Three-dimensional electric field measurement method and system considering terrain disturbance influence

Abstract

The invention discloses a three-dimensional electric field measurement method and system considering terrain disturbance influence, and relates to the technical field related to electric field measurement, and the method comprises the steps: carrying out the terrain data collection of a target measurement region through employing an unmanned plane, carrying a laser radar, and constructing a terrain three-dimensional model; configuring measurement precision and then deploying a three-axis sensor array; mapping the position information to a terrain three-dimensional model, and carrying out terrain attribute association on each measurement point; establishing a terrain disturbance function, performing terrain disturbance correction on the original measurement value, and establishing a corrected electric field value; and constructing an inversion optimization target by using the corrected electric field value, and completing three-dimensional electric field vector field reconstruction. The technical problems that in the prior art, three-dimensional electric field measurement under the complex terrain is greatly influenced by terrain disturbance, the arrangement adaptability of measurement equipment is insufficient, and consequently the accuracy and applicability of electric field measurement are poor are solved, high-precision reconstruction of electric field space distribution of the complex terrain is achieved, and high-precision reconstruction is achieved. The technical effect of improving the electric field measurement accuracy and applicability is achieved.

Description

Technical Field

[0001] The present application relates to the technical field related to electric field measurement, and specifically to a three-dimensional electric field measurement method and system taking into account the influence of terrain disturbance. Background Art

[0002] Traditional three-dimensional electric field measurement can obtain relatively ideal measurement results when dealing with electric field scenes with flat terrain and simple environments. However, the complex terrain contained in the actual measurement area, such as mountains, hills, and urban buildings, has a significant disturbance effect on the electric field distribution. On the one hand, the undulating terrain causes the electric field propagation path to change, and the elevation difference causes the electric field intensity and direction to show complex changes at different locations. On the other hand, terrain features such as slope and curvature will change the refraction and reflection characteristics of the electric field, and obstructions such as buildings and tall trees will directly affect the propagation of the electric field, resulting in measurement errors. In addition, the layout of the measurement equipment for existing electric field measurements lacks consideration of terrain factors, and the sensor array lacks an effective connection with the terrain, resulting in the measurement data being unable to truly reflect the actual electric field distribution, causing a large deviation between the constructed electric field model and the actual scene.

[0003] Therefore, in the current related technologies, there are technical problems that three-dimensional electric field measurement under complex terrain is greatly affected by terrain disturbance and the layout of measurement equipment is not adaptable enough, resulting in poor accuracy and applicability of electric field measurement. Summary of the Invention

[0004] This application provides a three-dimensional electric field measurement method and system that takes into account the influence of terrain disturbance, thereby solving the technical problems in the prior art that three-dimensional electric field measurement under complex terrain is greatly affected by terrain disturbance and the layout of measurement equipment is insufficiently adaptable, resulting in poor accuracy and applicability of electric field measurement. It realizes high-precision reconstruction of the spatial distribution of the electric field in complex terrain, and achieves the technical effect of improving the accuracy and applicability of electric field measurement.

[0005] The present application provides a three-dimensional electric field measurement method that takes into account the influence of terrain disturbance. The method includes: using an unmanned aerial vehicle (UAV) equipped with a laser radar to perform terrain data acquisition in a target measurement area, and constructing a three-dimensional terrain model by fusing images and three-dimensional point clouds; after configuring the measurement accuracy, deploying a three-axis sensor array based on the three-dimensional terrain model and the measurement accuracy; mapping the position information of the three-axis sensor array to a unified coordinate system of the three-dimensional terrain model, and performing terrain attribute association on each measurement point, wherein the features of the terrain attribute association include elevation value, slope, curvature, vertical distance of the wire, and building obstruction features; establishing a terrain disturbance function based on the terrain attribute association, and obtaining original measurement values of the three-axis sensor array; performing terrain disturbance correction on the original measurement values based on the terrain disturbance function to establish corrected electric field values; and using the corrected electric field values to construct an inversion optimization target to complete the reconstruction of the three-dimensional electric field vector field.

[0006] In a possible implementation, the three-dimensional electric field measurement method considering the influence of terrain disturbance further performs the following processing: the terrain disturbance function is as follows: ; in, Characterize the terrain disturbance function, is the number of perturbation features, , is the perturbation feature index, For the The disturbance response weight of the disturbance feature, Characterization The scalar value of the perturbation feature, is the spatial coordinate, For the The main influencing direction of the disturbance feature in space, where is the elevation disturbance term, , , Representing the terrain surface in two-dimensional coordinates The elevation value at is the average elevation of the target measurement area, is the height normalization scale coefficient, is the vertical unit vector, is the slope disturbance term, , ,in, is the slope vector, Characterizes the slope size, is the curvature perturbation term, , , Indicates the rate of change of terrain elevation along the x-axis. Characterizes the rate of change of terrain elevation along the y-axis, is the vertical distance disturbance term of the conductor, , , Characterizes the vertical distance from the measuring point to the conductor, Characterize the reference distance, The vector representing the triaxial sensor to the wire, Characterizes the distance from the triaxial sensor to the wire, is the building occlusion disturbance term, , , Representation in coordinates Quantify the degree of influence of shielding objects on the electric field, Characterizes the direction vector of the electric field deviation caused by the shielding object.

