RU2495375C1 - Method for remote inspection of power grid facilities - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: coordinates of fault locations are determined based on coordinates of points of thermal images with high temperature. In a differential mode of a satellite radio navigation system, directional cosines of vectors from points of the centre and corners of the thermal image to the centre of the camera lens of the thermal imager are calculated in a coordinate system linked with an aircraft based on values of the viewing angles of the camera of the thermal imager; directional cosines of these vectors are determined in a topocentric coordinate system based on the measured spatial orientation angles of the aircraft and a rotation matrix, expressed through Euler angles; distance from the points of the thermal image to the centre of the camera lens of the thermal imager is determined based on information on the height of the diagnosed object above the earth, the altitude of the aircraft, measured by an altimeter.

EFFECT: broader functional capabilities.

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Description

The present invention relates to the field of application of satellite radio navigation technologies for solving problems of remote diagnostics and determining the coordinates of places of local damage to objects of electric networks based on terrain photography using thermal imaging receivers. The invention can be used in diagnostic work on electrical networks without decommissioning.

The known method [1], which determines the coordinates and spatial orientation of the surface mobile station, perform sounding of the bottom of the water area with acoustic signals and determine the coordinates of underwater objects from their images.

The disadvantage of this method is the inability to diagnose places of local overheating of electrical network objects, in addition, this method provides for the identification and determination of the coordinates of one object, while solving problems of automated diagnostics requires obtaining images of a diagnostic object with the ability to determine the coordinates of any points, for which The image must have at least three points with known coordinates.

The known method [2], based on aerothermographic survey of overhead power lines (VL) of power transmission from a helicopter and including VL survey using a thermal imager, measuring the coordinates of a helicopter, identifying locations of local overheating of VL and fixing the corresponding helicopter coordinates in the diagnostic flight protocol.

The disadvantages of this method are: low efficiency and high complexity, due to the need for the participation of several specialists simultaneously in a non-automated diagnostic process; low accuracy of determining the coordinates of the locations of the identified emergency and pre-emergency states of energy facilities. In addition, this method does not allow you to create and maintain a single database that reflects the evolution of the diagnosed equipment in the context of repeated diagnostics with an accuracy that allows you to identify each object of the overhead line separately.

A known method of remote inspection of electric networks using a thermal imaging device [3], taken as a prototype, according to which a power line is taken from an aircraft (LA) using a thermal imager coupled to a signal receiver of satellite radio navigation systems and an aircraft orientation measuring system, the results shooting, presented in the form of a series of thermal images, is transmitted, stored and processed in a hardware-software complex.

The disadvantage of this method is the impossibility of its use in real time. The known method includes computationally intensive procedures carried out in post-processing: geometric transformation and correlation-extreme analysis of thermal imaging images, searching for points with coordinates known with geodetic accuracy on thermal imaging images.

The basis of the invention is the task of determining in real time the coordinates of thermal images of diagnosed objects of electrical networks in a remote mode, without the use of operations: geometric transformation and correlation-extreme analysis of thermal images, search for points with known geodetic precision coordinates on thermal images.

The problem is solved in that in the method of remote inspection of electric network objects, by which the electrical network is taken from the aircraft using a thermal imager coupled with a signal receiver of satellite radio navigation systems and with an aircraft orientation measuring system, the survey results are presented as a series of thermal images are transferred to a software and hardware complex, according to the invention, simultaneously with obtaining a thermal image they measure the flight altitude of the aircraft with an altimeter, calculate the exact coordinates of the aircraft in the differential mode of the satellite radio navigation system, calculate the directional cosines of the vectors from the center points and angles of the thermal imaging image to the center of the camera lens of the thermal imager in the coordinate system associated with the aircraft based on the viewing angles of the thermal imager camera , determine the directional cosines of these vectors in a topocentric coordinate system based on the measured angles the spatial orientation of the aircraft and the rotation matrix, expressed through Euler angles, calculate the distance from the points of the thermal imaging image to the center of the camera lens of the thermal imager based on information about the height of the diagnosed object above the ground, the height of the aircraft, measured by the altimeter, and the previously found values of the directing cosines in the associated with the aircraft coordinate system, determine the topocentric coordinates of the center points and the angles of the thermal imaging image on of the newly calculated guide cosines of vectors from the points of the thermal imaging image to the center of the thermal imager camera lens in a topocentric coordinate system and the distances from the points of the thermal imaging image to the center of the thermal imaging camera lens and determine the geographical coordinates of the center and angles of the thermal imaging image in accordance with the expressions:

