CN102721401A - Monitoring system and monitoring method for transmission conductor galloping based on GPS - Google Patents

Abstract

The invention discloses a monitoring system and a monitoring method for transmission conductor galloping based on GPS (Global Position System). The monitoring system is characterized in that the monitoring system comprises a satellite signal receiving module, a satellite signal analyzing module, a digital signal processing module, a keyboard and a liquid crystal display module, a GSM (Global System for Mobile Communications) wireless communication module and a power supply management module. According to the monitoring system disclosed by the invention, two GPS antennae are fixed on an insulating string or suspended under a sample conductor; other parts of the monitoring system are respectively fixed on a tower head of a transmission conductor iron tower without influencing a galloping model of the conductor. The monitoring method disclosed by the invention has the advantages of favorable reliability, favorable dynamic performance, high technical level and capability of working all weather.

Description

Wave monitoring system and monitoring method based on the transmission pressure of GPS

The application is: on October 15th, 2010; Application number is: 2010105085116; Denomination of invention is: wave dividing an application of monitoring system and monitoring method based on the transmission pressure of GPS.

Technical field

The present invention relates to wave monitoring system and monitoring method based on the transmission pressure of GPS, particularly introduce synchronous disturbance stochastic approximation SPSA algorithm after, more can satisfy the real-time monitoring that transmission pressure is waved.

Background technology

Transmission pressure is waved and could be caused enormous economic loss and serious social influence, is a global difficult problem! Chinese scholars just began conductor galloping has been carried out a large amount of experiments and theoretical research from the thirties in 20th century, had obtained certain achievement, and it mainly is to adopt following monitoring method that the transmission pressure that uses is at present waved monitoring system:

The computer simulation technique monitoring method, based on sensor technology monitoring method, video image technical monitoring method.The problem that said method exists comprises:

1, the computer simulation technique monitoring only limits to the theoretical research that transmission pressure is waved, and can't in engineering practice, use;

2, clearly based on the shortcoming of sensor technology monitoring; Only on transmission pressure, arrange a fairly large number of sensor; Just can obtain more data, the conductor galloping curve fitting better, and the sensor itself that is arranged on the transmission pressure possibly destroy the conductor galloping model; Become potential safety hazard, poor operability;

3, the image transfer rate of video image technical monitoring is low, the easy distortion of vision signal, bad dynamic performance; Camera is covered by accumulated snow easily, receives night light to influence cisco unity malfunction, can't carry out round-the-clock monitoring to transmission pressure.

Summary of the invention

The present invention is for avoiding above-mentioned existing in prior technology not enough, provides that a kind of realizability is good, dynamic property is good, technical merit is high, the transmission pressure based on GPS that can all weather operations waves monitoring system and monitoring method.

Technical solution problem of the present invention adopts following technical scheme:

The characteristics that the transmission pressure that the present invention is based on GPS is waved monitoring system are to comprise satellite-signal receiver module, satellite-signal parsing module, digital signal processing module, keyboard and LCD MODULE, gsm wireless communication module and power management module;

Said satellite-signal receiver module is made up of the gps antenna A and the gps antenna B that are fixed on the insulator chain or hang under the sample lead, is used to receive the radio-frequency carrier signal from satellite;

Said satellite-signal parsing module is made up of GPS dash receiver A and GPS dash receiver B, is used to resolve the radio-frequency carrier signal from satellite, obtains the carrier phase Ф of satellite, the elevation angle Н of satellite, the position angle Ω of satellite;

Said digital signal processing module is made up of the DSP process chip; Be used to resolve the attitude angle of sample lead L; The mathematical model that the parsing of said attitude angle for sample lead L is based on Phase Double difference observation equation structure sample conductor galloping adopts synchronous disturbance stochastic approximation SPSA arithmetic analysis to go out the attitude angle of sample lead; The attitude angle of said sample lead L is to characterize with sample lead course angle α and sample lead angle of pitch β;

Said keyboard and LCD MODULE are used for respectively importing and show the attitude angle when the sample lead is static; And show the real-time attitude angle of sample lead in real time;

Said gsm wireless communication module is used for sending to monitoring center the real-time attitude angle of sample lead, and said monitoring center carries out the setting of remote parameter to system through said gsm wireless communication module;

Choosing at iron tower of power transmission line tower head one end, one section transmission pressure being between gps antenna A and the gps antenna B is sample lead L.

