CN112799066B - Transmission line overhung change detection method and device based on SAR image - Google Patents
Transmission line overhung change detection method and device based on SAR image Download PDFInfo
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Abstract
The invention relates to a method and a device for detecting the overhung change of a transmission line based on an SAR image, wherein the method comprises the following steps: acquiring space position information of a power transmission tower and orbit data information of an SAR satellite; determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite; establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments; identifying a scattering signal of the power transmission line based on the target SAR image; determining a target power transmission line with scattering signal change, and determining spatial position information of the target power transmission line; and determining the overhang change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line. Through this technical scheme, for the power transmission line hangs the state and patrols and examines and provide swift effectual means.
Description
Technical Field
The disclosure relates to the technical field of synthetic aperture radars, in particular to a method and a device for detecting the overhung change of a power transmission line based on SAR images.
Background
High-voltage line inspection is one of the important operation and maintenance works of national power grids every year, and power failure accidents caused by collapse of national grid towers and breakage of power transmission lines due to complex geographic environment and frequent natural disasters occur in recent years. Current manual inspection is the main mode that current electricity tower patrolled and examined. The method has the problems of low polling efficiency, large subjective influence on polling results and the like, and is difficult to carry out polling work in remote areas with rare people.
The power transmission line suspension is an important index for circuit design and maintenance, and the state of the power transmission line suspension directly influences the safe and stable operation of a line.
Disclosure of Invention
In order to overcome the problems in the related art, the invention provides a method and a device for detecting the dangling change of a power transmission line based on an SAR (Synthetic Aperture Radar) image, which can invert the dangling change characteristic of the power transmission line by detecting the scattering signal change of the power transmission line in different SAR images and provide a quick and effective means for the dangling state inspection of the power transmission line.
According to a first aspect of the embodiments of the present disclosure, a method for detecting a dangling change of a power transmission line based on a SAR image is provided, the method including:
acquiring space position information of a power transmission tower and orbit data information of an SAR satellite;
determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
identifying a scattering signal of the power transmission line based on the target SAR image;
determining a target power transmission line with scattering signal change, and determining spatial position information of the target power transmission line;
and determining the overhang change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line.
In one embodiment, preferably, the determining the target power line with the variation of the scattering signal and the spatial position information of the target power line include:
and establishing an SAR amplitude image difference graph according to the target SAR image, detecting a target power transmission line with scattering signal change, and extracting the spatial position information of the target power transmission line.
In one embodiment, preferably, determining the sag change information of the target power line according to the spatial position information and the scattering signal change of the target power line comprises:
determining the variation relation between two boundary positions of the scattering signals of the power transmission line, which can be detected in the SAR image, and the position of the lowest point of the power transmission line by adopting the following formula:
wherein, y1A power line target spatial position, y, corresponding to a first boundary at which a scattered signal representing the power line is detectable in the SAR image2A power line target spatial position, z, corresponding to a second boundary where a scattering signal representing the power line is detectable in the SAR imageLowRepresenting the elevation of the lowest point of said transmission line,lrepresenting the horizontal length of said transmission line,krepresents the catenary parameter;
and determining the suspension change information according to the change relationship.
In one embodiment, preferably, the determination process of the variation relationship between the two boundary positions where the scattering signals of the power transmission line can be detected in the SAR image and the positions of the lowest points of the power transmission line comprises the following steps:
establishing a space rectangular coordinate system, wherein the X axis points to the east direction, the Y axis points to the north direction, and the Z axis points to the sky direction;
dividing the power transmission line into small cylinder sets with equal lengthiDirection vector of segment cylinder
Expressed as:
setting the direction of the transmission line along the Y-axis direction to obtain a cylindrical direction vector
Is expressed in the differential form:
based on the following catenary equation:
then there are:
the method is simplified as follows:
calculating cylinder direction vector
And satellite irradiation direction vector
Angle of included angleθ s :
Wherein the cylindrical direction vector and the satellite irradiation direction vector are set to be distributed in the range [ 2 ]θ 1, θ 2 ]When the SAR image is in the normal state, the scattering signal of the power transmission line can be detected in the SAR image;
order cosθ s =cosθ 1 When constructing abouty 1、kFunction of (c):
wherein the content of the first and second substances,y 1is composed ofθ 1 Boundary where the scattered signal of the transmission line can be detected in the SAR image when in conditions:
calculating based on the derivation formula of the implicit function to obtain:
in the same way, when ordering cosθ s =cosθ 2 Then, the calculation yields:
catenary parameters for transmission lineskCan cause a change in the height of the lowest point of the transmission line;
defining the elevation of the lowest point of the transmission line as zLowWhen the horizontal length of the transmission line is l, z isLowThe mathematical expression of (a) is:
according to the derivation theory, the following calculation results:
finally, for two boundary conditionsy 1Andy 2obtaining:
in one embodiment, θ is preferably1And theta2The values are 89.5 degrees and 90.5 degrees respectively.