[0007] In a possible implementation, the three-dimensional electric field measurement method that takes into account the influence of terrain disturbance also performs the following processing: after each electric field inversion is completed, the deviation between the inversion value and the corrected measurement value is compared to establish an error feedback term; the error feedback term is used to dynamically iteratively update the disturbance response weight, and the terrain disturbance function is corrected according to the dynamic iterative update result.

[0008] In a possible implementation, the three-dimensional electric field measurement method that takes into account the influence of terrain disturbance also performs the following processing: mapping the corrected electric field value to a unified coordinate system, and constructing a continuous potential function using spatial differences; using the potential function to calculate the electric field reverse value of each measurement point; and constructing an inversion optimization target based on the electric field reverse value and the corrected electric field value.

[0009] In a possible implementation, the three-dimensional electric field measurement method that takes into account the influence of terrain disturbance also performs the following processing: obtaining a fuzzy terrain database of the target measurement area; reading the transmission tower coordinates, power corridor direction and terrain features according to the fuzzy terrain database, and planning a perception route; based on the perception route, controlling a drone equipped with a lidar to perform terrain data collection and establish a three-dimensional terrain model.

[0010] In a possible implementation, the three-dimensional electric field measurement method that takes into account the influence of terrain disturbance also performs the following processing: establishing an optical image set and radar three-dimensional point cloud data; performing initial calibration of the optical image set and radar three-dimensional point cloud data based on a time synchronization and coordinate calibration mechanism; performing feature point search and matching of the optical image set and radar three-dimensional point cloud data after initial calibration within a preset deviation window; and performing enhanced image-point cloud fusion based on the search and matching results to establish a three-dimensional terrain model.

[0011] In a possible implementation, the three-dimensional electric field measurement method that takes into account the influence of terrain disturbance also performs the following processing: configuring a spatial electric field safety threshold; after completing the reconstruction of the three-dimensional electric field vector, performing spatial risk identification of the three-dimensional electric field vector based on the spatial electric field safety threshold, and establishing a warning sign.

[0012] The present application also provides a three-dimensional electric field measurement system that takes into account the influence of terrain disturbance, and the system includes: a terrain three-dimensional model construction module, which is used to use a drone equipped with a laser radar to perform terrain data collection in the target measurement area, and construct a terrain three-dimensional model by fusing images and three-dimensional point clouds; a sensor array deployment module, which is used to deploy a three-axis sensor array based on the terrain three-dimensional model and measurement accuracy after configuring the measurement accuracy; a terrain attribute association module, which is used to map the position information of the three-axis sensor array to a unified coordinate system of the terrain three-dimensional model, and associate terrain attributes with each measurement point, wherein the features of the terrain attribute association include elevation value, slope, curvature, vertical distance of the wire, and building obstruction features; a terrain disturbance correction module, which is used to establish a terrain disturbance function based on the terrain attribute association, and obtain the original measurement value of the three-axis sensor array, perform terrain disturbance correction on the original measurement value based on the terrain disturbance function, and establish a corrected electric field value; an inversion optimization target construction module, which is used to use the corrected electric field value to construct an inversion optimization target and complete the reconstruction of the three-dimensional electric field vector field.

[0013] This application proposes a three-dimensional electric field measurement method and system that takes into account the effects of terrain disturbance. The system utilizes a drone equipped with a laser radar to collect terrain data in the target measurement area and construct a three-dimensional terrain model. After configuring measurement accuracy, a three-axis sensor array is deployed. Position information is mapped to the three-dimensional terrain model, and terrain attributes are associated with each measurement point. A terrain disturbance function is established, and the original measurement values are corrected for terrain disturbance to establish a corrected electric field value. The corrected electric field value is used to construct an inversion optimization target and complete the reconstruction of the three-dimensional electric field vector field. This solves the existing technical problems of three-dimensional electric field measurements in complex terrain being significantly affected by terrain disturbances and the lack of adaptability of measurement equipment layout, resulting in poor accuracy and applicability of electric field measurements. This system achieves high-precision reconstruction of the spatial distribution of the electric field in complex terrain, achieving the technical effect of improving the accuracy and applicability of electric field measurements. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the accompanying drawings of the embodiments of the present disclosure are briefly introduced below. Flowcharts are used in this application to illustrate the operations performed by the systems according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in precise order. Instead, various steps may be processed in reverse order or simultaneously as needed. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0015] Figure 1 A schematic flow chart of a three-dimensional electric field measurement method taking into account the influence of terrain disturbance provided in an embodiment of the present application.

[0016] Figure 2A schematic diagram of the structure of a three-dimensional electric field measurement system taking into account the influence of terrain disturbance provided in an embodiment of the present application.

[0017] Explanation of reference numerals: terrain three-dimensional model construction module 10 , sensor array deployment module 20 , terrain attribute association module 30 , terrain disturbance correction module 40 , inversion optimization target construction module 50 . DETAILED DESCRIPTION

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0019] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict, and the terms “first\second” involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. The terms “including” and “having” and any variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or modules that are not clearly listed or that are inherent to these processes, methods, products or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein are for the purpose of describing the embodiments of this application only.

[0021] The present application provides a three-dimensional electric field measurement method that takes into account the influence of terrain disturbance. Figure 1 As shown, the method includes: Step S100: Using a drone equipped with a laser radar to collect terrain data of the target measurement area, and constructing a three-dimensional terrain model by fusing images and three-dimensional point clouds.