The characteristics that the transmission pressure that the present invention is based on GPS is waved the monitoring method of monitoring system are:

Definition:

Sample lead L is projected as sample lead projection L ' on surface level;

It is zero degree that sample lead projection L ' is positioned at direct north, is initial with direct north, is sample lead course angle α by eastwards the angle of CW deflection after initial, and said sample lead course angle α is 0～360 degree;

Angle between sample lead L and the sample lead projection L ' is sample lead angle of pitch β, and said sample lead angle of pitch β is-90～+ 90 degree;

Said monitoring method is carried out as follows:

A, set up the mathematical model of sample conductor galloping

Obtain the epoch that one group of pairing moment of satellite carrier signal is a satellite respectively with GPS dash receiver A and GPS dash receiver B;

Suppose that gps antenna A and gps antenna B can both receive the carrier signal of satellite i and satellite j, then GPS dash receiver A and GPS dash receiver B express with the Phase Double difference observation equation shown in the formula (1) the satellite i of synchronization observation and the double-differential carrier phase of satellite j:

${\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}=\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\left]\right\}+N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}}---\left(1\right)$

In the formula (1), l is the sample conductor length, and length range is 1 ~ 3 meter, and λ is the wavelength of radio-frequency carrier, H ⁱAnd H ^jBe respectively satellite i and satellite j elevation angle to the carrier wave plane of sample lead L, Ω ⁱAnd Ω ^jBe respectively satellite i and j position angle to the carrier wave plane of sample lead L, N ^IjBe Phase Double difference integer ambiguity, ε ^IjBe observation noise, and ε ^IjBe that average is zero white Gaussian noise; Therefore, the mathematical expectation of formula (2) is an integer:

$N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}}={\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\left]\right\}---\left(2\right)$

So, the functional value of formula (3) is 1,

$\cos \left[2\mathrm{\π}(N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}})\right]=$ (3)

$\cos \left[2\mathrm{\π}({\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\right]\left\}\right]=1$

In the formula (3), sample lead course angle α and sample lead angle of pitch β are unknown, choose α and β and make equality (3) set up, and then selected α and β value are respectively the sample lead course angle and the sample lead angle of pitch;

Any time, gps antenna can both receive the carrier signal of at least four satellites, and every satellite constantly all sends carrier signal outward, and every satellite all has infinite a plurality of epoch; Choose n satellite, n >=4, and m epoch, m >=4 of each satellite in the selected n satellite, constitute multi-constraint condition, the mathematical model of setting up the sample conductor galloping is suc as formula (4):

$\mathrm{Fitness}(\mathrm{\α},\mathrm{\β})=\underset{h=1}{\overset{m}{\mathrm{\Σ}}}\underset{i=2}{\overset{n}{\mathrm{\Σ}}}\cos [2\mathrm{\π}({\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)---\left(4\right)$

$+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})]\left\}\right]$

B, employing SPSA arithmetic analysis sample lead attitude angle

$F(\mathrm{\α},\mathrm{\β})=-\frac{\mathrm{Fitness}(\mathrm{\α},\mathrm{\β})+m\×(n-1)}{2\×m\×(n-1)}---\left(5\right)$

According to formula (5), make function F (α, β) value reaches minimum one group (α β) is the optimum solution of sample lead attitude angle; Then establish function F (α β) is objective function to be optimized, by following process sample lead attitude angle is optimized:

Attitude angle (α (0) when selected sample lead is static; β (0)), one group of primary iteration point as algorithm is carrying out in the process of synchronous disturbance sample lead attitude angle; Confirm the direction Δ of sample lead course angle α and sample lead angle of pitch β disturbance respectively through (1,1) 2 distributions _k, perturbation amplitude c (k) is:

$c\left(k\right)=\frac{c}{{(k+1)}^{\mathrm{\τ}}}---\left(6\right)$

Wherein, k is the current iterations of algorithm, and the expection iterations of algorithm is NCmax >=10; τ is a constant, rule of thumb gets τ=0.101; C is a constant, is the perturbation amplitude first of sample lead attitude angle, gets c=c (0)=5;

Two target function values after the disturbance are:

F(θ(k)+c(k)×Δ _k)，F(θ(k)-c(k)×Δ _k)

θ (k)=(a (k) β (k)) wherein, the k time iteration point of expression algorithm; By (7) formula

$g\left(k\right)=\frac{F(\mathrm{\θ}\left(k\right)+c\left(k\right)\×{\mathrm{\Δ}}_k)-F(\mathrm{\θ}\left(k\right)-c\left(k\right)\×{\mathrm{\Δ}}_k)}{2\×c\left(k\right)\×{\mathrm{\Δ}}_k}---\left(7\right)$

Obtain the estimation gradient of current sample lead course angle α and sample lead angle of pitch β; Obtain the sample lead course angle α and the sample lead angle of pitch β of next iteration according to formula (8) and formula (9):

$a\left(k\right)=\frac{a}{{(k+A+1)}^{\mathrm{\ρ}}}---\left(8\right)$

Wherein, A is a constant, rule of thumb gets A=expection iterations * 10%; ρ is a constant, gets ρ=0.602; A is a constant;

θ(k+1)=θ(k)-a(k)g(k) (9)

Making θ (1)-θ (0)=μ is a constant, and the expression algorithm is the step-length of iteration for the first time, rule of thumb gets μ=5, and simultaneous (7) (8) (9) three formulas obtain the value of constant a; Iteration point is θ (1)=θ (0)-a (0) * g (0) for the first time;

Continue iteration by formula (7) (8) (9), reach the expection iterations, then stop iteration; The net result of iteration is that sample lead attitude angle is sample lead course angle α and sample lead angle of pitch β.

Compared with present technology, beneficial effect of the present invention is embodied in:

1, realizability of the present invention is good: be fixed on the insulator chain with two gps antennas in the monitoring system, or hang under the sample lead, other part all is fixed on the iron tower of power transmission line tower head in the monitoring system, can not exert an influence to the conductor galloping model;

2, dynamic property of the present invention is good: the SF of GPS receiver is 20 hertz in the monitoring system; And the frequency that transmission pressure is waved is 0.1 ~ 3 hertz; Satisfy the requirement of sampling thheorem far away, the particularly introducing of SPSA algorithm has guaranteed efficient and stability that sample lead attitude angle is resolved more; The real-time monitoring that realization is waved transmission pressure, dynamic property is better;

3, technical merit of the present invention is high: monitoring system adopts the GPS technology to realize the real-time monitoring to conductor galloping; Wherein the parsing of the foundation of sample conductor galloping model and sample lead attitude angle all is accurate process, and fine error appears in arbitrary link all can produce bigger influence to the result; And measurement result precision of the present invention is higher, can realize the real-time monitoring to conductor galloping, has proved absolutely that technical merit of the present invention is high;

4, the present invention can all weather operations: in gps system, the orbit distribution of 24 satellites make we in the whole world Anywhere, can both observe the satellite more than 4 any time, satisfy the required satellite of a monitoring system number among the present invention; Gps antenna receives the influence that satellite carrier signal does not receive accumulated snow, wind and rain and light, can carry out round-the-clock monitoring to transmission pressure.

Description of drawings

Fig. 1 is a system architecture synoptic diagram of the present invention;

Fig. 2 is iron tower of power transmission line and sample lead location synoptic diagram among the present invention;

Fig. 3 is a sample lead attitude measurement principle schematic of the present invention;

Fig. 4 is SPSA algorithm flow chart among the present invention.