, $$B_j=lat+\frac{x{n}_{j_x}\cdot 360}{2\pi \cdot Rlat},L_j=lon+\frac{x{n}_{j_y}\cdot 360}{2\pi \cdot Rlon},H_j=h-x{n}_{j_{{}_Z}},gde:\left(\mathrm{one}\right)$$

,

B _j , L _j , H _j - latitude, longitude and height of the j-th point of the thermal image;

lat, lon, h - latitude, longitude, altitude of the aircraft;

Rlat and Rlon are the radii of curvature of the meridional and normal sections of the Earth's ellipsoid;

, $$x{n}_{j_y}$$

, $$x{n}_{j_Z}$$

- найденные топоцентрические координаты j-й точки тепловизионного изображения. $$x{n}_{j_x}$$

, $$x{n}_{j_y}$$

, $$x{n}_{j_Z}$$

- the found topocentric coordinates of the jth point of the thermal image.

The inventive method of remote inspection of electrical networks is illustrated by the attached drawings, in which

figure 1 shows a structural diagram of a possible device for remote inspection of electrical networks to implement the proposed method; figure 2 shows the coordinate system associated with the aircraft; on

figure 3 shows a block diagram of the algorithm of the computing unit that implements the algorithm for remote inspection of electric networks in accordance with the proposed method; figure 4 shows the dependence of the errors in determining the coordinates of the point of the thermal imaging image from the angles of azimuth and roll of the aircraft, obtained as a result of statistical modeling of the proposed method.

The device for remote inspection of electric network facilities contains n navigation satellites 1 ₁ , ..., 1 _n , control and correction station 2 and diagnostic station 3. Control and correction station 2 includes a series-connected first receiving antenna 4 ₁ satellite signals, the first receiver 5 ₁ satellite signals, corrections calculator 6, modulator 7, correction information transmitter 8 and correction information transmitting antenna 9, and also calculator 10 reference values of radio navigation pairs ters, output coupled to the second input of the calculator amendments 6. Diagnostic station 3 comprises series-connected receiving antenna 11 correction information, correction information receiver 12 and a demodulator 13 connected to the corresponding input calculation unit 14. The diagnostic station 3 also includes a series connected second antenna April ₂ satellite signals and the second receiver of satellite signals May _2, series-connected third antenna April ₃ satellite signals and the third satellite receiver May ₃ postglacial signals serially connected fourth antenna ₄ April satellite signals and fourth receiver _{4 May} satellite signals. At the same time, the output of each of these receivers of satellite signals 5 ₂ , 5 ₃ and 5 _{4 is} connected to the corresponding input of the computing unit 14, with its output connected to one of the inputs of the driver 15 of synchronizing signals, the second input of which is connected to the second output of the second receiver 5 ₂ satellite signals and the output is connected to the input of the thermal imager 16, the output of which is connected to the corresponding input of the computing unit 14. To the computing unit 14 is also connected to the altimeter unit 17 and the control and display unit 18.

The proposed method for remote inspection of electrical networks can be implemented as follows.

по каждому из спутников. С первого приемника 5₁ спутниковых сигналов эти значения радионавигационных параметров $${\tilde{R}}_1{}_{(4_1)}-{\tilde{R}}_n{}_{(4_1)}$$

поступают на вход вычислителя поправок 6, второй вход которого соединен с вычислителем 10 эталонных значений радионавигационных параметров, определяющим эталонные значения радионавигационных параметров $$R_1{}_{(4_1)}-R_n{}_{(4_1)}$$