In one embodiment, preferably, determining the position information of the transmission tower on the SAR image according to the spatial position information of the transmission tower and the orbit data information of the SAR satellite comprises:
calculating the corresponding azimuth moment of the power transmission station by the zero Doppler equationt a ；
Calculating a rough coordinate of the power transmission tower on the SAR image according to the azimuth moment;
and establishing a window in the SAR image by taking the rough coordinates of the power transmission tower as the center of the window, searching the position of the signal with the strongest amplitude, and determining the position information of the power transmission tower on the SAR image.
In one embodiment, the zero doppler equation is preferably:
wherein the content of the first and second substances,S(t a )for SAR satellites in(t a )Three-dimensional space position coordinates at the moment, T is space position information of the power transmission tower,V(t a )for SAR satellites int a The speed of the moment;
calculating a rough coordinate [ l, p ] of the power transmission tower on the SAR image by adopting the following calculation formula;
in the formula (I), the compound is shown in the specification,lfor the orientation coordinates of the SAR image,pis the distance coordinate of the SAR image,t a1 for the azimuth start time of the SAR image,t r1 the PRF is the azimuth sampling frequency of the SAR image, the RSR is the range sampling frequency of the SAR image,t r and c is the distance time corresponding to the power transmission tower, and the light speed.
According to a second aspect of the embodiments of the present disclosure, there is provided a device for detecting a sag change of a power transmission line based on a SAR image, the device including:
the acquisition module is used for acquiring the spatial position information of the power transmission tower and the orbit data information of the SAR satellite;
the first determining module is used for determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
the intercepting module is used for establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
the identification module is used for identifying the scattering signals of the power transmission line based on the target SAR image;
the second determination module is used for determining a target power transmission line with scattering signal change and determining the spatial position information of the target power transmission line;
and the third determining module is used for determining the dangling change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line.
According to a third aspect of the embodiments of the present disclosure, there is provided a water area power line sag inversion apparatus based on SAR technology, the apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring space position information of a power transmission tower and orbit data information of an SAR satellite;
determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
identifying a scattering signal of the power transmission line based on the target SAR image;
determining a target power transmission line with scattering signal change, and determining spatial position information of the target power transmission line;
and determining the overhang change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method of any one of the first aspects.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
in the embodiment of the invention, based on SAR remote sensing technical means, the relation between the power transmission line overhung and the scattering characteristics thereof is analyzed from the angle of image processing, the change characteristics of the overhung of the power transmission line are inverted by detecting the change of scattering signals of the power transmission line in different SAR images, data can be acquired all day long, the overhung change state of the power transmission line in a large area can be rapidly monitored, and particularly, in remote areas with rare people, a rapid and effective means is provided for routing inspection of the overhung state of the power transmission line.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart illustrating a method for detecting a sag change of a power transmission line based on SAR images according to an exemplary embodiment.
Fig. 2 is a schematic diagram illustrating a simulation of spatial locations of power lines according to an exemplary embodiment.
Fig. 3 is a comparison graph of simulation results for power line strongly scattering segments of different degrees of curvature, shown in accordance with an exemplary embodiment.
Fig. 4 is a comparison graph of simulation results for power line strongly scattering segments of different degrees of curvature, shown in accordance with an exemplary embodiment.
Fig. 5 is a SAR image screenshot of a scattering signal (20200516) of a power line shown in accordance with an exemplary embodiment.
Fig. 6 is a snapshot of a SAR image of a scattering signal (20200601) of a power line, shown according to an example embodiment.
Fig. 7 is a flowchart illustrating a method for detecting a sag change of a power transmission line based on SAR images according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 is a flowchart illustrating a method for detecting a sag change of a power transmission line based on a SAR image according to an exemplary embodiment, where the method includes:
step S101, acquiring space position information of a power transmission tower and orbit data information of an SAR satellite;
step S102, determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
in one embodiment, preferably, determining the position information of the transmission tower on the SAR image according to the spatial position information of the transmission tower and the orbit data information of the SAR satellite comprises:
calculating the corresponding azimuth moment of the power transmission station by the zero Doppler equationt a ；
Calculating a rough coordinate of the power transmission tower on the SAR image according to the azimuth moment;
and establishing a window in the SAR image by taking the rough coordinates of the power transmission tower as the center of the window, searching the position of the signal with the strongest amplitude, and determining the position information of the power transmission tower on the SAR image.