Embodiment

Referring to Fig. 1, the transmission pressure based on GPS in the present embodiment is waved monitoring system and is comprised: satellite-signal receiver module, satellite-signal parsing module, digital signal processing module, keyboard and LCD MODULE, gsm wireless communication module and power management module; Wherein,

The satellite-signal receiver module is made up of gps antenna A1 and gps antenna B2, is used to receive the radio-frequency carrier signal from satellite;

The satellite-signal parsing module is made up of GPS dash receiver A and GPS dash receiver B, is used for resolving satellite carrier phase place Ф, satellite altitude angle H, the satellite aximuth Ω of satellite carrier signal;

Digital signal processing module; Form by the DSP process chip; Be used to resolve the attitude angle of sample lead; Be based on the mathematical model of Phase Double difference observation equation structure sample conductor galloping for the parsing of the attitude angle of sample lead, adopt synchronous disturbance stochastic approximation SPSA arithmetic analysis to go out the attitude angle of sample lead; Sample lead attitude angle is to characterize with sample lead course angle α, sample lead angle of pitch β;

Attitude angle when keyboard and LCD MODULE, keyboard are used for importing sample lead static state; Liquid crystal display shows the attitude angle when the sample lead is static, the real-time attitude angle of also real-time simultaneously demonstration sample lead;

The gsm wireless communication module is used for the real-time attitude angle to monitoring center's transmission sample lead, and monitoring center carries out the setting of remote parameter to system through the gsm wireless communication module;

Power management module for other modules of system provide power supply, adopts accumulator and solar panels to be integrated as system's power supply usually.

Definition 1: sample lead L3 is for being positioned at iron tower of power transmission line tower head one end, and one section transmission pressure between gps antenna A1 and the gps antenna B2, sample lead L are projected as sample lead projection L ' on surface level;

Referring to Fig. 2, be iron tower of power transmission line and sample lead location synoptic diagram, include transmission line of electricity 4 and iron tower 5 among the figure, from figure, can find out the particular location of sample lead L3 in whole transmission line of electricity;

Definition 2: sample lead course angle α is that to be positioned at direct north with sample lead projection L ' be zero degree, is initial with direct north, and the angle of deflection is sample lead course angle α in the direction of the clock, and sample lead course angle α is 0～360 degree;

Definition 3: sample lead angle of pitch β is the angle between sample lead L and the sample lead projection L ', and sample lead angle of pitch β's is-90～+ 90 degree;

Characterize sample lead attitude with sample lead course angle α and sample lead angle of pitch β;

Obtain the epoch that one group of pairing moment of satellite carrier signal is a satellite respectively with GPS dash receiver A and GPS dash receiver B;

Referring to Fig. 3; Gps antenna A and gps antenna B are fixed on iron tower of power transmission line tower head one end better rigidity equipment such as the insulator chain; Or through the better rigidity equipment with gps antenna A and gps antenna B hang on sample lead L under, estimate the amplitude of waving of transmission pressure through the attitude angle of resolving sample lead L;

is GPS dash receiver A and the GPS dash receiver B phase differential fractional value to observation satellite i;

is GPS dash receiver A and the GPS dash receiver B phase differential fractional value to observation satellite j; Then two dash receivers on two gps antennas are expressed with the Phase Double difference observation equation shown in the formula (1) two satellite i of synchronization observation and the double-differential carrier phase of j:

${\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}=\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\left]\right\}+N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}}---\left(1\right)$

Wherein, l is the sample conductor length, and λ is the wavelength of radio-frequency carrier, H ⁱAnd H ^jBe respectively satellite i and j elevation angle to the carrier wave plane of sample lead, Ω ⁱAnd Ω ^jBe respectively satellite i and the j position angle to the carrier wave plane of sample lead, α and β then are the course angle and the angle of pitch of sample lead vector; GPS Phase Double difference can be eliminated the various error sources of space correlation, like ionospheric error, tropospheric error, clock correction etc.; N ^IjBe Phase Double difference integer ambiguity, ε ^IjBeing observation noise, is that average is zero white Gaussian noise; Therefore the mathematical expectation of (2) formula is an integer:

$N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}}={\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\left]\right\}---\left(2\right)$

So, the target function value of (3) formula is 1,

$\cos \left[2\mathrm{\π}(N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}})\right]=$

$\cos \left[2\mathrm{\π}({\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\right]\left\}\right]=1$