[0022] Preferably, a drone equipped with a laser radar is used to collect terrain data in the target measurement area. Specifically, the laser radar calculates the distance between the sensor and the ground target by emitting laser pulses to the ground and measuring the time from the emission to the reception of the laser pulse. By continuously emitting and receiving laser pulses, the laser radar can obtain a large number of distance data points, forming three-dimensional point cloud data, which represents the spatial position information of ground objects. The laser radar can accurately measure the undulations of the terrain and can penetrate and obtain ground information well even in the presence of vegetation or obstacles. Drones are flexible and maneuverable and can reach complex terrain areas. They can fly at low altitudes and perform flight operations close to the target measurement area according to preset routes and altitudes, providing a stable carrying platform for the laser radar to obtain high-resolution terrain data.

[0023] Preferably, the UAV is also equipped with an optical camera or other imaging equipment to synchronously collect image data of the target area to provide rich texture information and visual features, thereby intuitively reflecting the color, landform characteristics and distribution of objects on the terrain surface; the image and three-dimensional point cloud data are then fused to construct an accurate and complete three-dimensional terrain model. Specifically, the image and three-dimensional point cloud data are first preprocessed, including noise removal, correction and registration, to ensure that the two are spatially consistent. Then, through feature extraction and matching, the feature points in the image and the corresponding points in the three-dimensional point cloud are obtained and an association relationship is established. Finally, using the corresponding association relationship, the texture information of the image is mapped to the three-dimensional point cloud, or the geometric information of the three-dimensional point cloud is combined with the image information to generate a realistic three-dimensional terrain model, which not only contains the precise three-dimensional coordinate information of the terrain, but also has rich texture details, thereby more intuitively displaying the terrain characteristics of the target measurement area.

[0024] Furthermore, step S100 also includes step S110, obtaining a fuzzy terrain database of the target measurement area; step S120, reading the transmission tower coordinates, the direction of the power corridor and the terrain features according to the fuzzy terrain database, and planning a sensing route; step S130, controlling the drone equipped with a lidar to perform terrain data collection based on the sensing route, and establishing a three-dimensional terrain model.

[0025] Preferably, a fuzzy terrain database of the target measurement area is obtained, wherein the fuzzy terrain database is a collection of terrain-related information of the target measurement area, which may include elevation data, landform type (such as mountains, plains, hills, etc.), surface cover information (such as vegetation, buildings, water bodies, etc.) and geographic coordinate information of the target measurement area; then the transmission tower location coordinates, power corridor direction and terrain features are read from the fuzzy terrain database. Specifically, the transmission tower location coordinates clarify the specific location of the transmission tower in the geographic space, and the power corridor direction describes the extension direction of the transmission line; terrain features include the degree of undulation, slope, curvature, etc. of the terrain. Different terrain features affect the flight path and data collection method of the drone. For example, in mountainous areas, the drone needs to consider avoiding peaks and obstacles, and may need to adjust the flight altitude and speed to obtain more accurate terrain data; in plain areas, the flight path is relatively simple, but more dense measurement points may be required to capture subtle changes in the terrain.

[0026] Preferably, the flight route of the UAV is designed based on information such as the coordinates of the transmission tower location, the direction of the power corridor and the terrain characteristics to ensure that the UAV can fully cover the target measurement area and accurately obtain the terrain data related to the transmission facilities. For example, the perception route needs to fly along the power corridor while performing more detailed measurements around the transmission tower; for areas with complex terrain, different flight modes such as spiral and round-trip flight modes may need to be adopted to ensure that complete terrain information is obtained. Finally, according to the planned perception route, the UAV equipped with lidar is precisely controlled. Specifically, the lidar calculates the distance between the sensor and the ground target by emitting laser pulses to the ground and measuring the time from emission to reception of the laser pulses. During the flight, the UAV passes through each measurement point in sequence according to the route. The lidar continuously collects data to form a large amount of three-dimensional point cloud data, recording the spatial position information of the terrain surface; the collected three-dimensional point cloud data is then processed and analyzed, and noise and redundant data are removed through data filtering, alignment, fusion, etc., and the discrete point cloud data is converted into a continuous terrain surface model; at the same time, combined with the position and attitude information recorded by the UAV during the flight, the point cloud data is accurately mapped to the geographic coordinate system, thereby establishing a three-dimensional terrain model of the target measurement area to intuitively display the undulating changes in the terrain and the spatial relationship between the transmission facilities and the terrain.

[0027] Furthermore, step S130 also includes step S131, establishing an optical image set and radar three-dimensional point cloud data; step S132, performing initial calibration of the optical image set and radar three-dimensional point cloud data based on time synchronization and coordinate calibration mechanism; step S133, performing feature point search and matching of the optical image set and radar three-dimensional point cloud data after initial calibration within a preset deviation window; step S134, performing enhanced image-point cloud fusion based on the search and matching results to establish a three-dimensional terrain model.

[0028] Preferably, a drone equipped with an optical camera is used to shoot in the target measurement area, and multiple optical images are obtained according to a predetermined route and shooting parameters (such as shooting angle, resolution, etc.) to record information such as the texture, color, and shape of the terrain surface; a laser radar mounted on the drone is used to emit laser pulses to the ground, and the time from emission to reception of the laser pulse is measured to calculate the distance between the sensor and the ground target. By continuously emitting and receiving laser pulses, the laser radar obtains a large number of three-dimensional spatial coordinate points to form three-dimensional point cloud data to accurately represent the spatial position information of the terrain surface and reflect the undulations and shape of the terrain. Since optical cameras and lidars may collect data at different frequencies and time intervals, time synchronization is required to ensure data consistency and accuracy. Specifically, through precise time measurement synchronization, the optical image and radar 3D point cloud data are aligned in time to ensure that they can accurately reflect the terrain information at the same moment. For example, during the flight of a drone, the timestamp of each optical shot and lidar scan is recorded, and then the time of the two is matched through time calibration. At the same time, the optical image and radar 3D point cloud data may use different coordinate systems, and their coordinates are calibrated. For example, the pixel coordinates of the optical image and the spatial coordinates of the radar 3D point cloud data are converted and calibrated through known geographic coordinate reference points (such as ground control points) or the coordinate information provided by the device's positioning system (such as GPS).

