电网全景输电线路三维机载雷达点云信息采集研究

王春龙; 陈炜彬; 陈凯

doi:10.20193/j.ices2097-4191.2024.05.011

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集成电路与嵌入式系统 ›› 2024, Vol. 24 ›› Issue (5) : 81-87. DOI: 10.20193/j.ices2097-4191.2024.05.011

研究论文

电网全景输电线路三维机载雷达点云信息采集研究

王春龙 ¹^,^* ,
陈炜彬 ¹ ,
陈凯 ²

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Research on three-dimensional airborne radar point cloud information acquisition for panoramic transmission lines of power grids

Author information +

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摘要

针对电网输电线路全景信息采集难度大、点云信息处理不准确等问题,提出了一种电网全景输电线路三维机载雷达点云信息采集系统。该系统通过对机载雷达信号处理系统设计和采集设备的选型,实现机载雷达硬件的设计和选择;采用激光雷达与惯性测量单元相结合的方式实现对输电线路点云数据更精确的采集;利用点云数据中的颜色信息和强度信息相结合的方式对点云数据进行分类处理,实现对点云数据信息的处理。通过实验验证了系统的采集误差比只采用激光雷达采集的误差小,且最大为0.21,最小为0.08;系统对不同物体的分类正确率不同,对输电线路分类正确率能达到97%,且较传统方法和单一的基于强度信息的点云数据处理分类方法正确率高。

Abstract

In view of the difficulty in collecting panoramic information of power grid transmission lines and the inaccuracy of point cloud information processing,a three-dimensional airborne radar point cloud information acquisition system for power grid panoramic transmission lines is proposed.The system realizes the design and selection of airborne radar hardware through the design of airborne radar signal processing system and the selection of acquisition equipment.It uses LiDAR combined with Inertial Measurement Unit to accurately collect point cloud data of transmission lines.Using the combination of color information and intensity information in point cloud data,the point cloud data is classified and processed to realize the processing of point cloud data information.The experiment results show that the acquisition error of the system is smaller than that of LiDAR only,and the maximum error is 0.21,and the minimum error is 0.08.The classification accuracy of the system for different objects is different,and the classification accuracy of the transmission line can reach 97%,which is higher than the traditional method and the single point cloud data processing and classification method based on intensity information.

导出引用

王春龙, 陈炜彬, 陈凯. 电网全景输电线路三维机载雷达点云信息采集研究[J]. 集成电路与嵌入式系统. 2024, 24(5): 81-87 https://doi.org/10.20193/j.ices2097-4191.2024.05.011

WANG Chunlong, CHEN Weibin, CHEN Kai. Research on three-dimensional airborne radar point cloud information acquisition for panoramic transmission lines of power grids[J]. Integrated Circuits and Embedded Systems. 2024, 24(5): 81-87 https://doi.org/10.20193/j.ices2097-4191.2024.05.011

中图分类号： TP391

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