In (3) formula, sample lead course angle α and sample lead angle of pitch β are unknown; Choose α, β makes equality (3) set up, this α then, and the β value is the sample lead course angle and the sample lead angle of pitch; Like this, sample lead attitude measurement problem just changes a nonlinear combination optimization problem into;

Any time, gps antenna can both receive the carrier signal of at least 4 satellites, and every satellite constantly all sends carrier signal outward, and promptly every satellite all has infinite a plurality of epoch; In order to guarantee uniqueness of solution, need choose n satellite, n >=4, and m epoch of each satellite in the selected n satellite, m >=4 constitute multi-constraint condition, set up the mathematical model of sample conductor galloping:

$\mathrm{Fitness}(\mathrm{\α},\mathrm{\β})=\underset{h=1}{\overset{m}{\mathrm{\Σ}}}\underset{i=2}{\overset{n}{\mathrm{\Σ}}}\cos [2\mathrm{\π}({\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)---\left(4\right)$

$+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})]\left\}\right]$

Referring to Fig. 4,, adopt the SPSA algorithm to have good timeliness to the nonlinear combination optimization problem of shape suc as formula (4);

Be specially according to formula:

$F(\mathrm{\α},\mathrm{\β})=-\frac{\mathrm{Fitness}(\mathrm{\α},\mathrm{\β})+m\×(n-1)}{2\×m\×(n-1)}---\left(5\right)$

Can know by formula (5), make function F itness (α, β) value reaches maximum, (α, β) (α β) is the optimum solution of sample lead attitude angle to minimum one group of value to F.Therefore (α β) becomes objective function to be optimized to function F;

Attitude angle (α (0) when the at first selected sample lead of SPSA algorithm is static; β (0)); One group of primary iteration point as algorithm; Sample lead attitude angle is being carried out in the process of synchronous disturbance, confirming the direction Δ of sample lead course angle α and sample lead angle of pitch β disturbance through 2 distributions respectively _k, perturbation amplitude is c (k):

$c\left(k\right)=\frac{c}{{(k+1)}^{\mathrm{\τ}}}---\left(6\right)$

Wherein, k is the current iteration number of times of algorithm, and the expection iterations of algorithm is NCmax >=10; τ is a constant, rule of thumb gets τ=0.101; C is a constant, is the perturbation amplitude first of sample lead attitude angle, gets c=c (0)=5;

Two target function values after the disturbance:

F(θ(k)+c(k)×Δ _k)，F(θ(k)-c(k)×Δ _k)

θ (k)=(α (k), β (k)) wherein, the k time iteration point of expression algorithm; By formula (7)

$g\left(k\right)=\frac{F(\mathrm{\θ}\left(k\right)+c\left(k\right)\×{\mathrm{\Δ}}_k)-F(\mathrm{\θ}\left(k\right)-c\left(k\right)\×{\mathrm{\Δ}}_k)}{2\×c\left(k\right)\×{\mathrm{\Δ}}_k}---\left(7\right)$

Obtain the estimation gradient of current sample lead course angle α and sample lead angle of pitch β; Obtain the sample lead course angle α and the sample lead angle of pitch β of next iteration according to formula (8) and formula (9):

$a\left(k\right)=\frac{a}{{(k+A+1)}^{\mathrm{\ρ}}}---\left(8\right)$

Wherein, A is a constant, rule of thumb gets A=expection iterations * 10%; ρ is a constant, gets ρ=0.602; A is a constant;

θ(k+1)=θ(k)-a(k)g(k) (9)

Making θ (1)-θ (0)=μ is a constant, and the expression algorithm is the step-length of iteration for the first time, rule of thumb gets μ=5, and simultaneous (7) (8) (9) three formulas obtain the value of constant a; Iteration point is θ (1)=θ (0)-d (0) * g (0) for the first time;

Continue iteration by formula (7) (8) (9), reach the expection iterations, then stop iteration.The net result of iteration is that sample lead attitude angle is sample lead course angle α and sample lead angle of pitch β;

The real-time attitude angle of the demonstration sample lead that Liquid Crystal Module is real-time, the real-time real-time attitude angle with the sample lead of gsm wireless communication module is issued long-range monitoring center.