[0029] Preferably, feature point extraction is performed on the optical image set and radar 3D point cloud data after initial calibration, specifically, feature points such as corner points and edge points in the optical image are detected by feature extraction algorithms (such as SIFT, SURF, etc.); feature points are determined by calculating the geometric features of the radar 3D point cloud data (such as curvature, normal vector, etc.), which represent the key information in the image and point cloud data respectively, and have high recognition and stability; then, within a preset deviation window, the feature points of the optical image set and the radar 3D point cloud data are searched and matched, that is, possible matching point pairs are found by setting a deviation range to eliminate errors in the data acquisition and calibration process, including using a distance metric matching algorithm to calculate the similarity between feature points, and matching feature points with higher similarity to find corresponding feature point pairs.

[0030] Preferably, based on the search and matching results, the texture information of the optical image and the spatial geometric information of the radar three-dimensional point cloud data are fused, including mapping the texture of the optical image to the three-dimensional point cloud model, so that the model has richer visual effects and realism, and then the fused data is enhanced, such as using filtering and smoothing to remove noise and defects that may be generated in the fusion process, so that the model is smoother and more continuous; at the same time, the model is optimized according to the fused data, such as adjusting the geometric shape and texture mapping of the model, so that the model more accurately reflects the actual terrain, and finally a three-dimensional terrain model is established based on the enhanced fused image-point cloud data, which combines the texture information of the optical image and the spatial geometric information of the radar three-dimensional point cloud data and can intuitively display the shape, texture and spatial structure of the terrain.

[0031] Step S200 : After configuring the measurement accuracy, deploy a three-axis sensor array based on the terrain three-dimensional model and the measurement accuracy.

[0032] Preferably, the accuracy index is determined based on the measurement task requirements, and the sensor locations and quantity are planned based on the three-dimensional terrain model. These are then optimized and adjusted based on the accuracy requirements to achieve efficient and accurate three-dimensional electric field measurement. Specifically, the required measurement accuracy index is determined based on the measurement task requirements, such as the target electric field intensity range and variation characteristics, as well as data processing and analysis requirements. For example, the required measurement accuracy index, expressed in terms of the error range of electric field intensity and the accuracy of angle measurement, is expressed. The three-dimensional terrain model is then analyzed to understand the topography, slope, curvature, and feature distribution of the measurement area. For example, the steepness of slopes and the location of peaks and valleys in mountainous areas can be determined; the height and density of buildings in urban areas can be determined. Finally, the location and quantity of triaxial sensors are planned based on the terrain characteristics and measurement accuracy requirements.

[0033] Preferably, in areas with complex terrain variations, such as mountaintops, valleys, and near buildings, the electric field distribution may be more complex, requiring increased sensor density to more accurately capture changes in the electric field. In areas with relatively flat terrain, the number of sensors should be appropriately reduced, while also considering the distance and layout between sensors to ensure full coverage of the measurement area while avoiding data redundancy caused by overcrowding. For example, based on the contour distribution of the terrain, more sensors could be installed where the contours change dramatically, or sensors could be placed at locations where the electric field is easily distorted, such as corners and edges of buildings. Finally, the sensor layout should be optimized based on measurement accuracy requirements, including adjusting the sensor positions to avoid mutual interference, while ensuring that each sensor can accurately measure the target electric field and can maximize the reflection of the electric field's changes in three-dimensional space.

[0034] In step S300, the position information of the three-axis sensor array is mapped to the unified coordinate system of the three-dimensional terrain model, and terrain attribute association is performed on each measurement point. The features of the terrain attribute association include elevation value, slope, curvature, vertical distance of the wire, and building occlusion features.

[0035] Preferably, the position information of the three-axis sensor array is mapped to the unified coordinate system of the terrain three-dimensional model. For example, several control points with known coordinates (in the unified coordinate system) are set in the measurement area, and the coordinates of these control points (in their own coordinate system) are measured by the three-axis sensor array. By comparing the coordinate values of the corresponding points in the two coordinate systems, mathematical methods (such as the least squares method) are used to calculate the parameters of the coordinate transformation, including the translation vector, rotation matrix and scaling factor. Then, based on the calculated transformation parameters, the transformation formula is used. , the position information of each point measured by the three-axis sensor array is converted, where is the coordinate vector in the transformed unified coordinate system, is the rotation matrix, is the coordinate vector in the sensor array coordinate system, It is a translation vector that accurately fuses and analyzes the data obtained by the sensor array with the three-dimensional model of the terrain, thereby ensuring that the position of each point measured by the sensor array in space can accurately match the corresponding position in the three-dimensional model of the terrain.

