JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE) ›› 2026, Vol. 61 ›› Issue (5): 46-54.doi: 10.6040/j.issn.1671-9352.0.2025.169

Previous Articles     Next Articles

Virtual-real fusion and precise positioning method for underground cables based on augmented reality devices

  

  1. 1. Huizhou Power Supply Bureau of Guangdong Power Grid Co., Ltd., Huizhou 516000, Guangdong, China;
    2. Electric Power Science Research Institute of Guangdong Power Grid Co., Ltd., Guangzhou 510000, Guangdong, China
  • Published:2026-05-15

PDF (PC)

27

Abstract: A virtual-real fusion and precise positioning method is proposed based on augmented reality devices. Through multi-sensor environmental perception technology, a three-dimensional model of the cable tunnel and three-dimensional coordinate acquisition are constructed, and real-time information on the direction, position, and operating status of the head(equipment)are obtained. By using simultaneous localization and mapping(SLAM)technology, real-time construction and updating of environmental maps can be achieved and obtained the location of virtual content and human-computer interaction. By optimizing the differential positioning technology of the global navigation satellite system(GNSS), the stability and accuracy of the SLAM system and the positioning accuracy are improved. The experimental result is shown that the positioning error of the proposed method described in the article does not exceed 10 cm, indicating good practicality.

Key words: underground cables, augmented reality, virtual real fusion, laser point cloud, differential positioning

CLC Number: 