In one embodiment, the zero doppler equation is preferably:
wherein the content of the first and second substances,S(t a )for SAR satellites in(t a )Three-dimensional space position coordinates at the moment, T is space position information of the power transmission tower,V(t a )for SAR satellites int a The speed of the moment;
calculating a rough coordinate [ l, p ] of the power transmission tower on the SAR image by adopting the following calculation formula;
in the formula (I), the compound is shown in the specification,lfor the orientation coordinates of the SAR image,pis the distance coordinate of the SAR image,t a1 for the azimuth start time of the SAR image,t r1 the PRF is the azimuth sampling frequency of the SAR image, the RSR is the range sampling frequency of the SAR image,t r and c is the distance time corresponding to the power transmission tower, and the light speed.
Step S103, establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
step S104, recognizing scattering signals of the power transmission line based on the target SAR image;
step S105, determining a target power transmission line with scattering signal change, and determining spatial position information of the target power transmission line;
in one embodiment, preferably, the determining the target power line with the variation of the scattering signal and the spatial position information of the target power line include:
and establishing an SAR amplitude image difference graph according to the target SAR image, detecting a target power transmission line with scattering signal change, and extracting the spatial position information of the target power transmission line.
In the embodiment, based on the SAR images acquired at different moments, data in the range area of the power transmission line is intercepted, then registration processing is performed on the data in the area, and the scattering signals of the power transmission line are extracted. Then, an SAR amplitude image difference graph is established, the power transmission line targets with scattering signal changes are detected, and finally the spatial position information of the power transmission line targets is extracted.
And S106, determining the dangling change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line.
Based on scattering signal change extracted from the SAR image, the suspension change of the transmission line can be inverted, and the theoretical model is as follows:
a) catenary model for power transmission lines
In the transmission line, the electric wire is suspended by taking a tower pole as a support, so that the suspension shape of the electric wire can be expressed by the equation of a catenary:
in the above formula, the first and second carbon atoms are,hwhich represents the height of the electrical wire or wires,lrepresenting the horizontal coordinate, σ, of the wire0And gamma is a parameter related to the wire characteristics. In generalIn terms of σ0The larger the value of/γ, the straighter the wire; sigma0The smaller the value of/γ, the more the wire bends.
b) Theoretical model of transmission line scattering signal intensity in SAR image
Generally, the wire is in the form of a catenary. In the theoretical analysis process, the device can be divided into a plurality of sections of elongated cylinders. According to the scattering theory of the cylinder, when the included angle alpha between the irradiation direction of the electromagnetic wave and the direction of the cylinder is completely 90 degrees, the scattering intensity is very high. When the angle α deviates slightly from 90 °, the scattering intensity drops rapidly. When the angle α is 89.5 ° or 90.5 °, the scattering intensity is reduced by 50% as compared with the case of 90 °. In the course of subsequent theoretical analysis, the condition of α being 89.5 ° or 90.5 ° is the detectable boundary condition of the power line scatter signal in the SAR image.
c) Theoretical relation between transmission line overhung change and scattering signal change
For convenience of description, a spatial rectangular coordinate system is established, wherein the X axis points to the east direction, the Y axis points to the north direction, and the Z axis points to the sky direction. Meanwhile, the power transmission line is divided into small cylinder sets with equal length, and the direction vector of the ith section of cylinder
Can be expressed as:
for simplicity of analysis, the power line is set to run along the Y-axis direction, then the cylinder direction vector
Is expressed in the differential form:
based on the known catenary equation (let k = σ 0/γ for simplicity of mathematical expression):
then there are:
can be further simplified into:
on the basis of the above-mentioned formula, the cylinder direction vector can be calculated
And satellite irradiation direction vector
Angle of included angleθ s :
The distribution of the cylinder direction vector and the satellite irradiation direction vector in the range [ 2 ]θ 1, θ 2 ]While inside, the scattering signal of the power line is detectable in the SAR image (according to a theoretical model of the power line scattering signal intensity,θ 1 andθ 2 respectively 89.5 degrees and 90.5 degrees).
