CN102721401B - 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

Transmission conductor waving monitoring system based on GPS and monitoring method

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

Technical field

The present invention relates to transmission conductor waving monitoring system and monitoring method based on GPS, particularly introduce after simultaneous perturbation stochastic approximation SPSA algorithm, more can meet the Real-Time Monitoring to Galloping of Overhead Transmission Line.

Background technology

Galloping of Overhead Transmission Line could cause huge economic loss and serious social influence, is a global difficult problem! Chinese scholars just started conductor galloping to carry out a large amount of experiments and theoretical research from the thirties in 20th century, had obtained certain achievement, and the transmission conductor waving monitoring system using is at present mainly to adopt following monitoring method:

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

1, computer simulation technique monitoring only limits to the theoretical research of Galloping of Overhead Transmission Line, cannot in engineering practice, apply;

2, the shortcoming based on sensor technology monitoring clearly, only on transmission pressure, arrange a fairly large number of sensor, just can obtain more data, conductor galloping curve better, and the sensor itself being arranged on transmission pressure may destroy conductor galloping model, become potential safety hazard, poor operability;

3, the image transmitting rate of video image technical monitoring is low, the easy distortion of vision signal, bad dynamic performance; Camera, easily by snow cover, is subject to light to affect cisco unity malfunction night, cannot carry out round-the-clock monitoring to transmission pressure.

Summary of the invention

The present invention is for avoiding the existing deficiency of above-mentioned prior art, provides that a kind of realizability is good, dynamic property is good, technical merit is high, the transmission conductor waving monitoring system based on GPS and monitoring method that can all weather operations.

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

The feature that the present invention is based on the transmission conductor waving monitoring system of GPS is to comprise satellite signal receiving module, satellite-signal parsing module, digital signal processing module, keyboard and LCD MODULE, gsm wireless communication module and power management module;

Described satellite signal receiving module is comprised of the gps antenna A and the gps antenna B that are fixed on insulator chain or hang under sample wire, for receiving the radio-frequency carrier signal from satellite;

Described satellite-signal parsing module is comprised of GPS dash receiver A and GPS dash receiver B, for resolving the radio-frequency carrier signal from satellite, obtains the carrier phase Ф of satellite, the position angle Ω of the elevation angle Н of satellite, satellite;

Described digital signal processing module is comprised of DSP process chip, for resolving the attitude angle of sample wire L, the parsing of the described attitude angle for sample wire L is the mathematical model based on the poor observation equation structure of Phase Double sample conductor galloping, adopts simultaneous perturbation stochastic approximation SPSA arithmetic analysis to go out the attitude angle of sample wire; The attitude angle of described sample wire L is to characterize with sample wire course angle α and sample wire angle of pitch β;

Attitude angle when described keyboard and LCD MODULE are used for respectively input and demonstration sample wire static state; And show in real time the real-time attitude angle of sample wire;

Described gsm wireless communication module is for sending the real-time attitude angle of sample wire to monitoring center, described monitoring center carries out the setting of remote parameter by described gsm wireless communication module to system;

One section of transmission pressure choosing in iron tower of power transmission line tower head one end, be between gps antenna A and gps antenna B is sample wire L.

The feature of monitoring method that the present invention is based on the transmission conductor waving monitoring system of GPS is:

Definition:

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

It is zero degree that sample wire projection L ' is positioned at direct north, take direct north as initial, by the angle of clockwise direction deflection eastwards after initial, is sample wire course angle α, and described sample wire course angle α is 0～360 degree;

Angle between sample wire L and sample wire projection L ' is sample wire angle of pitch β, and described sample wire angle of pitch β is-90～+ 90 degree;

Described monitoring method is carried out as follows:

A, set up the mathematical model of sample conductor galloping

Take GPS dash receiver A and GPS dash receiver B obtains respectively the epoch that one group of corresponding moment of satellite carrier signal is satellite;

Suppose, gps antenna A and gps antenna B can receive the carrier signal of satellite i and satellite j, and GPS dash receiver A and GPS dash receiver B express with the poor observation equation of the Phase Double shown in formula (1) the double-differential carrier phase of the satellite i of synchronization observation and 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 formula (1), l is sample conductor length, and length range is 1 ~ 3 meter, the wavelength that λ is radio-frequency carrier, H ⁱand H ^jrespectively satellite i and the satellite j elevation angle to the carrier wave plane of sample wire L, Ω ⁱand Ω ^jrespectively satellite i and the j position angle to the carrier wave plane of sample wire L, N ^ijfor the poor integer ambiguity of Phase Double, ε ^ijfor observation noise, and ε ^ijthat average is zero white Gaussian noise; Therefore, the mathematical expectation of formula (2) is 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 formula (3), sample wire course angle α and sample wire angle of pitch β are unknown, choose α and β equation (3) is set up, and selected α and β value are respectively sample wire course angle and the sample wire angle of pitch;