Claims (1)

1. the transmission pressure based on GPS is waved the monitoring method of monitoring system, and it is characterized in that: said transmission pressure based on GPS is waved monitoring system and included: satellite-signal receiver module, satellite-signal parsing module, digital signal processing module, keyboard and LCD MODULE, gsm wireless communication module and power management module;

Said satellite-signal receiver module is made up of the gps antenna A (1) and the gps antenna B (2) that are fixed on the insulator chain or hang under the sample lead L (3), is used to receive the radio-frequency carrier signal from satellite;

Said satellite-signal parsing module is made up of GPS dash receiver A and GPS dash receiver B, is used to resolve the radio-frequency carrier signal from satellite, obtains the carrier phase Ф of satellite, the elevation angle Н of satellite, the position angle Ω of satellite;

Said digital signal processing module is made up of the DSP process chip; Be used to resolve the attitude angle of sample lead L (3); The mathematical model that the parsing of said attitude angle for sample lead L (3) is based on Phase Double difference observation equation structure sample conductor galloping adopts synchronous disturbance stochastic approximation SPSA arithmetic analysis to go out the attitude angle of sample lead L (3); The attitude angle of said sample lead L (3) is to characterize with sample lead course angle α and sample lead angle of pitch β;

Attitude angle when said keyboard and LCD MODULE are used for input and demonstration sample lead L (3) static state respectively; And show the real-time attitude angle of sample lead L (3) in real time;

Said gsm wireless communication module is used for sending to monitoring center the real-time attitude angle of sample lead L (3), and said monitoring center carries out the setting of remote parameter to system through said gsm wireless communication module;

Choosing the one section transmission pressure that is positioned at iron tower of power transmission line tower head one end, is between gps antenna A (1) and the gps antenna B (2) is sample lead L (3);

The monitoring method that said transmission pressure based on GPS is waved monitoring system is:

Definition:

Sample lead L (3) is projected as sample lead projection L ' on surface level;

It is zero degree that sample lead projection L ' is positioned at direct north, is initial with direct north, is sample lead course angle α by eastwards the angle of CW deflection after initial, and said sample lead course angle α is 0～360 degree;

Angle between sample lead L (3) and the sample lead projection L ' is sample lead angle of pitch β, and said sample lead angle of pitch β is-90～+ 90 degree;

Said monitoring method is carried out as follows:

A, set up the mathematical model of sample conductor galloping

Obtain the epoch that one group of pairing moment of satellite carrier signal is a satellite respectively with GPS dash receiver A and GPS dash receiver B;

Suppose that gps antenna A and gps antenna B can both receive the carrier signal of satellite i and satellite j, then GPS dash receiver A and GPS dash receiver B express with the Phase Double difference observation equation shown in the formula (1) the satellite i of synchronization observation and the double-differential carrier phase of satellite j:

${\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}=\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\left]\right\}+N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}}---\left(1\right)$

In the formula (1), l is sample lead L (a 3) length, and length range is 1 ~ 3 meter, and λ is the wavelength of radio-frequency carrier, H ⁱAnd H ^jBe respectively satellite i and satellite j elevation angle to the carrier wave plane of sample lead L (3), Ω ⁱAnd Ω ^jBe respectively satellite i and j position angle to the carrier wave plane of sample lead L (3), N ^IjBe Phase Double difference integer ambiguity, ε ^IjBe observation noise, and ε ^IjBe that average is zero white Gaussian noise; Therefore, the mathematical expectation of formula (2) is an integer:

$N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}}={\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\left]\right\}---\left(2\right)$

So, the functional value of formula (3) is 1,

$\cos \left[2\mathrm{\π}(N^{\mathrm{ij}}+{\mathrm{\ϵ}}^{\mathrm{ij}})\right]=$ (3)

$\cos \left[2\mathrm{\π}({\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})\right]\left\}\right]=1$

In the formula (3), sample lead course angle α and sample lead angle of pitch β are unknown, choose α and β and make equality (3) set up, and then selected α and β value are respectively the sample lead course angle and the sample lead angle of pitch;