на основе эталонных координат фазового центра первой приемной антенны 4₁ Х_КСЭ, Y_КСЭ, Z_КСЭ и эфемерид X_эф1-X_эфn, Y_эф1-Y_эфn, Z_эф1-Z_эфn каждого из навигационных спутников. Вычислитель поправок 6 вырабатывает значения поправок радионавигационных параметров по каждому из спутников одним из известных методов, например в соответствии с [5]:The ground control and correction station 2 by the first receiving antenna 4 ₁ satellite signals receives signals from navigation satellites 1 ₁ , ..., 1 _n and determines the radio navigation parameters $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{one}})}-{\tilde{R}}_n{}_{({\mathrm{four}}_{\mathrm{one}})}$$

for each of the satellites. From the first receiver 5 ₁ satellite signals, these values of the radio navigation parameters $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{one}})}-{\tilde{R}}_n{}_{({\mathrm{four}}_{\mathrm{one}})}$$

arrive at the input of the amendment calculator 6, the second input of which is connected to the calculator 10 reference values of the radio navigation parameters that defines the reference values of the radio navigation parameters $$R_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{one}})}-R_n{}_{({\mathrm{four}}_{\mathrm{one}})}$$

based on the reference coordinates of the phase center of the first receiving antenna 4 ₁ X _KSE , Y _KSE , Z _KSE and ephemeris X _ef1 -X _efn , Y _ef1 -Y _efn , Z _ef1 -Z _{efn of} each of the navigation satellites. Amendment calculator 6 generates corrections for the radio navigation parameters for each of the satellites using one of the known methods, for example, in accordance with [5]:

, где i - номер навигационного спутника. $$\Delta R_i={\tilde{R}}_i{}_{({\mathrm{four}}_{\mathrm{one}})}-R_i{}_{({\mathrm{four}}_{\mathrm{one}})}$$

where i is the number of the navigation satellite.

From the output of the corrections calculator 6, the signals containing information about the satellite number, time of reception of the navigation signal, corrections to the radio navigation parameters to each satellite ΔR ₁ -ΔR _n , are fed to the modulator 7. From the output of the modulator 7, the signals are transmitted to the transmitter 8 of the correction information, where they are converted, amplified and radiated into space by the transmitting antenna 9 corrective information.

Diagnostic station 3, located on board the aircraft, the receiving antenna 11 corrective information receives the signals of the control and correction station 2. These signals are fed to the input of the receiver 12 corrective information, which amplifies, converts and extracts the signals of the control and correction station 2. From the output of the receiver 12 of the correcting information, these signals are input to the demodulator 13, which extracts from the signals information about the satellite number, signal reception time, and corrections of the radio navigation parameters R ₁ -ΔR _n, the generated correction calculator 6 corrective control station 2. The output of the demodulator 13, this information is supplied to the computing unit 14.

, $${\tilde{R}}_1{}_{(4_3)}-{\tilde{R}}_n{}_{(4_3)}$$

и $${\tilde{R}}_1{}_{(4_4)}-{\tilde{R}}_n{}_{(4_4)}$$

- c выхода второго 5₂, третьего 5₃ и четвертого 5₄ приемников спутниковых сигналов информация о номерах спутников, времени приема сигналов и значениях радионавигационных параметров $${\tilde{R}}_1{}_{(4_2)}-{\tilde{R}}_n{}_{(4_2)}$$

, $${\tilde{R}}_1{}_{(4_3)}-{\tilde{R}}_n{}_{(4_3)}$$

и $${\tilde{R}}_1{}_{(4_4)}-{\tilde{R}}_n{}_{(4_4)}$$

поступает в вычислительный блок 14, который выполняет коррекцию радионавигационных параметров $${\tilde{R}}_1{}_{(4_2)}-{\tilde{R}}_n{}_{(4_2)}$$

, $${\tilde{R}}_1{}_{(4_3)}-{\tilde{R}}_n{}_{(4_3)}$$

и $${\tilde{R}}_1{}_{(4_4)}-{\tilde{R}}_n{}_{(4_4)}$$

, измеренных вторым 5₂, третьим 5₃ и четвертым 5₄ приемниками спутниковых сигналов, одним из известных методов, например в соответствии с [5]:At the same time, the signals of navigation satellites 1 ₁ , ..., 1 _n are received by the second 4 ₂ , third 4 ₃ and fourth 4 ₄ receiving antennas of satellite signals. The second 5 ₂ , the third 5 ₃ and the fourth 5 ₄ receivers of satellite signals determine the radio navigation parameters $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_2)}-{\tilde{R}}_n{}_{({\mathrm{four}}_2)}$$

