CN112565343A - Substation operation track management and control method based on millimeter wave radar fusion video analysis - Google Patents
Substation operation track management and control method based on millimeter wave radar fusion video analysis Download PDFInfo
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Abstract
The invention provides a transformer substation operation track management and control method based on millimeter wave radar fusion video analysis, and relates to the technical field of millimeter waves. A transformer substation operation track management and control method based on millimeter wave radar fusion video analysis comprises the following steps: install millimeter wave radar, face identification equipment and siren in the transformer substation, and above-mentioned millimeter wave radar and above-mentioned face identification equipment are used for detecting the preset work area of transformer substation, detect one or more operation personnel's first location data and upload to management terminal through millimeter wave radar, through the identity of one or more operation personnel of face identification equipment discernment and detect one or more operation personnel's second location data, upload one or more operation personnel's identity and above-mentioned second location data to above-mentioned management terminal. The substation operation identity information identification method and the substation operation identity information identification device can identify substation operation identity information and improve the management efficiency of operators.
Description
Technical Field
The invention relates to the technical field of millimeter waves, in particular to a transformer substation operation track control method based on millimeter wave radar fusion video analysis.
Background
The transformer substation belongs to high-risk areas, the operation specialization degree is high, and the requirement on the quality of operating personnel is strict. But the safety accidents of electric power caused by careless carelessness of personnel or weak safety consciousness and non-obeying operation also happen occasionally. With the continuous improvement of the intelligent requirements of the national power grid company on operation and inspection, various management means of state monitoring and front-end perception are more and more. However, the operators in the working area of the transformer substation are not effectively managed all the time, so that the problems that the operation process is not standard and the management of the operators is loose are caused.
Due to the fact that electrical equipment in a substation is numerous and the environment is complex, the monitoring means used nowadays has many defects. For example, a positioning method based on the UWB communication technology has the following defects in the transformer substation personnel track management and control use: (1) a communication link consisting of a communication base station, an identity information tag, equipment and an area point location tag forms multipoint communication to realize positioning, however, to realize total station positioning, intensive substation electrical equipment needs to be transformed one by one, and the arrangement of point locations is intensive, so that the system is complex in structure and very high in cost; (2) the worker has to wear the identity tag and is easy to lose, and the identification accuracy is low. In actual work, the sensor is often difficult to be worn by operators collectively; (3) because the electrical equipment of transformer substation is many, and the circuit is intensive, easily causes to shelter from to UWB communication link communication, consequently can reduce transmission signal intensity to influence positioning accuracy.
In order to solve the problems, some transformer substations install RFID tags on equipment in a mode of positioning through an RFID technology, and actively identify the equipment to position personnel by holding RFID readers with personnel in various countries. The following disadvantages also exist: (1) the RFID tags are arranged on the electrical equipment, the intensive electrical equipment of the transformer substation needs to be transformed one by one, the arrangement points are intensive, the transformation workload is large, and the time and money cost is high; (2) the handheld RFID reader is operated to be close to the equipment for identification and positioning, so that the labor cost of operators is increased; (3) the personnel can not be tracked in real time, and the positioning precision is low.
In summary, there is a need for an operation trajectory management and control method that can facilitate identification of substation operation identity information, improve management efficiency for operators, and reduce cost and is easy to implement.
Disclosure of Invention
The invention aims to provide a transformer substation operation track management and control method based on millimeter wave radar fusion video analysis, which is convenient for identifying transformer substation operation identity information, improves the management efficiency of operation personnel, reduces the cost and is easy to develop.
The embodiment of the invention is realized by the following steps:
the embodiment of the application provides a transformer substation operation track management and control method based on millimeter wave radar fusion video analysis, which comprises the following steps: the millimeter wave radar, the face recognition device and the alarm are arranged in the transformer substation, the millimeter wave radar and the face recognition device are used for detecting a preset working area of the transformer substation, the first positioning data of one or more operators are detected by the millimeter wave radar and uploaded to the management terminal, the identity of one or more operators is identified through the face recognition equipment, the second positioning data of the one or more operators is detected, the identity of the one or more operators and the second positioning data are uploaded to the management terminal, the management terminal judges whether each operator enters the preset working area or not according to the first positioning data and the second positioning data, and judging whether each operator has the access authority according to the identity of each operator entering the preset working area, and controlling the alarm to send out alarm information when the operator does not have the access authority.