[0036] Preferably, terrain attributes are associated with each measurement point, where the associated terrain attributes include elevation, slope, curvature, vertical distance between conductors, and building obstruction. Specifically, the converted measurement point coordinates are matched with grid points or nodes in the three-dimensional terrain model. By finding the model point closest to the measurement point coordinates, the elevation value of that point is obtained as the elevation attribute of the measurement point. For each measurement point, points within a certain neighborhood around it are selected in the three-dimensional terrain model (such as a circular or square neighborhood centered on the measurement point). The coordinate differences and elevation changes of the neighborhood points are then calculated to estimate the slope and curvature of the measurement point. For example, the slope is calculated using a differential method, that is, an approximate slope value is obtained by calculating the ratio of the elevation difference between adjacent points to the horizontal distance. The curvature estimate is calculated by fitting the surface equation of the neighborhood points and then taking the second-order derivative of the surface equation.

[0037] Preferably, the three-dimensional terrain model includes the three-dimensional coordinate information of the transmission line. For each measurement point, the vertical distance between the measurement point and the transmission line is determined by constructing a vector between the measurement point and a point on the line and then calculating the vertical projection length of the vector. Specifically, the point on the line closest to the measurement point is first found (e.g., by calculating the distance from the measurement point to each point on the line and finding the point with the minimum value). The component of the vector between the measurement point and the closest point in the vertical direction (usually the direction of gravity) is then calculated to obtain the vertical distance to the line. Based on the geometric information of buildings in the three-dimensional terrain model (such as the vertex coordinates and outline of the building), it is determined whether the measurement point is within the building's obstruction range. For example, a ray is emitted from the measurement point toward the light source (assuming the light is parallel) to check whether the ray intersects the building's geometric model. If so, the measurement point is obscured by the building.

[0038] Step S400 : establishing a terrain disturbance function based on the terrain attribute association, obtaining original measurement values of the triaxial sensor array, performing terrain disturbance correction on the original measurement values based on the terrain disturbance function, and establishing a corrected electric field value.

[0039] Step S400 further includes: the terrain disturbance function is as follows: ; in, Characterize the terrain disturbance function, is the number of perturbation features, , is the perturbation feature index, For the The disturbance response weight of the disturbance feature, Characterization The scalar value of the perturbation feature, is the spatial coordinate, For the The main influencing direction of the disturbance feature in space, where is the elevation disturbance term, , , Representing the terrain surface in two-dimensional coordinates The elevation value at is the average elevation of the target measurement area, is the height normalization scale coefficient, is the vertical unit vector, is the slope disturbance term, , ,in, is the slope vector, Characterizes the slope size, is the curvature perturbation term, , , Indicates the rate of change of terrain elevation along the x-axis. Characterizes the rate of change of terrain elevation along the y-axis, is the vertical distance disturbance term of the conductor, , , Characterizes the vertical distance from the measuring point to the conductor, Characterize the reference distance, The vector representing the triaxial sensor to the wire, Characterizes the distance from the triaxial sensor to the wire, is the building occlusion disturbance term, , , Representation in coordinates Quantify the degree of influence of shielding objects on the electric field, Characterizes the direction vector of the electric field deviation caused by the shielding object.

[0040] Preferably, terrain attributes (elevation, slope, curvature, vertical distance of wires, building shielding features, etc.) affect the distribution of the electric field. For example, elevation changes may cause the attenuation characteristics of the electric field to change with height; slope and curvature affect the distribution of the electric field on different terrain surfaces; building shielding may change the propagation path and intensity of the electric field. By analyzing the relationship between terrain attributes and the electric field, a terrain disturbance function is established by weighted summation of N disturbance features. , used to describe the disturbance effect of terrain on the electric field, where N is a positive integer 5, and the elevation disturbance term Measures the effect of relative changes in elevation on the electric field, Indicates that the influence of elevation on the electric field is mainly in the vertical direction; the slope disturbance term Reflects the effect of terrain inclination on the electric field; curvature disturbance term Describes the effect of terrain curvature on the electric field; the vertical distance disturbance term of the conductor Measures the effect of changes in the distance between the measurement point and the conductor on the electric field; building shielding disturbance term Quantized coordinates The degree of influence of shielding objects (buildings, etc.) on the electric field.

[0041] Preferably, a three-axis sensor array is used to measure electric field-related data, and its original measurement value is an electric field measurement result obtained in an actual terrain environment, including the influence of terrain disturbance, and may have deviations or errors caused by terrain factors. The original measurement value of the obtained three-axis sensor array is substituted into a terrain disturbance function for calculation, and the original measurement value is adjusted and corrected according to the influence of the terrain on the electric field described by the terrain disturbance function. For example, if the terrain disturbance function indicates that the electric field is enhanced under a certain specific terrain condition, the original measurement value is correspondingly reduced; conversely, if the electric field is weakened, the original measurement value is increased; finally, the measurement value after terrain disturbance correction, i.e., the corrected electric field value, is obtained, which represents a more accurate electric field value and can more realistically reflect the distribution of the electric field in the actual terrain environment.

[0042] Step S500: constructing an inversion optimization target using the corrected electric field value to complete the three-dimensional electric field vector field reconstruction.