Any time, gps antenna can both receive the carrier signal of at least four satellites, and every satellite constantly all sends carrier signal outward, and every satellite all has infinite a plurality of epoch; Choose n satellite, n >=4, and m epoch, m >=4 of each satellite in the selected n satellite, constitute multi-constraint condition, the mathematical model of setting up the sample conductor galloping is suc as formula (4):

$\mathrm{Fitness}(\mathrm{\α},\mathrm{\β})=\underset{h=1}{\overset{m}{\mathrm{\Σ}}}\underset{i=2}{\overset{n}{\mathrm{\Σ}}}\cos [2\mathrm{\π}({\mathrm{\Δ}}^2{\mathrm{\Φ}}_{12}^{\mathrm{ij}}-\frac{l}{\mathrm{\λ}}\{\sin \mathrm{\β}({\sin H}^i-{\sin H}^j)---\left(4\right)$

$+\cos \mathrm{\β}[{\cos H}^i\cos ({\mathrm{\Ω}}^i-\mathrm{\α})-{\cos H}^j\cos ({\mathrm{\Ω}}^j-\mathrm{\α})]\left\}\right]$

B, employing SPSA arithmetic analysis sample lead attitude angle

$F(\mathrm{\α},\mathrm{\β})=-\frac{\mathrm{Fitness}(\mathrm{\α},\mathrm{\β})+m\×(n-1)}{2\×m\×(n-1)}---\left(5\right)$

According to formula (5), make function F (α, β) value reaches minimum one group (α β) is the optimum solution of sample lead attitude angle; Then establish function F (α β) is objective function to be optimized, by following process sample lead attitude angle is optimized:

Attitude angle (α (0) when selected sample lead is static; β (0)), one group of primary iteration point as algorithm is carrying out in the process of synchronous disturbance sample lead attitude angle; Confirm the direction Δ of sample lead course angle α and sample lead angle of pitch β disturbance respectively through (1,1) 2 distributions _k, perturbation amplitude c (k) is:

$c\left(k\right)=\frac{c}{{(k+1)}^{\mathrm{\τ}}}---\left(6\right)$

Wherein, k is the current iterations of algorithm, and the expection iterations of algorithm is NCmax >=10; τ is a constant, rule of thumb gets τ=0.101; C is a constant, is the perturbation amplitude first of sample lead attitude angle, gets c=c (0)=5;

Two target function values after the disturbance are:

F(θ(k)+c(k)×Δ _k)，F(θ(k)-c(k)×Δ _k)

θ (k)=(α (k), β (k)) wherein, the k time iteration point of expression algorithm; By (7) formula

$g\left(k\right)=\frac{F(\mathrm{\θ}\left(k\right)+c\left(k\right)\×{\mathrm{\Δ}}_k)-F(\mathrm{\θ}\left(k\right)-c\left(k\right)\×{\mathrm{\Δ}}_k)}{2\×c\left(k\right)\×{\mathrm{\Δ}}_k}---\left(7\right)$

Obtain the estimation gradient of current sample lead course angle α and sample lead angle of pitch β; Obtain the sample lead course angle α and the sample lead angle of pitch β of next iteration according to formula (8) and formula (9):

$a\left(k\right)=\frac{a}{{(k+A+1)}^{\mathrm{\ρ}}}---\left(8\right)$

Wherein, A is a constant, rule of thumb gets A=expection iterations * 10%; ρ is a constant, gets ρ=0.602; A is a constant;

θ(k+1)=θ(k)-a(k)g(k) (9)

Making θ (1)-θ (0)=μ is a constant, and the expression algorithm is the step-length of iteration for the first time, rule of thumb gets μ=5, and simultaneous (7) (8) (9) three formulas obtain the value of constant a; Iteration point is θ (1)=θ (0)-a (0) * g (0) for the first time;

Continue iteration by formula (7) (8) (9), reach the expection iterations, then stop iteration; The net result of iteration is that sample lead attitude angle is sample lead course angle α and sample lead angle of pitch β.

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