Order cosθ s =cosθ 1 Then, information abouty 1 、kAs a function of (c). Wherein y is1Is composed ofθ 1 Under conditions, the power line signal is a detectable boundary in the SAR image.
The derivation formula based on the implicit function can be obtained as follows:
in the same way, when ordering cosθ s =cosθ 2 In time, we can derive:
also, for the transmission line, catenary parameterskCan cause a change in the height of the lowest point of the transmission line. In the analysis process, defining the elevation of the lowest point of the transmission line as zLowWhen the horizontal length of the transmission line islUnder the condition of (a) zLowThe mathematical expression of (a) is:
according to the derivation theory, it can be obtained that:
finally, for two boundary conditionsy 1 Andy 2 the following can be obtained:
the above equation represents the variation relationship between two boundary positions where a power line signal can be detected in the SAR image and the position of the lowest point of the power line when the sag is changed. It can be seen from the mathematical relationship that when the position of the lowest point of the transmission line changes, the two boundary positions which can be detected move towards the same direction and move by basically the same amount.
Based on the above derived theory, the power line sag change detection or the power line lowest point position change detection can be converted into detection of power line scattered signal position boundaries. In the data processing process, the position change of the target signal of the transmission line extracted from the SAR image in different SAR images is analyzed, the conversion relation between the boundary position and the lowest point position of the transmission line is deduced based on the above, and finally the change value of the lowest point of the transmission line is inverted, so that relevant data are provided for safety monitoring of the suspension change of the transmission line.
The above method is verified by the following simulation procedure:
in order to research the relation between the sag change of the power transmission line and the position change of the strong scattering signal in the SAR image, the scattering characteristics of the wires with different bending degrees are firstly analyzed by a simulation method. The parameters of the simulation experiment are shown in table 1. Based on the catenary equation, when the characteristic parameter k of the electric wire is 3500 and 4000, respectively, the spatial position of the electric wire is shown in fig. 2.
TABLE 1
Based on the power line scattering signal characteristics, when the satellite illumination parameters are shown in table 1, the analysis results of the strong scattering areas of the two power lines are shown in fig. 3. Wherein Line1 represents the simulation result when k is 3500, Line2 represents the simulation result when k is 4000, Valid represents the strong scattering section of the power transmission Line on the SAR image (which can be detected in the SAR image), and InValid represents the weak scattering section of the power Line on the SAR image (which cannot be detected in the SAR image). From the simulation results, it can be seen that when the bending degree of the wire slightly changes, the position of the strong scattering section of the power transmission line greatly changes.
Counting simulation result data of two sections of power transmission lines, wherein for Line1 (a characteristic parameter k is 3500), the coordinate of the lowest point of the power transmission Line is [0, 0, 20], and the y coordinate of the front end of the strong scattering section is 70.49; for Line2 (characteristic parameter k is 4000), the power Line nadir coordinates are [0, 0, 21.61], and the y-coordinate at the front of the strong scattering region is 80.55. Comparing the simulation results of two power lines, the lowest point position of Line1 is 1.61m lower than the lowest point position of Line2, and the strong scattering section is shifted by 10.06m in the horizontal direction. The ratio of the horizontal movement distance to the lowest point position lowering was 6.25.
According to the relation between the power transmission line overhung change and the strong scattering signal position change in the SAR image, simulation parameters are introduced, and the theoretical value can be obtained to be 6.20, which is similar to the simulation result.
According to the comprehensive simulation result, when the lowest point of the power transmission line is lowered to 20m from 20.61m (the characteristic parameter k of the power transmission line is changed from 4000 to 3500), the ratio of the horizontal position change of the strong scattering area to the change of the lowest point of the overhung is 6.25, and the ratio is basically consistent with the theoretical derivation result of 6.20. Simulation results show that the SAR image-based power transmission line scattered signal change detection method has the capability of solving the problem of monitoring the overhung change of the power transmission line.
The above technical solution of the present invention will be described in detail with reference to one embodiment.
Multi-phase high-resolution SAR measured data (two-phase COSMO-SkyMed data is selected in the case) is selected in a certain area, and basic data information is shown in Table 2.
TABLE 2
And acquiring the position of the power tower in the SAR image based on the input three-dimensional space position coordinate of the power transmission tower and the conversion relation between the space coordinate and the SAR image coordinate, wherein the result is represented by a gray point in FIG. 4. Based on the location of the transmission tower, a transmission line range region (indicated by a gray box in fig. 4) is obtained in the SAR image, and a strong scattering signal region of the transmission line (indicated by a gray oval region in fig. 4) is identified within the region, it can be seen that the signal amplitude of the strong scattering signal region of the transmission line is much larger than the background noise.