[0043] Preferably, an objective function is constructed based on the corrected electric field value to measure the closeness between the inversion result and the actual situation, that is, the corrected electric field measured value of each point is obtained. , and the estimated electric field obtained by inversion of the electric potential field , construct the optimization objective to minimize the difference between the two: ; Among them: the first term is used to measure the measurement-estimation error, that is, to sum the norm of the difference between the estimated electric field and the measured value of the corrected electric field at each measurement point (the second norm, the square of the modulus of the difference vector) to measure the closeness between the estimated electric field obtained by inversion and the actual measured electric field. The smaller the value of this term, the closer the estimated electric field is to the measured electric field; the second term Represents a smooth regularization term, such as minimizing the gradient norm (the electric field changes as gently as possible in space) or minimizing the curvature (the electric field distribution is smoother), which is used to constrain the inversion results to avoid excessive fluctuations or unreasonable mutations; is the trade-off coefficient between smoothness and data fitting, The larger it is, the more emphasis is placed on the smoothness of the electric field distribution; The smaller the value, the more emphasis is placed on the fit between the estimated electric field and the measured electric field. , a balance is achieved between the smoothness of the electric field distribution and the goodness of fit with the measured data, thereby determining more reasonable inversion optimization results.

[0044] Preferably, after constructing the inversion optimization target, a suitable inversion algorithm is selected, such as an iterative method (such as the conjugate gradient method, the Gauss-Newton method), a genetic algorithm, a simulated annealing algorithm, etc., to perform iterative calculations. For example, using the conjugate gradient method, the parameters of the electric field vector field are gradually adjusted by iteratively searching for the descending direction of the objective function, so that the objective function value is continuously reduced, that is, the various components of the electric field vector field are continuously iteratively calculated ( 、 、 ) at each position in the three-dimensional space, and in each iteration, the parameters of the electric field vector field are updated according to the algorithm rules to make it develop in the direction of minimizing the objective function; after multiple iterations, when the value of the objective function meets the convergence condition (such as the change of the objective function is less than a certain threshold), the obtained electric field vector field is the reconstructed three-dimensional electric field vector field, which can more accurately reflect the electric field distribution in the actual space.

[0045] Furthermore, step S500 also includes step S510, after each electric field inversion is completed, comparing the deviation between the inversion value and the corrected measurement value to establish an error feedback term; step S520, using the error feedback term to dynamically iteratively update the disturbance response weight, and correcting the terrain disturbance function according to the dynamic iterative update result.

[0046] Preferably, electric field inversion refers to inferring the distribution of the electric field in space from existing electric field-related measurement data (such as data measured by a three-axis sensor array, and corrected measurement values obtained after correction for terrain disturbance) to obtain an inversion value. After each electric field inversion calculation is completed, the obtained inversion value is compared with the measurement value corrected for terrain disturbance, and the deviation between the inversion value and the corrected measurement value is calculated, such as the absolute value and mean square error of the difference between the two, and it is used as an error feedback item to reflect the gap between the current electric field inversion target and the actual measurement result. Then, the error feedback term is used to adjust the disturbance response weight in the terrain disturbance function, that is, the value of each disturbance response weight is gradually adjusted according to the size and direction of the error feedback term through the gradient descent method, for example, if the weight corresponding to a certain disturbance feature makes the inversion value deviate greatly from the corrected measurement value, the weight is reduced to make the terrain disturbance function more in line with the actual situation. Then, in each iteration, the weight is continuously adjusted according to the error feedback, and the response degree of the inversion optimization target to different disturbance features is gradually optimized. As the disturbance response weight is dynamically iteratively updated, the updated weight is substituted into the terrain disturbance function, thereby realizing the correction of the terrain disturbance function, so that the terrain disturbance function can more accurately describe the disturbance effect of terrain-related factors on the electric field, thereby improving the accuracy of electric field inversion.

[0047] Furthermore, step S500 also includes step S530, configuring a spatial electric field safety threshold; and step S540, after completing the three-dimensional electric field vector reconstruction, performing spatial risk identification of the three-dimensional electric field vector based on the spatial electric field safety threshold, and establishing a warning mark.

[0048] Preferably, a spatial electric field safety threshold is configured based on the operation of electrical equipment, the range of electric field strength to which the human body can withstand, and the standards of the power industry to measure whether the spatial electric field strength is safe. After completing the three-dimensional electric field vector reconstruction, the electric field vector information (including electric field strength and direction) of each position in space is obtained, and the electric field strength value of each position is compared with the spatial electric field safety threshold. If the electric field strength at a certain position exceeds the spatial electric field safety threshold, it indicates that there is a spatial electric field risk in the area. For example, in the area near the transmission line, the reconstructed electric field strength is higher than the spatial electric field safety threshold, indicating that operations or personnel staying in this area may face safety hazards, such as increased risk of electric shock, impact on human health, or interference with the normal operation of nearby electrical equipment. If the electric field strength does not exceed the spatial electric field safety threshold, the area is considered to be in a relatively safe state. Finally, a warning mark is established for the area identified as having a spatial electric field risk. For example, in the three-dimensional visualization platform, the area where the electric field strength exceeds the spatial electric field safety threshold is highlighted with a special color (such as red), or presented intuitively by flashing, adding a warning icon, etc., so as to quickly identify the risk area and take protective measures or adjust the work schedule in a timely manner.

[0049] In the above, refer to Figure 1 A three-dimensional electric field measurement method considering the influence of terrain disturbance according to an embodiment of the present invention is described in detail. Figure 2 A three-dimensional electric field measurement system taking into account the influence of terrain disturbance according to an embodiment of the present invention is described.