Any time, gps antenna can receive the carrier signal of at least four satellites, and every satellite constantly all sends carrier signal outward, and every satellite has infinite a plurality of epoch; Choose n satellite, n >=4, and m epoch, m >=4 of each satellite in a selected n satellite, form multi-constraint condition, the mathematical model of setting up 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 wire 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), making function F (α, β) value reach one group minimum (α, β) is the optimum solution of sample wire attitude angle; Establish function F (α, β) for objective function to be optimized, by following process, sample wire attitude angle be optimized:

Attitude angle (α (0) when selected sample wire is static, β (0)), one group of primary iteration point as algorithm, sample wire attitude angle is being carried out in the process of simultaneous perturbation, by (1,1) 2 distributions, determine respectively the direction Δ of sample wire course angle α and sample wire angle of pitch β disturbance _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 constant, rule of thumb gets τ=0.101; C is constant, is the perturbation amplitude first of sample wire attitude angle, gets c=c (0)=5;

Two target function values after disturbance are:

F(θ(k)+c(k)×Δ _k)，F(θ(k)-c(k)×Δ _k)

θ (k)=(a (k) β (k)) wherein, represents the k time iteration point of 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 wire course angle α and sample wire angle of pitch β; According to formula (8) and formula (9), obtain sample wire course angle α and the sample wire angle of pitch β of next iteration:

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

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

θ(k+1)=θ(k)-a(k)g(k) (9)

Making θ (1)-θ (0)=μ is a constant, represents the algorithm 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;

By formula (7) (8) (9), continue iteration, reach expection iterations, stop iteration; The net result of iteration is that sample wire attitude angle is sample wire course angle α and sample wire angle of pitch β.

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

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

2, dynamic property of the present invention is good: in monitoring system, the sample frequency of GPS receiver is 20 hertz, and the frequency of Galloping of Overhead Transmission Line is 0.1 ~ 3 hertz, meet the requirement of sampling thheorem far away, the particularly introducing of SPSA algorithm, efficiency and the stability of sample wire solving of attitude have more been guaranteed, the Real-Time Monitoring of realization to Galloping of Overhead Transmission Line, dynamic property is better;

3, the technology of the present invention level is high: monitoring system adopts GPS technology to realize the Real-Time Monitoring to conductor galloping, wherein the parsing of the foundation of sample conductor galloping model and sample wire attitude angle is all accurate process, and arbitrary link occurs that fine error all can produce larger impact to result; And measurement result precision of the present invention is higher, can realize the Real-Time Monitoring to conductor galloping, absolutely proved that the technology of the present invention level 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 observe more than 4 satellites any time, meet the required satellite of a monitoring system number in the present invention; Gps antenna receives the impact that satellite carrier signal is not subject to accumulated snow, wind and rain and light, can carry out round-the-clock monitoring to transmission pressure.

Accompanying drawing explanation

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

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

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

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

Embodiment

Referring to Fig. 1, the transmission conductor waving monitoring system based on GPS in the present embodiment comprises: satellite signal receiving module, satellite-signal parsing module, digital signal processing module, keyboard and LCD MODULE, gsm wireless communication module and power management module; Wherein,

Satellite signal receiving module, is comprised of gps antenna A1 and gps antenna B2, for receiving the radio-frequency carrier signal from satellite;

Satellite-signal parsing module, is comprised of GPS dash receiver A and GPS dash receiver B, for resolving satellite carrier phase place Ф, elevation of satellite H, the satellite aximuth Ω of satellite carrier signal;

Digital signal processing module, by DSP process chip, formed, for resolving the attitude angle of sample wire, parsing for the attitude angle of sample wire is the mathematical model based on the poor observation equation structure of Phase Double sample conductor galloping, adopts simultaneous perturbation stochastic approximation SPSA arithmetic analysis to go out the attitude angle of sample wire; Sample wire attitude angle is to characterize with sample wire course angle α, sample wire angle of pitch β;

Keyboard and LCD MODULE, attitude angle when keyboard is used for inputting sample wire static state; Liquid crystal display shows attitude angle when sample wire is static, simultaneously the real-time attitude angle of real-time demonstration sample wire also;

Gsm wireless communication module, for send the real-time attitude angle of sample wire to monitoring center, monitoring center carries out the setting of remote parameter to system by 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 power supply conventionally.

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

Referring to Fig. 2, for iron tower of power transmission line and sample lead location schematic diagram, in figure, include transmission line of electricity 4 and steel tower 5, as can be seen from Figure the particular location of sample wire L3 in whole transmission line of electricity;

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

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

With sample wire course angle α and sample wire angle of pitch β, characterize sample wire attitude;

Take GPS dash receiver A and GPS dash receiver B obtains respectively the epoch that one group of corresponding moment of satellite carrier signal is satellite;

Referring to Fig. 3, gps antenna A and gps antenna B are fixed on the good equipment of iron tower of power transmission line tower head one end rigidity as on insulator chain, or by the good equipment of rigidity by gps antenna A and gps antenna B hang on sample wire L under, by resolving the attitude angle of sample wire L, estimate the amplitude of waving of transmission pressure;