The data in the power line range area is subjected to registration processing, and power line scattering signals are extracted, and the SAR image power line scattering signals acquired at 20200516 and 20200601 at two moments are respectively shown in fig. 5 and 6. It can be seen that the position of the strongly scattered signal of the power line in the image is unchanged, and the dangling of the power line is also proved to be unchanged.
Fig. 7 is a flowchart illustrating a method for detecting a sag change of a power transmission line based on SAR images according to an exemplary embodiment.
As shown in fig. 7, according to a second aspect of the embodiments of the present disclosure, there is provided a power line sag change detection device based on SAR images, the device including:
an obtaining module 71, configured to obtain spatial position information of the power transmission tower and orbit data information of the SAR satellite;
a first determining module 72, configured to determine, according to the spatial position information of the power transmission tower and the orbit data information of the SAR satellite, position information of the power transmission tower on the SAR image;
an intercepting module 73, configured to establish a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercept target SAR images within the power transmission line range at different times;
an identification module 74 for identifying the scattering signals of the power transmission line based on the target SAR image;
a second determining module 75, configured to determine a target power line where a variation of the scattering signal exists, and determine spatial location information of the target power line;
and a third determining module 76, configured to determine the information of the sag change of the target power line according to the spatial position information of the target power line and the variation of the scattering signal.
According to a third aspect of the embodiments of the present disclosure, there is provided a water area power line sag inversion apparatus based on SAR technology, the apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring space position information of a power transmission tower and orbit data information of an SAR satellite;
determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
identifying a scattering signal of the power transmission line based on the target SAR image;
determining a target power transmission line with scattering signal change, and determining spatial position information of the target power transmission line;
and determining the overhang change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the method of any one of the first aspects.
It is further understood that the use of "a plurality" in this disclosure means two or more, as other terms are analogous. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the terms "first," "second," and the like are fully interchangeable. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure.
It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. A method for detecting the overhung change of a transmission line based on SAR images is characterized by comprising the following steps:
acquiring space position information of a power transmission tower and orbit data information of an SAR satellite;
determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
identifying a scattering signal of the power transmission line based on the target SAR image;
determining a target power transmission line with scattering signal change, and determining spatial position information of the target power transmission line;
determining the dangling change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line;
determining the dangling change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line, wherein the dangling change information comprises the following steps:
determining the variation relation between two boundary positions of the scattering signals of the power transmission line, which can be detected in the SAR image, and the position of the lowest point of the power transmission line by adopting the following formula:
wherein the content of the first and second substances,y 1a power line target spatial location corresponding to a first boundary at which a scatter signal representing the power line is detectable in the SAR image,y 2a power line target spatial position, z, corresponding to a second boundary where a scattering signal representing the power line is detectable in the SAR imageLowRepresenting the elevation of the lowest point of said transmission line,lrepresenting the horizontal length of said transmission line,krepresents the catenary parameter;
and determining the suspension change information according to the change relationship.
2. The method of claim 1, wherein determining the target power line for which there is a change in the scattered signal and determining spatial location information for the target power line comprises:
and establishing an SAR amplitude image difference graph according to the target SAR image, detecting a target power transmission line with scattering signal change, and extracting the spatial position information of the target power transmission line.
3. The method of claim 1, wherein the determination of the variation relationship between two boundary positions where the scattering signals of the power transmission line can be detected in the SAR image and the position of the lowest point of the power transmission line comprises:
establishing a space rectangular coordinate system, wherein the X axis points to the east direction, the Y axis points to the north direction, and the Z axis points to the sky direction;
dividing the power transmission line into small cylinder sets with equal length, and then dividing the ith section of cylinder into direction vectors
Expressed as:
setting the direction of the transmission line along the Y-axis direction to obtain a cylindrical direction vector
Is expressed in the differential form:
based on the following catenary equation:
then there are:
the method is simplified as follows:
calculating cylinder direction vector
And satellite irradiation direction vector
Angle of included angleθ s :
Wherein the cylindrical direction vector and the satellite irradiation direction vector are set to be distributed in the range [ 2 ]θ 1, θ 2 ]When the SAR image is in the normal state, the scattering signal of the power transmission line can be detected in the SAR image;
order cosθ s =cosθ 1 When constructing abouty 1K function:
wherein the content of the first and second substances,y 1is composed ofθ 1 Boundary where the scattered signal of the transmission line can be detected in the SAR image when in conditions:
calculating based on the derivation formula of the implicit function to obtain:
in the same way, when ordering cosθ s =cosθ 2 Then, the calculation yields:
for a power line, a change in the catenary parameter k may cause a change in the height of the lowest point of the power line;
defining the elevation of the lowest point of the transmission line as zLowWhen the horizontal length of the transmission line is l, z isLowThe mathematical expression of (a) is:
according to the derivation theory, the following calculation results:
finally, for the two boundary conditions y1 and y2, we get:
4. the method of claim 3, wherein θ is θ1And theta2The values are 89.5 degrees and 90.5 degrees respectively.