[0050] According to an embodiment of the present invention, a three-dimensional electric field measurement system that takes into account the influence of terrain disturbance is used to solve the technical problems existing in the prior art, such as the significant influence of terrain disturbance on three-dimensional electric field measurement under complex terrain, insufficient adaptability of measurement equipment layout, and poor accuracy and applicability of electric field measurement. It realizes high-precision reconstruction of the spatial distribution of electric fields in complex terrain, achieving the technical effect of improving the accuracy and applicability of electric field measurement. Figure 2 As shown, a three-dimensional electric field measurement system considering the influence of terrain disturbance includes: a terrain three-dimensional model construction module 10, a sensor array deployment module 20, a terrain attribute association module 30, a terrain disturbance correction module 40, and an inversion optimization target construction module 50.

[0051] The three-dimensional terrain model construction module 10 is used to use a drone equipped with a laser radar to perform terrain data collection in the target measurement area and construct a three-dimensional terrain model by fusing images and three-dimensional point clouds; the sensor array deployment module 20 is used to deploy a three-axis sensor array based on the three-dimensional terrain model and measurement accuracy after configuring the measurement accuracy; the terrain attribute association module 30 is used to map the position information of the three-axis sensor array to the unified coordinate system of the three-dimensional terrain model, and associate each measurement point with terrain attributes. The characteristics of the terrain attribute association include elevation value, slope, curvature, vertical distance of the wire, and building obstruction characteristics; the terrain disturbance correction module 40 is used to establish a terrain disturbance function based on the terrain attribute association, obtain the original measurement value of the three-axis sensor array, perform terrain disturbance correction on the original measurement value based on the terrain disturbance function, and establish a corrected electric field value; the inversion optimization target construction module 50 is used to use the corrected electric field value to construct an inversion optimization target and complete the reconstruction of the three-dimensional electric field vector field.

[0052] The following describes in detail the specific configuration of the terrain disturbance correction module 40. The terrain disturbance correction module 40 further includes: the terrain disturbance function is as follows: ; in, Characterize the terrain disturbance function, is the number of perturbation features, , is the perturbation feature index, For the The disturbance response weight of the disturbance feature, Characterization The scalar value of the perturbation feature, is the spatial coordinate, For the The main influencing direction of the disturbance feature in space, where is the elevation disturbance term, , , Representing the terrain surface in two-dimensional coordinates The elevation value at is the average elevation of the target measurement area, is the height normalization scale coefficient, is the vertical unit vector, is the slope disturbance term, , ,in, is the slope vector, Characterizes the slope size, is the curvature perturbation term, , , Indicates the rate of change of terrain elevation along the x-axis. Characterizes the rate of change of terrain elevation along the y-axis, is the vertical distance disturbance term of the conductor, , , Characterizes the vertical distance from the measuring point to the conductor, Characterize the reference distance, The vector representing the triaxial sensor to the wire, Characterizes the distance from the triaxial sensor to the wire, is the building occlusion disturbance term, , , Representation in coordinates Quantify the degree of influence of shielding objects on the electric field, Characterizes the direction vector of the electric field deviation caused by the shielding object.

[0053] The specific configuration of terrain disturbance correction module 40 will be described in detail below. Terrain disturbance correction module 40 further includes: after each electric field inversion is completed, comparing the deviation between the inverted value and the corrected measurement value to establish an error feedback term; utilizing the error feedback term to dynamically iteratively update the disturbance response weight; and correcting the terrain disturbance function based on the dynamic iterative update result.

[0054] The specific configuration of the inversion optimization target construction module 50 will be described in detail below. The inversion optimization target construction module 50 further includes: mapping the corrected electric field values to a unified coordinate system, constructing a continuous electric potential function using spatial differences; calculating the electric field reverse value at each measurement point using the potential function; and constructing an inversion optimization target based on the electric field reverse value and the corrected electric field value.

[0055] The specific configuration of the terrain 3D modeling module 10 will be described in detail below. This module further includes: obtaining a fuzzy terrain database for the target measurement area; using this fuzzy terrain database to read the transmission tower coordinates, power corridor orientation, and terrain features to plan a sensing route; and controlling a LiDAR-equipped drone to collect terrain data based on this sensing route to create a 3D terrain model.

[0056] The specific configuration of the terrain 3D model construction module 10 will be described in detail below. The module further includes: establishing an optical image set and radar 3D point cloud data; performing initial calibration of the optical image set and radar 3D point cloud data based on time synchronization and coordinate calibration mechanisms; performing feature point search and matching within a preset deviation window within the initially calibrated optical image set and radar 3D point cloud data; and performing image-point cloud enhanced fusion based on the search and matching results to create a 3D terrain model.

[0057] The specific configuration of the inversion optimization target construction module 50 will be described in detail below. The inversion optimization target construction module 50 further includes: configuring a spatial electric field safety threshold; after completing the three-dimensional electric field vector reconstruction, performing spatial risk identification of the three-dimensional electric field vector based on the spatial electric field safety threshold, and establishing a warning indicator.

[0058] A three-dimensional electric field measurement system considering the influence of terrain disturbance provided by an embodiment of the present invention can execute a three-dimensional electric field measurement method considering the influence of terrain disturbance provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0059] Although the present application makes various references to certain modules in the system according to the embodiments of the present application, any number of different modules may be used and run on the user terminal and / or server, and the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present invention.