, $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_3)}-{\tilde{R}}_n{}_{({\mathrm{four}}_3)}$$

and $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{four}})}-{\tilde{R}}_n{}_{({\mathrm{four}}_{\mathrm{four}})}$$

- from the output of the second 5 ₂ , third 5 ₃ and fourth 5 ₄ receivers of satellite signals, information on satellite numbers, signal reception time and values of radio navigation parameters $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_2)}-{\tilde{R}}_n{}_{({\mathrm{four}}_2)}$$

, $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_3)}-{\tilde{R}}_n{}_{({\mathrm{four}}_3)}$$

and $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{four}})}-{\tilde{R}}_n{}_{({\mathrm{four}}_{\mathrm{four}})}$$

enters the computing unit 14, which performs the correction of radio navigation parameters $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_2)}-{\tilde{R}}_n{}_{({\mathrm{four}}_2)}$$

, $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_3)}-{\tilde{R}}_n{}_{({\mathrm{four}}_3)}$$

and $${\tilde{R}}_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{four}})}-{\tilde{R}}_n{}_{({\mathrm{four}}_{\mathrm{four}})}$$

measured by the second 5 ₂ , third 5 ₃ and fourth 5 ₄ satellite receivers, one of the known methods, for example, in accordance with [5]:

, $$R_{i(4_3)}={\tilde{R}}_i{}_{(4_3)}+\Delta R_i$$

, $$R_{i(4_4)}={\tilde{R}}_i{}_{(4_4)}+\Delta R_i$$

. $$R_{i({\mathrm{four}}_2)}={\tilde{R}}_i{}_{({\mathrm{four}}_2)}+\Delta R_i$$

, $$R_{i({\mathrm{four}}_3)}={\tilde{R}}_i{}_{({\mathrm{four}}_3)}+\Delta R_i$$

, $$R_{i({\mathrm{four}}_{\mathrm{four}})}={\tilde{R}}_i{}_{({\mathrm{four}}_{\mathrm{four}})}+\Delta R_i$$

.

, $$R_1{}_{(4_3)}-R_n{}_{(4_3)}$$

и $$R_1{}_{(4_4)}-R_n{}_{(4_4)}$$

, которые используют для вычисления точных координат второй 4₂, третьей 4₃ и четвертой 4₄ приемных антенн спутниковых сигналов по одному из известных алгоритмов, приведенных, например в [5].As a result of this correction, the exact values of the radio navigation parameters are obtained. $$R_{\mathrm{one}}{}_{({\mathrm{four}}_2)}-R_n{}_{({\mathrm{four}}_2)}$$

, $$R_{\mathrm{one}}{}_{({\mathrm{four}}_3)}-R_n{}_{({\mathrm{four}}_3)}$$

and $$R_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{four}})}-R_n{}_{({\mathrm{four}}_{\mathrm{four}})}$$

which are used to calculate the exact coordinates of the second 4 ₂ , third 4 ₃ and fourth 4 ₄ receiving antennas of satellite signals according to one of the known algorithms given, for example, in [5].

и $$R_1{}_{(4_2)}-R_1{}_{(4_4)},\dots ,R_n{}_{(4_2)}-R_n{}_{(4_4)}$$

, например, по алгоритму, приведенному на стр.206-208 в [5].Receiving antennas 4 ₂ , 4 ₃ and 4 ₄ satellite signals are located on the diagnostic aircraft, which allows you to determine the angle kr of rotation around the axis OX ^b - roll, elevation angle um of rotation around the axis OY ^b - trim, azimuth angle az of rotation around the axis OZ ^b - directional angle for differences in radio navigation parameters $$R_{\mathrm{one}}{}_{({\mathrm{four}}_2)}-R_{\mathrm{one}}{}_{({\mathrm{four}}_3)},...,R_n{}_{({\mathrm{four}}_2)}-R_n{}_{({\mathrm{four}}_3)}$$

and $$R_{\mathrm{one}}{}_{({\mathrm{four}}_2)}-R_{\mathrm{one}}{}_{({\mathrm{four}}_{\mathrm{four}})},...,R_n{}_{({\mathrm{four}}_2)}-R_n{}_{({\mathrm{four}}_{\mathrm{four}})}$$

, for example, according to the algorithm given on pages 206-208 in [5].