  • TP391
[1] 王育红. 城市地下综合管廊监测与预警系统研究及应用[D]. 西安:西安建筑科技大学,2017. WANG Yuhong. Research and application of urban underground utility tunnel monitoring and warning system[D]. Xian: Xian University of Architecture and Technology, 2017.
[2] 王超,史江凌,王朝凤,等. 基于AR眼镜的地下线缆透视式巡检技术研究[J]. 电力系统装备,2019(16):224-226. WANG Chao, SHI Jiangling, WANG Chaofeng, et al. Research on perspective inspection technology of underground cable based on ar glasses [J]. Electric Power System Equipment, 2019(16):224-226.
[3] 程晓宇. BIM技术在地下综合管廊工程中的应用研究[D]. 太原:太原理工大学,2021. CHENG Xiaoyu. Research on the application of BIM technology in the project of underground integrated pipe gallery[D]. Taiyuan: Taiyuan University of Technology, 2021.
[4] 柏东辉,吴建杰. 基于GPS差分定位的变电站电磁干扰位置识别[J]. 电子设计工程,2024,32(20):40-43. BAI Donghui, WU Jianjie. Identification of EMI location in substation based on GPS differential positioning [J]. Electronic Design Engineering, 2024, 32(20):40-43.
[5] 广东电网有限责任公司,广东电网有限责任公司河源供电局. 一种电缆的定位方法、装置、计算机设备和存储介质: CN202110127278.5[P]. 2021-05-28. Guangdong Power Grid Corporation, Heyuan Power Supply Bureau of Guangdong Power Grid Corporation. A cable positioning method, device, computer equipment, and storage medium: CN202110127278.5 [P]. 2021-05-28.
[6] 国网河北省电力有限公司石家庄供电分公司,国家电网有限公司,石家庄铁道大学. 一种基于PDR、UWB和地图匹配的电缆隧道定位方法:CN202311690350.0[P]. 2024-04-12. State Grid Hebei Electric Power Co., Ltd., Shijiazhuang Power Supply Branch, State Grid Corporation of China, Shijiazhuang Railway University. A cable tunnel positioning method based on PDR, UWB, and map matching: CN202311690350.0[P]. 2024-04-12.
[7] 张煜,张寒,王晓东,等. 基于电阻法的智能型电缆故障自动定位装置的研发[J]. 电工技术,2023(12):98-100. ZHANG Yu, ZHANG Han, WANG Xiaodong, et al. Research and development of intelligent automatic cable fault location device based on resistance method [J]. Electric Engineering, 2023(12):98-100.
[8] 张旭鹏. “UWB+PDR”联合支持下的井下定位系统研究[J]. 自动化应用,2025,66(8):99-102. ZHANG Xupeng. Research on underground positioning system jointly supported by "UWB+PDR" [J]. Automation Application, 2025, 66(8):99-102.
[9] 彭政,尹自力,陈紫琦. 基于BIM+AR技术的智慧变电运行辅助巡检系统优化方法研究[J]. 电工材料,2023(2):4-6. PENG Zheng, YIN Zili, CHEN Ziqi. Research on optimization methods of smart substation operation auxiliary inspection system Based on BIM+AR technology[J]. Electrical Engineering Materials, 2023(2):4-6.
[10] 邵斌,郭利强,贺杰,等. 矿用脉冲激光测距系统研究[J]. 自动化仪表,2023,44(2):17-20. SHAO Bin, GUO Liqiang, HE Jie, et al. Research on mining pulsed laser distance measurement system [J]. Process Automation Instrumentation, 2023, 44(2):17-20.
[11] 王凯,刘鹏飞. 城市级地下管网BIM建设及应用[J]. 测绘通报,2022(11):132-134. WANG Kai, LIU Pengfei. BIM construction and application of urban underground pipe network [J]. Bulletin of Surveying and Mapping, 2022(11):132-134.
[12] 高雅真. 面向高分辨率激光扫描点云的图像色彩界面交互配色设计研究[J]. 激光杂志,2024,45(8):159-163. GAO Yazhen. Research on interactive color matching design of image color interface for high resolution laser scanning point cloud [J]. Laser Journal, 2024, 45(8):159-163.
[13] 李杰,高树功,雷东. 基于AR的变电站设备实体信息获取流程优化系统[J]. 现代电子技术,2022,45(2):129-134. LI Jie, GAO Shugong, LEI Dong. AR-based process optimization system for substation equipment entity information acquisition [J]. Modern Electronics Technique, 2022, 45(2):129-134.
[14] 袁鹏程,何健安. 基于深度传感器的监控技术与算法[J]. 传感器与微系统,2019,38(3):134-136. YUAN Pengcheng, HE Jianan. Monitoring technology and algorithm based on depth sensor [J]. Transducer and Microsystem Technologies, 2019, 38(3):134-136.
[15] 周霆威,乔贵方,刘娣,等. 基于IMU在线校准的SLAM精度提升方法研究[J]. 仪表技术与传感器,2024(3):1-5. ZHOU Tingwei, QIAO Guifang, LIU Di, et al. Research on improving accuracy of SLAM based on IMU online calibration [J]. Instrument Technique and Sensor, 2024(3):1-5.
[16] 王智敏,陶宝林,于鹏,等. 基于可穿戴式惯性测量单元的行人室内定位技术[J]. 传感器与微系统,2021,40(1):46-48. WANG Zhimin, TAO Baolin, YU Peng, et al. Indoor positioning technology of pedestrian based on wearable IMU [J]. Transducer and Microsystem Technologies, 2021, 40(1):46-48.
[17] 王嘉琛,叶周润,欧鑫,等. 基于GPU的并行ICP点云配准算法研究[J]. 合肥工业大学学报(自然科学版),2023,46(11):1501-1505. WANG Jiachen, YE Zhourun, OU Xin, et al. Research on GPU based parallel ICP point cloud registration algorithm [J]. Journal of Hefei University of Technology(Natural Science), 2023, 46(11):1501-1505.
[18] 李翔宇,张雪芹. ORBTSDF-SCNet:一种动态场景在线三维重建方法[J]. 华东理工大学学报(自然科学版),2023,49(2):284-294. LI Xiangyu, ZHANG Xueqin. ORBTSDF-SCNet: an online 3D reconstruction method for dynamic scene[J]. Journal of East China University of Science and Technology, 2023, 49(2):284-294.
