CN-115310040-B - Three-dimensional laser point cloud data correction sampling verification method

CN115310040BCN 115310040 BCN115310040 BCN 115310040BCN-115310040-B

Abstract

The invention discloses a three-dimensional laser point cloud data correction sampling verification method, which comprises the steps of randomly extracting pole and tower point cloud sampling points by utilizing a random sampling principle to obtain correction error data, estimating distribution of the point cloud correction error data from multiple aspects to obtain a correction error rate p, setting a correction sampling rule and a sampling verification scheme based on the correction error rate p, formulating an exchange table between the correction error rate p and a receiving rate, selecting sampling points and sampling proportions according to the correction error rate p and the sample receiving rate, and completing verification of correction sampling of the point cloud data. The invention provides a method for eliminating verification errors caused by differences of ground types, tower types and flight conditions during sampling in a random sampling process by adding limiting conditions in the point cloud data sampling verification process.

Inventors

HUANG JUNBO
GONG MINGYI
XIE CHENG
BAI SHUANGSHUANG
LI JIE
JIN TAO
CAI SHUYU
SUN BIN
LI WEIPENG
XIE QINGYU
ZHANG ZHIHUA
FANG MING
ZHANG WENJUAN

Assignees

云南电网有限责任公司输电分公司

Dates

Publication Date: 20260512
Application Date: 20220620

Claims (6)

1. The three-dimensional laser point cloud data deviation rectifying sampling verification method is characterized by comprising the following steps of: randomly extracting the number of sampling points of the point cloud of the pole tower by utilizing the random sampling principle to obtain point cloud deviation correcting error data; estimating the distribution of the point cloud deviation correction error data from multiple aspects to obtain a deviation correction error rate p; setting a correction sampling rule and a sampling verification scheme based on the correction error rate p; setting an exchange table between the error correction rate p and the acceptance rate, and selecting sampling points and sampling proportions according to the error correction rate p and the sample acceptance rate; The extraction of the pole tower point cloud sampling points comprises, Randomly extracting an x-base tower, and carrying out deviation correction verification on two points extracted from each base tower; dividing the point cloud data of the pole tower according to the voltage grade; The estimating the distribution of the point cloud deskew error data from multiple aspects includes, Giving error data distribution estimation from the angle of the integral deviation correction error data; Dividing the data according to the voltage class, wherein the data comprises distribution estimation of deviation rectifying errors of 500kV and 200kV data; Analyzing the distribution condition of the deviation correcting error data; the rule of error correction sampling includes that, The number of the rectifying verification towers is not less than 10% of the total number of the towers; Selecting a head rod and a tail rod of a power transmission line; the two base rods are needed to be selected when the height difference is large; at least one group of tension rod or corner rod is selected; the setting of the sampling plan includes that, Sampling points are extracted according to a percentage sampling test method, the sampling points n comprise, ; Wherein N represents the number of sampling points, alpha represents the sampling percentage, and N represents the total number of towers of the line; randomly extracting the towers N i to be detected to form a tower set S n to be verified, ; Wherein S n represents a tower set to be verified, N i represents towers to be verified with the number i, and N represents the number of the towers to be verified; And adding a limiting condition in the point cloud data sampling verification process to eliminate verification errors caused by differences of ground types, tower types and flight conditions during sampling in the random sampling process.
2. The method for three-dimensional laser point cloud data deskew sampling verification as set forth in claim 1, wherein said obtaining of deskew error rate p comprises, And obtaining the deviation correction error rate p of the point cloud data according to the requirements of actual operation on the error value and an error normal distribution curve obtained by combining error estimation.
3. The method for three-dimensional laser point cloud data rectification sampling verification of claim 2, comprising, Based on the error correction rate p, the sampling point number n and the experimental count d for checking whether the error correction quality of the point cloud is qualified, obtaining the receiving rate L 1 of the error correction quality of the point cloud data of a certain line, ; Wherein, L 1 represents the acceptable receiving rate of the correction quality of the point cloud data of a certain line, p represents the correction error rate, n represents the sampling point number, and d represents the experimental count of whether the correction quality of the point cloud is acceptable.
4. The method for three-dimensional laser point cloud data rectification sampling verification of claim 3, comprising, Selecting k towers to be tested which are in accordance with the sampling rule from the total number N of the towers according to the sampling rule, adding the towers to be tested into a tower set S n to be tested to form a new tower set S m to be tested, 。
5. The method for three-dimensional laser point cloud data rectification sampling verification of claim 4, comprising, M=n when the k-base rod is fully coincident with the rod contained in S n , and m > n when the k-base rod is not fully coincident with the rod contained in S n ; 。
6. the method for three-dimensional laser point cloud data rectification sampling verification according to any one of claim 3 to 5, further comprising, Based on the error correction rate p, the sampling point number m and the experimental count d for checking whether the error correction quality of the point cloud is qualified, obtaining the receiving rate L 2 of the error correction quality of the point cloud data of a certain line, ; Wherein L 2 represents the acceptable receiving rate of the correction quality of the point cloud data of a certain line, p represents the correction error rate, m represents the sampling point number, and d represents the experimental count of whether the correction quality of the point cloud is acceptable.