After calculating the exact coordinates and angles of spatial orientation of the aircraft from the computing unit 14, a control signal is issued to the driver of the synchronizing signals 15.

From the second output of the second receiver 5 ₂ satellite signals, the reference frequency, for example 10 MHz, is supplied to the input of the synchronization signal generator 15, as proposed in [5], from which the necessary signals are generated with frequencies that synchronize the operation of the imager 16 with the computing unit 14. Block a thermal imager 16, the output of which is connected to the corresponding input of the computing unit 14, is used to diagnose objects of electrical networks.

From the output of the altimeter block 17, information about the current flight altitude dh of the aircraft above the ground dh is fed to the input of computing unit 14. Then, based on the received coordinates of the receiving antenna 4 ₂ satellite signals, azimuth angles, location and roll of the aircraft, aircraft altitude dh above the ground using the specified viewing angles of the thermal imager ax and ay, the coordinates of the center points and the angles of the thermal imaging image are calculated.

To perform these calculations can be used associated with the aircraft rectangular coordinate system (SC), shown in figure 2. The beginning of this SC corresponds to the center of the camera lens of the thermal imager, and its axes form the right coordinate system (the axis OX ^{b is} directed along the longitudinal axis of the aircraft forward, the axis OY ^{b is} directed to the right, the axis OZ ^{b is} directed vertically downward).

Based on this, the center of the camera lens of the thermal imager is at point O (figure 2) with coordinates (0, 0, 0). In addition, in further calculations it is assumed that the field of view of the camera of the thermal imager is a rectangle, the sides of which are parallel to the axes OX ^b and OY ^b of the coordinate system associated with the aircraft, and the camera of the thermal imager is oriented so that its optical axis coincides with the direction of the axis OZ ^{b of} this SK. In this case, the center of the field of view of the camera of the thermal imager will have coordinates (0, 0, h). The magnitude of the increments of the coordinates dx and dy, shown in figure 2, take the following values:

ax, ay — viewing angles of the camera of the thermal imager in the direction of the longitudinal and transverse axes of its lens, respectively, in the coordinate system associated with the aircraft;

h is the flight altitude of the aircraft.

Then, for five vectors from the center of the camera lens to the points belonging to the center, lower left, upper left, upper right, and lower right corners of the thermal image, respectively, the values of the direction cosines ks ₀ , ..., ks ₄ in the SK associated with LA:

, $$\begin{array}{l}k{\mathrm{<figure-callout\; id="0"\; label="s"\; filenames="00000041.png"\; state="\{\{state\}\}">s</figure-callout>}}_0=\left(\begin{array}{l}0\\ 0\\ \mathrm{one}\end{array}\right),k{s}_{\mathrm{one}}=\left(\begin{array}{l}-dx\\ -dy\\ \sqrt{\mathrm{one}-d{x}^2-d{y}^2}\end{array}\right),k{s}_2=\left(\begin{array}{l}dx\\ -dy\\ \sqrt{\mathrm{one}-d{x}^2-d{y}^2}\end{array}\right),k{s}_3=\left(\begin{array}{l}dx\\ dy\\ \sqrt{\mathrm{one}-d{x}^2-d{y}^2}\end{array}\right),\\ k{s}_{\mathrm{four}}=\left(\begin{array}{l}-dx\\ dy\\ \sqrt{\mathrm{one}-d{x}^2-d{y}^2}\end{array}\right),gde\left(\mathrm{four}\right)\end{array}$$

,

dx and dy are increments (2) of the coordinates of the center points and the angles of the thermal imaging image in the SC associated with the aircraft.

For further calculations, a topocentric SC, which is a three-dimensional rectangular SC with a center located at the point where the center of the camera lens of the thermal imager can be located, can be used. The axes of this SC are directed as follows: the axis OX ^{n is} directed to the North, the axis OY ⁿ is directed to the East, the axis OZ ⁿ is directed down to the center of mass of the Earth.