In some embodiments of the present invention, the management terminal determines whether each of the operators enters the preset work area by comparing the first positioning data with the second positioning data.
In some embodiments of the present invention, the management terminal obtains identity information of each of the operators through the second positioning data, and determines whether the operator has the access right according to the identity information.
In some embodiments of the invention, the alarm information includes the identity information.
In some embodiments of the present invention, the alarm may send the alarm information by any one or more of sound, text, pictures and lights.
In some embodiments of the present invention, the first positioning data and/or the second positioning data include a distance, a speed, and an angle of each of the workers.
In some embodiments of the present invention, the access right is set according to any one or more of the number of people, the identity, the access time, the staying place and the movement track of the operator.
In some embodiments of the invention, the management terminal performs noise reduction processing on the first positioning data and/or the second positioning data through a kalman filter algorithm and a particle filter algorithm, and then performs comparison.
In some embodiments of the present invention, the management terminal inputs the first positioning data and the second positioning data into an authority data model to determine whether each operator has the access authority.
In some embodiments of the present invention, the authority data model is generated by a plurality of sets of positioning data, each set of the positioning data includes the first positioning data, the second positioning data and marking information for marking whether the operator has the access authority.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
the embodiment of the application provides a transformer substation operation track management and control method based on millimeter wave radar fusion video analysis, which comprises the following steps: the millimeter wave radar, the face recognition device and the alarm are arranged in the transformer substation, the millimeter wave radar and the face recognition device are used for detecting a preset working area of the transformer substation, the first positioning data of one or more operators are detected by the millimeter wave radar and uploaded to the management terminal, the identity of one or more operators is identified through the face recognition equipment, the second positioning data of the one or more operators is detected, the identity of the one or more operators and the second positioning data are uploaded to the management terminal, the management terminal judges whether each operator enters the preset working area or not according to the first positioning data and the second positioning data, and judging whether each operator has the access authority according to the identity of each operator entering the preset working area, and controlling the alarm to send out alarm information when the operator does not have the access authority.
The method and the device are installed in the transformer substation through the millimeter wave radar and the face recognition device and used for detecting the operators in the preset working area of the transformer substation, accuracy is improved, and management of the transformer substation is enhanced; the alarm gives a prompt to the operator, so that the management efficiency of the operation manager is improved; the first positioning data of one or more operators are detected through the millimeter wave radar and uploaded to the management terminal, and the second positioning data of one or more operators are detected through the face recognition equipment and uploaded to the management terminal, so that the management terminal can conveniently check the first positioning data, and the management efficiency of the operators is improved; the identity of the operating personnel is identified through the face identification equipment and uploaded to the management terminal, so that the management efficiency of the operating personnel of the transformer substation is further improved; the first positioning data and the second positioning data are compared through the management terminal, so that whether each operator enters a preset working area or not is determined, the accuracy of data detection of the operators is improved, and the management efficiency is improved; the management terminal judges whether each operator entering the preset working area has the access authority or not through the identity of the operator, so that the standardization and the safety of transformer substation management are improved; when the management terminal judges that the operating personnel do not have the access authority, the alarm is controlled to send alarm information, so that the operating personnel who do not have the access authority in the preset working area are driven, the management of the transformer substation is enhanced, and the management efficiency is improved; compared with the prior art, the method reduces the management cost and is easy to develop.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a transformer substation operation track management and control method based on millimeter wave radar fusion video analysis according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, in this document, the term "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the individual features of the embodiments can be combined with one another without conflict.
Examples
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a transformer substation operation track management and control method based on millimeter wave radar fusion video analysis according to an embodiment of the present application. The transformer substation operation track management and control method based on millimeter wave radar fusion video analysis comprises the following steps: the millimeter wave radar, the face recognition device and the alarm are arranged in the transformer substation, the millimeter wave radar and the face recognition device are used for detecting a preset working area of the transformer substation, the first positioning data of one or more operators are detected by the millimeter wave radar and uploaded to the management terminal, the identity of one or more operators is identified through the face recognition equipment, the second positioning data of the one or more operators is detected, the identity of the one or more operators and the second positioning data are uploaded to the management terminal, the management terminal judges whether each operator enters the preset working area or not according to the first positioning data and the second positioning data, and judging whether each operator has the access authority according to the identity of each operator entering the preset working area, and controlling the alarm to send out alarm information when the operator does not have the access authority.
