S3: the patrol range processing procedure of the visited point, whether the track point is located within the effective patrol range of the visited point is judged by calculating the distance between the track point and the visited point; The distance between the track point and the visited point is calculated as: C dis= （1） In formula (1), E is the radius of the earth; the coordinates of the patrol trajectory point coordinate point1 are (lat1, lon1); the coordinates of each coordinate point point2 in each coordinate point in C0(point) are (lat2, lon2); get the distance set C dis , find the shortest distance d min , determine whether the track point is within the effective patrol range of the patrol point If the shortest distance d min If the effective patrolling range is exceeded, S4 is continued. If the shortest distance d min If the effective patrol range is not exceeded, skip S4 to traverse the next trajectory point. S4: the patrol range processing procedure of the patrol channel, whether a track point is located within the patrol channel formed by the adjacent two patrol points is judged, the line between the two patrol points is formed into a channel, and whether the perpendicular distance from the track point to the channel is within the effective patrol distance is judged: If it is within the effective patrol distance, it is judged that the track point is located within the patrol channel formed by the adjacent two patrol points; If it exceeds the effective patrol distance, the track point is judged as a track noise point.

2. The method of claim 1, wherein, The defined threshold and the effective patrol distance are determined according to the patrol environment: When the patrol environment is an urban road, the defined threshold is less than 5 minutes, and the effective patrol distance is less than 100 meters; When the patrol environment is a non-urban road, the defined threshold is less than 10 minutes, and the effective patrol distance is less than 100 meters; When the patrol environment is non-urban without roads, the defined threshold is less than 30 minutes, and the effective patrol distance is less than 500 meters; When the patrol environment is mountainous, the defined threshold is less than 30 minutes, and the effective patrol distance is less than 1000 meters; When the patrol environment is an uninhabited area, the defined threshold is less than 60 minutes, and the effective patrol distance is less than 2000 meters.

3. The method of claim 2, wherein, The defined threshold and the effective patrol distance are determined according to the patrol environment: When the patrol environment is an urban road, the defined threshold is 1 minute, and the effective patrol distance is 10 meters; When the patrol environment is a non-urban road, the defined threshold is 5 minutes, and the effective patrol distance is 10 meters; When the patrol environment is non-urban without roads, the defined threshold is 10 minutes, and the effective patrol distance is 100 meters; When the patrol environment is mountainous, the defined threshold is 10 minutes, and the effective patrol distance is 500 meters; When the patrol environment is an uninhabited area, the defined threshold is 30 minutes, and the effective patrol distance is 1000 meters.

4. The method of claim 3, wherein, In S4, for coordinate points that do not meet the conditions in S3, the distance set C is... dis Continue to find the second smallest distance d smin Then find the location of d respectively. min and d smin At point p corresponding to C0 min (lat3,lon3) and p smin (lat4,lon4), and place the two points p min and p smin Substitute the coordinates into the equation of the line y=ax+b, where lat is x and lon is y; to obtain the values ​​of a and b. The latitude and longitude values of the trajectory point c are brought into formula (2) with the a, b values obtained, that is, the trajectory point c and p min , p smin The foot point coordinates p fp (lat3, lon3) of the two-point line The formula for calculating the foot coordinates is (2) In Equation (2), x p is a longitude value lat1 of the trajectory point c; y p is a latitude value lon1 of the point c; Formula (1) is used again to calculate the coordinates of point1 and the foot of the perpendicular p. fp The vertical distance is determined, and it is judged whether it is less than the effective inspection range: If it is within the effective patrol distance, it is judged that the track point point1 is located within the patrol channel formed by the adjacent two patrol points; If the effective patrolling distance is exceeded, the track point point1 is determined as a track noise point.

5. A device for implementing the track noise reduction method of any one of claims 1-4, wherein the device stores an executable computer program, and the computer program is executed to complete the track noise reduction processing.

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