[19] 史西兵,赵政文. 移动物联网负载终端坐标动态转换算法[J]. 计算机仿真,2021,38(1):247-250. SHI Xibing, ZHAO Zhengwen. Dynamic coordinate transformation algorithm of mobile internet of things load terminal[J]. Computer Simulation, 2021, 38(1):247-250.
[20] 田野,陈宏巍,王法胜,等. 室内移动机器人的SLAM算法综述[J]. 计算机科学,2021,48(9):223-234. TIAN Ye, CHEN Hongwei, WANG Fasheng, et al. Overview of SLAM algorithm for mobile robots[J]. Computer Science, 2021, 48(9):223-234.
[21] 程保喜. GNSS与惯性导航组合系统在复杂环境下的定位研究[J]. 中北大学学报(自然科学版),2021,42(1):89-96. CHENG Baoxi. Research on positioning of GNSS and inertial navigation integrated system in complex environment [J]. Journal of North University of China(Natural Science Edition), 2021, 42(1):89-96.
[22] 李帅鑫,李广云,周阳林,等. 改进的单目视觉实时定位与测图方法[J]. 仪器仪表学报,2017,38(11):2849-2857. LI Shuaixin, LI Guangyun, ZHOU Yanglin, et al. Improved monocular simultaneous localization and mapping soluttion[J]. Chinese Journal of Scientific Instrument, 2017, 38(11):2849-2857.
[23] 祝会忠,范佳宝,李军. 低成本GNSS终端的抗差RTK定位性能研究[J]. 测绘科学,2023,48(12):1-9. ZHU Huizhong, FAN Jiabao, LI Jun. Research on the positioning performance of robust RTK low-cost GNSS terminals [J]. Science of Surveying and Mapping, 2023, 48(12):1-9.
[1] ZHANG Xiaoyuan, TIAN Yi, REN Zihan, DUAN Tianyu, YANG Siyuan, ZHANG Yuexuan. Application of topology neighborhood bases in density clustering algorithm [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(5): 55-64.
[2] . Based on multi-scale feature fusion and improved attention for rusty bolt and nut detection [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(1): 1-14.
[3] ZHONG Shang, MA Li, LIU Wenzhe, LI Yuhao. Lightweight water surface small object detection model with multi-scale attention mechanism and improved feature fusion [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(1): 15-25.
[4] YU Lei, SUN Yi, HUA Jinming, LI Laquan. Analysis of the prediction model based on deep neural networks for mortality risk prediction for sepsis patients in intensive care units [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(1): 26-35.
[5] . Fuzzy mathematical morphology edge detection method derived from general overlap functions [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(1): 36-48.
[6] . Fuzzy rough c-means based on the knowledge measure [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(1): 49-64.
[7] SUN Qing, YE Jun, ZENG Guangcai, SONG Suyang, WANG Yixin. Three-way K-means algorithm combining the bat algorithm and the improved compactness [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(1): 65-75.
[8] ZOU Zheng, LEI Yusheng, LIU Shijian, WANG Dingyi, QIU Xuewei, SHI Wenwen, ZHOU Xiaotong. Precise morphological recognition with zonal micro-direction for termites [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2026, 61(1): 76-84.
[9] Xia LIANG,Jie GUO. A method of online teaching platform selection based on online reviews [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2024, 59(9): 108-118.
[10] Chao LI,Wei LIAO. Chinese disease text classification model driven by medical knowledge [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2024, 59(7): 122-130.
[11] Jie JI,Chengjie SUN,Lili SHAN,Boyue SHANG,Lei LIN. A prompt learning approach for telecom network fraud case classification [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2024, 59(7): 113-121.
[12] Qi LUO,Gang GOU. Multimodal conversation emotion recognition based on clustering and group normalization [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2024, 59(7): 105-112.
[13] Fengxu ZHAO,Jian WANG,Yuan LIN,Hongfei LIN. Probability distribution optimization model for learning to rank [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2024, 59(7): 95-104.
[14] Xingyu HUANG,Mingyu ZHAO,Ziyu LYU. Category-wise knowledge probers for representation learning of graph neural networks [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2024, 59(7): 85-94.
[15] Liang GUI,Yao XU,Shizhu HE,Yuanzhe ZHANG,Kang LIU,Jun ZHAO. Factual error detection in knowledge graphs based on dynamic neighbor selection [J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2024, 59(7): 76-84.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright 2018 © Editorial office of JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE)
Supported by Beijing Magtech Co.Ltd