In detail, the millimeter wave radar is a sensor which can distinguish and identify very small targets and can identify a plurality of targets at the same time; the radar has the advantages of imaging capability, small size, good maneuverability and concealment, and strong survival capability on a battlefield, and can select a single-chip millimeter-wave radar during use. In detail, the face recognition apparatus is used to recognize one or more operators, and the face recognition apparatus is any one conventionally selected in the art and need not be described in detail herein. In detail, the preset working area is a working area for monitoring in the substation. The detection range of the millimeter wave radar and the detection range of the face recognition device both comprise preset working areas. In detail, the first positioning data is positioning information of one or more operators located in a preset work area, which may include speed, distance, and angle of each target person. The second positioning data is positioning information of one or more operators in a preset working area, wherein an imaging picture of the preset working area can be collected through the face recognition device, and different target characters can be recognized according to the imaging picture. And the face recognition device can detect the identities of one or more operators in the imaging picture so as to detect the second positioning data of different operators. In detail, the millimeter wave radar and the face recognition device can be in communication connection with the management terminal through any conventional mode such as a network and a Bluetooth mode, so that the millimeter wave radar uploads first positioning data to the management terminal, and the face recognition device uploads detected second positioning data and identities of one or more operating personnel to the management terminal. In detail, after the management terminal compares the first positioning data with the second positioning data, the corresponding positioning information of each operator is obtained according to the same or similar data in the first positioning data and the second positioning data, so that whether the operator enters the preset working area is judged more accurately. The management terminal identifies the identity of each operator through the face recognition device, and therefore whether different operators have access authority or not is judged according to the identity of each operator.
Optionally, the management terminal compares the first positioning data with the second positioning data, so as to screen out error data in the first positioning data and the second positioning data, and obtain a more accurate detection result. Optionally, the management terminal may exclude data that is not included in the target person and is identified in the second positioning data by the identity of the operator identified by the face identification device, so as to improve the accuracy of detecting the operator entering the preset work area.
The mode of identifying the identity of the operator by the face recognition device is any one conventionally selected in the prior art, and is not particularly limited herein. Optionally, the management terminal stores content indicating whether each operator has access authority. Optionally, the management terminal stores an operator with access right, and when the identity of the operator identified by the face recognition device does not belong to the stored operator, the operator is determined not to have access right. Optionally, the management terminal compares whether data in the first positioning data and the second positioning data are the same or not through changes of the first positioning data and the second positioning data, so as to judge whether detection results of the first positioning data and the second positioning data to each operator are accurate or not. Optionally, when the results of different operators detected in the first positioning data and the second positioning data are different or the error is large, one of the first positioning data and the second positioning data is manually selected as the currently detected positioning information of the operator. Optionally, the first positioning data or the second positioning data with higher detection frequency in the millimeter wave radar and the face recognition device are selected as the positioning information of the currently detected operator, and the positioning information is used as a basis for judging whether the operator enters a preset working area. In detail, the control terminal can be connected with the alarm in a communication way through a network, Bluetooth, a wire and the like, so that the alarm is controlled to send out alarm information by using signals. Optionally, the content of the alarm information may be sent to the alarm through the control terminal.
According to the scheme, the working personnel in the preset working area are respectively detected through the millimeter wave radar and the face recognition equipment, and the identities of different working personnel are recognized through the face recognition equipment, so that the standard management of the access of the working personnel in the preset working area is facilitated; comparing first positioning data detected by the millimeter wave positioning data with second positioning data detected by the face recognition device through the management terminal, so as to obtain a more accurate detection result; the management terminal judges whether the operating personnel have access permission or not according to the identities of different operating personnel identified by the face identification equipment, so that the management efficiency of the transformer substation is improved.
In some embodiments of the present invention, the management terminal obtains identity information of each of the operators through the second positioning data, and determines whether the operator has the access right according to the identity information.
In detail, the management terminal obtains the identity information of the operator identified by the face identification device through the second positioning data, so as to judge whether the operator has the access right according to the identity information. The specific process of determining whether the operator has the access right by the identity information is described above, and therefore, the description is not repeated. The identity information may be any kind of characteristic information used for identifying the identity of a worker, such as an employee number, an identity card number, and the like, which can identify the content entered by different workers as an identity according to a face recognition technology.
In some embodiments of the invention, the alarm information includes the identity information.
In detail, the alarm information contains identity information, so that the alarm reminds a manager or an operator of the transformer substation by using the identity information, and the operator of the transformer substation is conveniently subjected to standard management. Optionally, the alarm information includes the first positioning data or the second positioning data, so that the worker who does not have the access right is effectively reminded and expelled through the geographical position of the worker.