5. The method according to claim 1, wherein determining the position information of the transmission tower on the SAR image according to the spatial position information of the transmission tower and the orbit data information of the SAR satellites comprises:
calculating the corresponding azimuth moment of the power transmission station by the zero Doppler equationt a ；
Calculating a rough coordinate of the power transmission tower on the SAR image according to the azimuth moment;
and establishing a window in the SAR image by taking the rough coordinates of the power transmission tower as the center of the window, searching the position of the signal with the strongest amplitude, and determining the position information of the power transmission tower on the SAR image.
6. The method of claim 5, wherein the zero doppler equation is:
wherein the content of the first and second substances,S(t a )for SAR satellites in(t a )Three-dimensional space position coordinates at the moment, T is space position information of the power transmission tower,V(t a )for SAR satellites int a The speed of the moment;
calculating a rough coordinate [ M, p ] of the power transmission tower on the SAR image by adopting the following calculation formula;
in the formula (I), the compound is shown in the specification,Mfor the orientation coordinates of the SAR image,pis the distance coordinate of the SAR image,t a1 for the azimuth start time of the SAR image,t r1 the PRF is the azimuth sampling frequency of the SAR image, the RSR is the range sampling frequency of the SAR image,t r and c is the distance time corresponding to the power transmission tower, and the light speed.
7. A device for detecting the overhung change of a power transmission line based on SAR images is characterized by comprising:
the acquisition module is used for acquiring the spatial position information of the power transmission tower and the orbit data information of the SAR satellite;
the first determining module is used for determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
the intercepting module is used for establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
the identification module is used for identifying the scattering signals of the power transmission line based on the target SAR image;
the second determination module is used for determining a target power transmission line with scattering signal change and determining the spatial position information of the target power transmission line;
the third determining module is used for determining the dangling change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line;
the third determining module is to:
determining the variation relation between two boundary positions of the scattering signals of the power transmission line, which can be detected in the SAR image, and the position of the lowest point of the power transmission line by adopting the following formula:
wherein the content of the first and second substances,y 1a power line target spatial location corresponding to a first boundary at which a scatter signal representing the power line is detectable in the SAR image,y 2a power line target spatial position, z, corresponding to a second boundary where a scattering signal representing the power line is detectable in the SAR imageLowRepresenting the elevation of the lowest point of said transmission line,lrepresenting the horizontal length of said transmission line,krepresents the catenary parameter;
and determining the suspension change information according to the change relationship.
8. A device for detecting the overhung change of a power transmission line based on SAR images is characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
acquiring space position information of a power transmission tower and orbit data information of an SAR satellite;
determining the position information of the power transmission tower on the SAR image according to the space position information of the power transmission tower and the orbit data information of the SAR satellite;
establishing a power transmission line range area based on the position information of the power transmission tower on the SAR image, and intercepting target SAR images in the power transmission line range at different moments;
identifying a scattering signal of the power transmission line based on the target SAR image;
determining a target power transmission line with scattering signal change, and determining spatial position information of the target power transmission line;
determining the dangling change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line;
determining the dangling change information of the target power transmission line according to the spatial position information and the scattering signal change of the target power transmission line, wherein the dangling change information comprises the following steps:
determining the variation relation between two boundary positions of the scattering signals of the power transmission line, which can be detected in the SAR image, and the position of the lowest point of the power transmission line by adopting the following formula:
wherein the content of the first and second substances,y 1a power line target spatial location corresponding to a first boundary at which a scatter signal representing the power line is detectable in the SAR image,y 2a power line target spatial position, z, corresponding to a second boundary where a scattering signal representing the power line is detectable in the SAR imageLowRepresenting the elevation of the lowest point of said transmission line,lrepresenting the horizontal length of said transmission line,kindicates catenary parameterCounting;
and determining the suspension change information according to the change relationship.
9. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 6.
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