The transition from the directional cosines of the center points and the angles of the thermal imaging image ks ₀ , ..., ks ₄ (3) in the SC associated with the aircraft, and the azimuth angles az, the position um and the roll kr of the aircraft to the directional cosines kn ₀ , ..., kn ₄ in the topocentric SK is feasible in accordance with the expressions [4]:

C is the rotation matrix [4] expressed in terms of Euler angles:

When performing further calculations, in order to simplify, the Earth’s surface, which is in the field of view of the thermal imager’s camera, is assumed to be flat.

Based on this, the distances r ₀ , ..., r ₄ from the center points and the angles of the thermal imaging image to the center of the camera lens of the thermal imager as a quotient of the heights dh and z - component of each of the directing cosines are defined as:

$${\mathrm{<figure-callout\; id="0"\; label="r"\; filenames="00000041.png"\; state="\{\{state\}\}">r</figure-callout>}}_0=\frac{dh}{k{n}_{0_Z}},r_{\mathrm{one}}=\frac{dh}{k{n}_{{\mathrm{one}}_Z}},...,r_{\mathrm{four}}=\frac{dh}{k{n}_{{\mathrm{four}}_Z}}.\left(6\right)$$

Then the coordinates of the points of the thermal image xn ₀ , ..., xn ₄ in the plane of intersection with the Earth in a topocentric SC represent the product of the distances r ₀ , ..., r ₄ by the corresponding values of the direction cosines:

$$x{\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="00000041.png"\; state="\{\{state\}\}">n</figure-callout>}}_0={\mathrm{<figure-callout\; id="0"\; label="r"\; filenames="00000041.png"\; state="\{\{state\}\}">r</figure-callout>}}_0\cdot \mathrm{<figure-callout\; id="0"\; label="k\; n"\; filenames="00000041.png"\; state="\{\{state\}\}">k\; </figure-callout>}{n}_{}{}_0,x{n}_{\mathrm{one}}=r_{\mathrm{one}}\cdot k{n}_{\mathrm{one}},...,x{n}_{\mathrm{four}}=r_{\mathrm{four}}\cdot k{n}_{\mathrm{four}}.\left(7\right)$$

Recalculation of the obtained topocentric coordinates (7) of the points of the thermal image in the geographical coordinates is carried out on the basis of the relations [4]:

$$B_j=lat+\frac{x{n}_{j_x}\cdot 360}{2\pi \cdot Rlat},L_j=lon+\frac{x{n}_{j_y}\cdot 360}{2\pi \cdot Rlon},H_j=h-x{n}_{j_{{}_Z}},gde:\left(8\right)$$

lat, lon, h - latitude, longitude, aircraft height;

Rlat and Rlon are the radii of curvature of the meridional and normal sections of the Earth's ellipsoid.

The values of Rlat and Rlon are defined as [4]:

$$Rlat=\frac{\mathrm{<figure-callout\; id="0"\; label="R"\; filenames="00000041.png"\; state="\{\{state\}\}">R</figure-callout>}0\cdot (\mathrm{one}-e^2)}{{(\mathrm{one}-e^2\cdot {\sin }^2(lat))}^{\frac{3}{2}}},Rlon=\frac{R0}{(\mathrm{one}-e^2\cdot {\sin }^2(lat)}\cdot \cos (lat),gde\left(9\right)$$

R0 is the equatorial radius of the Earth;

e ² = 2s-s ² is the square of the eccentricity of the Earth's ellipsoid;

s is the geometric compression of the Earth's ellipsoid.

The values of the coordinates of the center points and the angles of the thermal imaging image, calculated in accordance with (8), as well as the thermal imaging image itself, introduced from the thermal imaging unit 16, enter the control and display unit 18 for subsequent display.

Computing unit 14 performs cyclic processing of input information in accordance with the flowchart of FIG. 3.

Computing unit 14 can be implemented on the basis of modern high-speed microprocessors of the Intel family according to the standard structure described, for example, on page 48 in [6].

The technical result of the proposed method is to obtain electronic thermal imaging images of objects of electrical networks having a coordinate reference. Obtaining coordinate-attached thermal imaging images is carried out in real time during the flight of objects of electric networks by aircraft. The determination of the coordinates of the places of damage is carried out on the basis of the coordinates of the points of thermal images with elevated temperature.

Consider a specific example.