In some embodiments of the present invention, the alarm may send the alarm information by any one or more of sound, text, pictures and lights.
In detail, the alarm can remind the manager or the operator in any one or more modes of sound, characters, pictures and light, and therefore the warning effect and the management efficiency are improved. The device using any one or more of sound, text, pictures and light can be a display, a buzzer, a loudspeaker, an LED lamp or other warning devices.
In some embodiments of the present invention, the first positioning data and/or the second positioning data include a distance, a speed, and an angle of each of the workers.
In detail, the first positioning data and/or the second positioning data comprise the distance, the speed and the angle of each operator, so that the positioning information of one or more operators is obtained, the identified different target persons can be conveniently corresponded, and a more accurate result of the operator can be obtained.
In some embodiments of the present invention, the access right is set according to any one or more of the number of people, the identity, the access time, the staying place and the movement track of the operator.
In detail, the access authority is set according to any one or more of the number of people, the identity, the access time, the stay place and the motion track of the operating personnel, so that the multiple access authorities of different operating personnel are respectively set through the management terminal, and the management efficiency of the management terminal is further improved. Wherein, the number of workers can be respectively detected and identified through millimeter wave radar and face recognition equipment, thereby uploading the management terminal through first positioning data and second positioning data and judging whether the workers meet the specific requirements of entering the authority. Optionally, the identity, the stay location, and the motion trajectory may be obtained by a millimeter wave radar and/or a face recognition device, respectively. Optionally, the management terminal obtains the access time of different operators in and out of the preset working area and the stay time in the preset working area through the first positioning data and the second positioning data. Optionally, the staying time duration may be the staying time duration when each operator is located in different places in the preset working area, which is obtained according to the motion trajectories of the different operators by obtaining the motion trajectories of the different operators through the first positioning data and the second positioning data.
In some embodiments of the invention, the management terminal performs noise reduction processing on the first positioning data and/or the second positioning data through a kalman filter algorithm and a particle filter algorithm, and then performs comparison.
In detail, the management terminal denoises the first positioning data and/or the second positioning data through a Kalman filtering algorithm and a particle filtering algorithm, so that error data are screened out, and the result of detection workers can be more accurate. Optionally, the unprocessed first positioning data and the unprocessed second positioning data are respectively obtained through different positioning data models to obtain the accurate first positioning data or the accurate second positioning data. Wherein, the positioning data model obtains through the multiunit positioning data, and every group positioning data all contains the first positioning data through millimeter wave radar detection or the second positioning data through face identification equipment detection to and the first positioning data or the second positioning data through Kalman filtering algorithm and particle filter algorithm noise reduction, thereby first positioning data or the second positioning data after the second positioning data input positioning data model before will handling can output noise reduction.
In some embodiments of the present invention, the management terminal inputs the first positioning data and the second positioning data into an authority data model to determine whether each operator has the access authority.
In detail, the authority data model is used for confirming different groups of first positioning data and second positioning data to obtain the result of whether different operators have access authority or not. Optionally, the input first positioning data and the second positioning data are data subjected to noise reduction processing by the positioning data model. The first positioning data and the second positioning data both contain positioning information of one or more operators in a preset working area. Optionally, whether each operator has each entry authority or not can be judged according to multiple items of data of different operators obtained from the first positioning data and the second positioning data, so that big data analysis is realized through an authority data model, and a result that whether each operator entering a preset working area has the entry authority or not is judged more accurately by the management terminal.
In some embodiments of the present invention, the authority data model is generated by a plurality of sets of positioning data, each set of the positioning data includes the first positioning data, the second positioning data and marking information for marking whether the operator has the access authority.