[0060] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A three-dimensional electric field measurement method considering the influence of terrain disturbance, characterized in that: The method comprises: Use UAVs equipped with LiDAR to collect terrain data in the target measurement area, and build a 3D terrain model by fusing images and 3D point clouds; After configuring the measurement accuracy, deploying a three-axis sensor array based on the three-dimensional terrain model and the measurement accuracy; Mapping the position information of the triaxial sensor array to a unified coordinate system of the three-dimensional terrain model, and associating each measurement point with terrain attributes, including elevation, slope, curvature, vertical distance of the wire, and building obstruction features; Establishing a terrain disturbance function based on the terrain attribute association, obtaining original measurement values of a three-axis sensor array, performing terrain disturbance correction on the original measurement values based on the terrain disturbance function, and establishing a corrected electric field value; The modified electric field value is used to construct an inversion optimization target to complete the three-dimensional electric field vector field reconstruction.

2. A three-dimensional electric field measurement method considering the influence of terrain disturbance according to claim 1, characterized in that: The terrain disturbance function is as follows: ； in, Characterize the terrain disturbance function, is the number of perturbation features, , is the perturbation feature index, For the The disturbance response weight of the disturbance feature, Characterization The scalar value of the perturbation feature, is the spatial coordinate, For the The main influencing direction of the disturbance feature in space, where is the elevation disturbance term, , , Representing the terrain surface in two-dimensional coordinates The elevation value at is the average elevation of the target measurement area, is the height normalization scale coefficient, is the vertical unit vector, is the slope disturbance term, , ,in, is the slope vector, Characterizes the slope size, is the curvature perturbation term, , , Indicates the rate of change of terrain elevation along the x-axis. Characterizes the rate of change of terrain elevation along the y-axis, is the vertical distance disturbance term of the conductor, , , Characterizes the vertical distance from the measuring point to the conductor, Characterize the reference distance, The vector representing the triaxial sensor to the wire, Characterizes the distance from the triaxial sensor to the wire, is the building occlusion disturbance term, , , Representation in coordinates Quantify the degree of influence of shielding objects on the electric field, Characterizes the direction vector of the electric field deviation caused by the shielding object.

3. A three-dimensional electric field measurement method considering the influence of terrain disturbance according to claim 2, characterized in that: The establishing of a terrain disturbance function based on the terrain attribute association includes: After each electric field inversion is completed, the deviation between the inverted value and the corrected measured value is compared to establish an error feedback term; The error feedback term is used to dynamically iterate and update the disturbance response weight, and the terrain disturbance function is corrected according to the dynamic iterative update result.

4. The three-dimensional electric field measurement method considering the influence of terrain disturbance according to claim 1, characterized in that: The method of constructing an inversion optimization target by using the corrected electric field value includes: Mapping the corrected electric field value to a unified coordinate system and constructing a continuous potential function using spatial differences; Calculating the electric field reverse value of each measurement point using the potential function; An inversion optimization target is constructed based on the electric field reverse value and the corrected electric field value.

5. The three-dimensional electric field measurement method considering the influence of terrain disturbance according to claim 1, characterized in that: The method of using a drone equipped with a laser radar to collect terrain data of a target measurement area and constructing a three-dimensional terrain model by fusing images and three-dimensional point clouds includes: Obtain the fuzzy terrain database of the target measurement area; Reading the transmission tower coordinates, power corridor direction and terrain features according to the fuzzy terrain database, and planning a sensing route; Based on the perception route, the UAV equipped with the laser radar is controlled to collect terrain data and establish a three-dimensional terrain model.

6. A three-dimensional electric field measurement method considering the influence of terrain disturbance according to claim 5, characterized in that: The method of controlling the drone equipped with a laser radar to collect terrain data based on the sensing route and establishing a three-dimensional terrain model includes: Establish optical image sets and radar 3D point cloud data; Perform initial calibration of optical image sets and radar 3D point cloud data based on time synchronization and coordinate calibration mechanisms; Perform feature point search and matching of the optical image set and radar 3D point cloud data after initial calibration within a preset deviation window; Based on the search and matching results, enhanced fusion of image and point cloud is performed to build a three-dimensional terrain model.

7. The three-dimensional electric field measurement method considering the influence of terrain disturbance according to claim 1, characterized in that: After the three-dimensional electric field vector field reconstruction is completed, the method includes: Configure the space electric field safety threshold; After completing the reconstruction of the three-dimensional electric field vector, the spatial risk of the three-dimensional electric field vector is identified based on the spatial electric field safety threshold, and an early warning mark is established.

8. A three-dimensional electric field measurement system considering the influence of terrain disturbance, characterized in that: The system is used to implement the three-dimensional electric field measurement method considering the influence of terrain disturbance according to any one of claims 1 to 7, and the system includes: The terrain 3D model construction module is used to collect terrain data of the target measurement area using a UAV equipped with a lidar, and to construct a terrain 3D model by fusing images and 3D point clouds; a sensor array deployment module, configured to deploy a three-axis sensor array based on the three-dimensional terrain model and the measurement accuracy after configuring the measurement accuracy; A terrain attribute association module is used to map the position information of the three-axis sensor array to the unified coordinate system of the three-dimensional terrain model and associate terrain attributes with each measurement point. The terrain attribute association features include elevation value, slope, curvature, vertical distance of the wire, and building obstruction characteristics; A terrain disturbance correction module is used to establish a terrain disturbance function based on the terrain attribute association, obtain original measurement values of the three-axis sensor array, perform terrain disturbance correction on the original measurement values based on the terrain disturbance function, and establish a corrected electric field value; The inversion optimization target construction module is used to construct the inversion optimization target using the corrected electric field value to complete the three-dimensional electric field vector field reconstruction.

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