Let the thermal imager camera be at the point with coordinates lat = 56 ° 0 'North latitude and lon = 92 ° 0' East longitude at a height h = 400 m above a given ellipsoid, for example, WGS-84. The parameters of the angular orientation of the aircraft: azimuth angle az = -150 °; elevation angle um = -10 °; roll angle kr = -15 °. Viewing angles of the thermal imager camera: ax = 29 °; ay = 22 °. The height of the aircraft above the ground, determined using an altimeter, is dh = 100 m.

The simulation resulted in:

1. The values of the directional cosines (3) of the vectors from the center of the camera lens of the thermal imager to the center points and angles of the thermal imaging image in the coordinate system associated with the aircraft are shown in Table 1.

Table 1 Coordinate value Guide Cosine Values ks ₀ ks ₁ ks ₂ ks ₃ ks ₄ X 0 -0,259 0.259 0.259 -0,259 Y 0 -0.194 -0.194 0.194 0.194 Z one 0.946 0.946 0.946 0.946

2. The values of the directing cosines (4) of the vectors in the topocentric SC given in table 2.

Table 2 Value by Guide Cosine Values coordinate kn ₀ kn ₁ kn ₂ kn ₃ kn ₄ X 0.275 0.394 -0.047 0,126 0.567 Y -0.014 0.162 -0,093 -0.427 -0.172 Z -0.951 0,905 0,995 0.895 0.806

3. The values of the distances (6) from the center points and the angles of the thermal imaging image to the center of the camera lens of the thermal imager are shown in table 3.

Table 3 Distance value, m r ₀ r ₁ r ₂ r ₃ r ₄ 105,125 110.53 100,548 111,675 124,125

4. The values of the topocentric coordinates (7) of the center points and the angles of the thermal image shown in table 4.

Table 4 Coordinate value Values of topocentric coordinates, m xn ₀ xn ₁ xn ₂ xn ₃ xn ₄ X 28,875 43,566 -4,724 14,031 70,351 Y -14,747 17.86 -9,362 -47,691 -21,394 Z one hundred one hundred one hundred one hundred one hundred

5. The values of the geographical coordinates of the center points and the angles of the thermal imaging image (8) are given in table 5.

Table 5 Coordinate value Geographical coordinates BLH ₀ BLH ₁ BLH ₂ BLH ₃ BLH ₄ longitude ° 56,0002593 56,0003913 55,9999576 56,0001260 56,0006318 latitude ° 91,9997636 92,0002862 91,9998499 91,9992356 91,9996571 height, m 300 300 300 300 300

The above calculation results confirm the possibility of determining the coordinates of the center points and the angles of the thermal imaging image based on the measured coordinate values, angular orientation and flight altitude of the aircraft above the Earth.

To estimate the errors in determining the coordinates of the center points and the angles of the thermal imaging image, we used the statistical modeling method based on the processing of 200 independent tests for each point.

In addition, by statistical modeling, the dependence of the standard deviation (RMS) of the error in determining the coordinates of the point of the lower right corner of the thermal imaging image σr on the azimuth angle of the aircraft was calculated for the following values of the roll angle kr = 0 °, 30 °, in accordance with the expression:

$${\sigma }_r=\sqrt{{\sigma }_X^2+{\sigma }_Y^2+{\sigma }_Z^2},gde\left(10\right)$$

σ _X , σ _Y , σ _Z - standard deviation for determining the rectangular topocentric coordinates of the point of the lower right corner of the thermal image.

The calculation is made for the following source data:

- σ _dh = 10 m - standard deviation of the error in determining the height of the aircraft above the ground using an altimeter;

- σ _lat = 0,032 ", σ _lon = 0,058" - the standard deviation of the error in determining the geographical coordinates of the aircraft using a satellite signal receiver (the specified values of _lat and σ _lon correspond to the standard deviation of the error σ = 1 m of determining the coordinates of the aircraft in the horizontal plane);

- σ _h = 10 m - standard deviation of the error in determining the altitude of the aircraft using a satellite signal receiver;

- σ _az = 10 ', σ _um = 20', σ _kr = 20 '- mean square errors in determining the azimuth, elevation and roll of the aircraft;

- z = 200 - the number of statistical tests in each given value of the azimuth of the aircraft.