In detail, the authority data model is obtained by machine learning through a plurality of groups of first positioning data, second positioning data and mark information, so that the mark information for judging whether the operator has the access authority can be obtained through the first positioning data and the second positioning data of different operators. When the millimeter wave radar and the face recognition device detect a plurality of operating personnel, the management terminal obtains the identities of the operating personnel through the face recognition device, and therefore the authority data model is used for analyzing the first positioning data and the second positioning data of different operating personnel respectively, and whether the operating personnel have the access authority or not is judged. Through big data analysis, the accuracy of monitoring the operating personnel in the preset working area is improved, and the management standardization of the operating personnel is further improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowcharts in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the flowchart illustrations, and combinations of blocks in the flowchart illustrations, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or by combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
To sum up, the transformer substation operation track management and control method based on millimeter wave radar fusion video analysis provided by the embodiment of the application comprises the following steps:
the system is installed in the transformer substation through the millimeter wave radar and the face recognition equipment and used for detecting operating personnel in a preset working area of the transformer substation, so that the accuracy is improved, and the management of the transformer substation is enhanced; the alarm gives a prompt to the operator, so that the management efficiency of the operation manager is improved; the first positioning data of one or more operators are detected through the millimeter wave radar and uploaded to the management terminal, and the second positioning data of one or more operators are detected through the face recognition equipment and uploaded to the management terminal, so that the management terminal can conveniently check the first positioning data, and the management efficiency of the operators is improved; the identity of the operating personnel is identified through the face identification equipment and uploaded to the management terminal, so that the management efficiency of the operating personnel of the transformer substation is further improved; the first positioning data and the second positioning data are compared through the management terminal, so that whether each operator enters a preset working area or not is determined, the accuracy of data detection of the operators is improved, and the management efficiency is improved; the management terminal judges whether each operator entering the preset working area has the access authority or not through the identity of the operator, so that the standardization and the safety of transformer substation management are improved; when the management terminal judges that the operating personnel do not have the access authority, the alarm is controlled to send alarm information, so that the operating personnel who do not have the access authority in the preset working area are driven, the management of the transformer substation is enhanced, and the management efficiency is improved; compared with the prior art, the method reduces the management cost and is easy to develop.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A transformer substation operation track management and control method based on millimeter wave radar fusion video analysis is characterized by comprising the following steps: installing a millimeter wave radar, a face recognition device and an alarm in a transformer substation, wherein the millimeter wave radar and the face recognition device are used for detecting a preset working area of the transformer substation, the first positioning data of one or more operators are detected by the millimeter wave radar and uploaded to the management terminal, the identity of one or more operators is identified through the face recognition equipment, second positioning data of the one or more operators is detected, the identity of the one or more operators and the second positioning data are uploaded to the management terminal, the management terminal judges whether each operator enters the preset working area or not according to the first positioning data and the second positioning data, and judging whether each operator has the access authority according to the identity of each operator entering the preset working area, and controlling the alarm to send out alarm information when the operator does not have the access authority.
2. The method for managing and controlling the operation track of the transformer substation through the millimeter wave radar fusion video analysis according to claim 1, wherein the management terminal judges whether each operator enters the preset working area by comparing the first positioning data with the second positioning data.
3. The method for managing and controlling the operation track of the transformer substation through the millimeter wave radar fusion video analysis according to claim 1, wherein the management terminal obtains identity information of each operator through the second positioning data, and judges whether the operator has the access right according to the identity information.
4. The method for managing and controlling the operation track of the transformer substation through the millimeter wave radar fusion video analysis according to claim 3, wherein the alarm information comprises the identity information.
5. The method for managing and controlling the operation track of the transformer substation through the millimeter wave radar fusion video analysis according to claim 1, wherein the alarm gives out the alarm information through any one or more of sound, characters, pictures and light.
6. The method for managing and controlling the operation track of the substation through millimeter wave radar fusion video analysis according to claim 1, wherein the first positioning data and/or the second positioning data comprise a distance, a speed and an angle of each operator.
7. The method for managing and controlling the operation track of the transformer substation through the millimeter wave radar fusion video analysis according to claim 1, wherein the access authority is set according to any one or more of the number of workers, the identity of the workers, the access time, the stay duration, the stay place and the motion track.
8. The method for managing and controlling the operation track of the transformer substation through the millimeter wave radar fusion video analysis according to claim 1, wherein the management terminal performs noise reduction processing on the first positioning data and/or the second positioning data through a Kalman filtering algorithm and a particle filtering algorithm and then performs comparison.
9. The method for managing and controlling the operation track of the transformer substation through millimeter wave radar fusion video analysis according to claim 1, wherein the management terminal inputs the first positioning data and the second positioning data into an authority data model to confirm whether each operator has the access authority.
10. The method for managing and controlling the operation track of the transformer substation through millimeter wave radar fusion video analysis according to claim 1, wherein the authority data model is generated through a plurality of sets of positioning data, and each set of the positioning data includes the first positioning data and the second positioning data of different operators and mark information for marking whether the operators have the access authority.
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