Description

Three-dimensional laser point cloud data correction sampling verification method Technical Field The invention relates to the technical field of correction sampling verification, in particular to a three-dimensional laser point cloud data correction sampling verification method. Background In recent years, the single flight distance is about 200km in the flight operation process of point cloud data acquisition, the transmission line towers above 220KV in Yunnan province are mostly distributed in mountain areas, the absolute coordinate error of the flight track obtained by RTK is firstly linearly increased along with the distance from the flying point of an airplane, the diffraction is changed into a nonlinear larger error after a certain distance is kept away, the obtained absolute coordinate of the point cloud is also greatly deformed along with the distance from the flying point and the actual generation, and the point cloud data acquisition in a large range generates huge amount of point cloud data, wherein a large amount of error coordinates are necessarily existed, and the correction work is needed to be carried out on the acquired point cloud coordinate data. The correction verification of the transmission line is not suitable for verification work of the existing point cloud data in a random sampling verification mode of the whole line, and a sampling verification method aiming at the point cloud correction work is urgently needed. Disclosure of Invention This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application. The present invention has been made in view of the above-described problems occurring in the prior art. Therefore, the technical problem solved by the invention is that the power transmission line deviation rectifying verification is not suitable for verification work of the existing point cloud data in a random sampling verification mode of the whole line. The technical scheme includes that the method comprises the steps of randomly extracting pole and tower point cloud sampling points according to a random sampling principle to obtain correction error data, estimating distribution of the point cloud correction error data from multiple aspects to obtain a correction error rate p, setting a correction sampling rule and a sampling verification scheme based on the correction error rate p, setting a switching table between the correction error rate p and a receiving rate, selecting sampling points and sampling proportions according to the correction error rate p and the sample receiving rate, and completing verification of correction sampling of the point cloud data. As a preferable scheme of the three-dimensional laser point cloud data rectification sampling verification method, the extraction of the pole and tower point cloud sampling points comprises, Randomly extracting an x-base tower, and carrying out deviation correction verification on two points extracted from each base tower; and dividing the point cloud data of the pole tower according to the voltage grade. As a preferred scheme of the three-dimensional laser point cloud data rectification sampling verification method, the method comprises the steps of estimating the distribution of the point cloud rectification error data from multiple aspects, Giving error data distribution estimation from the angle of the integral deviation correction error data; Dividing the data according to the voltage class, wherein the data comprises distribution estimation of deviation rectifying errors of 500kV and 200kV data; And analyzing the distribution condition of the deviation rectifying error data. As a preferable scheme of the three-dimensional laser point cloud data rectification sampling verification method, the obtaining of the rectification error rate p comprises, And obtaining the deviation correction error rate p of the point cloud data according to the requirements of actual operation on the error value and an error normal distribution curve obtained by combining error estimation. As a preferable scheme of the three-dimensional laser point cloud data rectification sampling verification method, the rectification sampling rule comprises that, The number of the rectifying verification towers is not less than 10% of the total number of the towers; Selecting a head rod and a tail rod of a power transmission line; the two base rods are needed to be selected when the height difference is large; At least one group of tension rod or corner rod is selected. As a preferable scheme of the three-dimensional laser point cloud data rectification sampling verification method, the setting of the sampling scheme comprises the following steps of, Sampling points are extracted acc