The dependences of the standard deviation of the error in determining the coordinates of the point of the lower right corner of the thermal imaging image σ _r (10) from the azimuth of the aircraft in the range 0 ° -360 ° for two roll values of the aircraft 0 ° and 30 ° are shown in Fig. 4. The results obtained show that the error in determining the coordinates of a given point of a thermal image does not exceed 15 m.

Similar results were obtained for the remaining points of the thermal imaging image.

The resulting error in determining the coordinates of places of local damage to electrical network facilities is sufficient to localize the damage and carry out high-quality diagnostics.

Thus, the proposed method for remote examination of objects of electric networks, in contrast to the known method, provides for the determination in real time of the coordinates of thermal images of diagnosed objects of electric networks in a remote mode.

Literature

1. Pat. 2381518 Russian Federation. Device for determining the coordinates of underwater objects / Valikhanov M.M., Aleshechkin A.M., Kokorin V.I. // Publ. 2010, Bull. Number 4.

2. RD 153-34.0-20.363-99. Methods of infrared diagnostics of electrical equipment and VL., 2000.

3. Pat. 2258204 Russian Federation. A method for remote inspection of energy networks using a thermal video device / Kuznetsov A.E., Kalyuzhny V.I., Kovalev A.O., Efremov I.F., Gektin Yu.M. // Publ. 08/10/2005, Bull. Number 22.

4. Groves, P. Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems [Text] / P.D. Groves. - Boston, London .: Artech House, 2008 .-- 507 c.

5. Shebshaevich B.C. Network satellite radio navigation systems / B.C. Shebshaevich, P.P. Dmitriev, N.V. Ivantsevich; Ed. B.C. Shebshaevich. - M .: Radio and communication. 1993.

6. Intel microprocessors: 8086/8088, 80186/80188, 80286, 80386, 80486, Pentium, Pentium Pro Processor, Pentium II, Pentium III, Pentium 4. Architecture, programming and interfaces. Sixth Edition: Per. from English - SPb .: BHV-Petersburg, 2005, 1328 s: ill.

7. Rules for the installation of electrical installations PUE, 7th ed. Chapter 2.5.

Claims (1)

A method for remote inspection of objects of electric networks, by which electrical networks are taken from an aircraft using a thermal imager coupled to a signal receiver of satellite radio navigation systems and an aircraft orientation measuring system, the survey results presented in the form of a series of thermal imaging images are transmitted to a hardware-software complex, characterized in that at the same time as obtaining a thermal image, a flight altitude measurement is performed the instrument with an altimeter, calculate the exact coordinates of the aircraft in the differential mode of the satellite radio navigation system, calculate the directional cosines of the vectors from the center points and angles of the thermal imaging image to the center of the camera lens of the thermal imager in the coordinate system associated with the aircraft based on the viewing angles of the thermal imager camera, determine the directional cosines of these vectors in a topocentric coordinate system based on measured spatial orientation angles of the apparatus and the rotation matrix, expressed through Euler angles, calculate the distance from the points of the thermal imaging image to the center of the camera lens of the thermal imager based on information about the height of the diagnosed object above the ground, the height of the aircraft, measured by the altimeter, and previously found values of the direction cosines in the associated the coordinate system, determine the topocentric coordinates of the center points and the angles of the thermal image based on the calculated cosine guides vectors by thermal imager to image points the camera lens center topocentric system of coordinates and the distances from the points of thermal image from the camera lens center and the thermal determined geographical coordinates of the center and corners of a thermal image according to the expressions:
$$B_j=lat+\frac{x{n}_{j_x}\cdot 360}{2\pi \cdot Rlat},L_j=lon+\frac{x{n}_{j_y}\cdot 360}{2\pi \cdot Rlon},H_j=h-x{n}_{j_{{}_Z}},$$

where B _j , L _j , H _j - latitude, longitude and height of the j-th point of the thermal image;
lat, lon, h - latitude, longitude, altitude of the aircraft;
Rlat and Rlon are the radii of curvature of the meridional and normal sections of the Earth's ellipsoid;
$$x{n}_{j_x}$$

, $$x{n}_{j_y}$$

, $$x{n}_{j_Z}$$

- the found topocentric coordinates of the jth point of the thermal image.

Images