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

the phase differential fractional value to observation satellite j for GPS dash receiver A and GPS dash receiver B; Two dash receivers on two gps antennas are expressed with the poor observation equation of the Phase Double shown in formula (1) the double-differential carrier phase of two satellite i of synchronization observation and 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 sample conductor length, the wavelength that λ is radio-frequency carrier, H ⁱand H ^jrespectively satellite i and the j elevation angle to the carrier wave plane of sample wire, Ω ⁱand Ω ^jbe respectively satellite i and the j position angle to the carrier wave plane of sample wire, α and β are course angle and the angle of pitch of sample wire vector; The poor various error sources that can eliminate space correlation of GPS Phase Double, as ionospheric error, tropospheric error, clock correction etc.; N ^ijfor the poor integer ambiguity of Phase Double, ε ^ijfor observation noise, be that average is zero white Gaussian noise; Therefore the mathematical expectation of (2) formula is 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 wire course angle α and sample wire angle of pitch β are unknown; Choose α, β sets up equation (3), this α, and β value is sample wire course angle and the sample wire angle of pitch; Like this, sample wire attitude measurement problem just changes a nonlinear combinatorial optimization problem into;

Any time, gps antenna can receive the carrier signal of at least 4 satellites, and every satellite constantly all sends carrier signal outward, and every satellite has infinite a plurality of epoch; In order to guarantee uniqueness of solution, need to choose n satellite, n >=4, and m epoch of each satellite in a selected n satellite, m >=4, form 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, the nonlinear combinatorial optimization problem for shape suc as formula (4), adopts SPSA algorithm to have well ageing;

Be specially according to formula:

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

From formula (5), make function F itness (α, β) value reach maximum, a group minimum (α, β) of F (α, β) value is the optimum solution of sample wire attitude angle.Therefore function F (α, β) becomes objective function to be optimized;

Attitude angle (α (0) when the first selected sample wire of SPSA algorithm is static, β (0)), one group of primary iteration point as algorithm, sample wire attitude angle is being carried out in the process of simultaneous perturbation, by 2 distributions, determining respectively the direction Δ of sample wire course angle α and sample wire angle of pitch β disturbance _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 constant, rule of thumb gets τ=0.101; C is constant, is the perturbation amplitude first of sample wire attitude angle, gets c=c (0)=5;

Two target function values after disturbance:

F(θ(k)+c(k)×Δ _k)，F(θ(k)-c(k)×Δ _k)

θ (k)=(α (k), β (k)) wherein, represents the k time iteration point of 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 wire course angle α and sample wire angle of pitch β; According to formula (8) and formula (9), obtain sample wire course angle α and the sample wire angle of pitch β of next iteration:

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

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

θ(k+1)=θ(k)-a(k)g(k) (9)

Making θ (1)-θ (0)=μ is a constant, represents the algorithm 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;

By formula (7) (8) (9), continue iteration, reach expection iterations, stop iteration.The net result of iteration is that sample wire attitude angle is sample wire course angle α and sample wire angle of pitch β;

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

Claims (1)

1. a monitoring method for the transmission conductor waving monitoring system based on GPS, is characterized in that: the described transmission conductor waving monitoring system based on GPS includes: satellite signal receiving module, satellite-signal parsing module, digital signal processing module, keyboard and LCD MODULE, gsm wireless communication module and power management module;

Described satellite signal receiving module is by being fixed on insulator chain or hanging on the gps antenna A(1 under sample wire L (3)) and gps antenna B(2) form, for receiving the radio-frequency carrier signal from satellite;

Described satellite-signal parsing module is comprised of GPS dash receiver A and GPS dash receiver B, for resolving the radio-frequency carrier signal from satellite, obtains the carrier phase Ф of satellite, the position angle Ω of the elevation angle Н of satellite, satellite;

Described digital signal processing module is comprised of DSP process chip, be used for resolving sample wire L(3) attitude angle, for sample wire L(3) the parsing of attitude angle be the mathematical model based on the poor observation equation structure of Phase Double sample conductor galloping, adopt simultaneous perturbation stochastic approximation SPSA arithmetic analysis to go out the attitude angle of sample wire L (3); Described sample wire L(3) attitude angle is to characterize with sample wire course angle α and sample wire angle of pitch β;

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

Described gsm wireless communication module is for sending the real-time attitude angle of sample wire L (3) to monitoring center, described monitoring center carries out the setting of remote parameter by described gsm wireless communication module to system;

Choose and be positioned at iron tower of power transmission line tower head one end, be in gps antenna A(1) and gps antenna B(2) between one section of transmission pressure be sample wire L(3);

The monitoring method of the described transmission conductor waving monitoring system based on GPS is:

Definition:

Sample wire L(3) on surface level, be projected as sample wire projection L ';

It is zero degree that sample wire projection L ' is positioned at direct north, take direct north as initial, by the angle of clockwise direction deflection eastwards after initial, is sample wire course angle α, and described sample wire course angle α is 0～360 degree;

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

Described monitoring method is carried out as follows:

A, set up the mathematical model of sample conductor galloping

Take GPS dash receiver A and GPS dash receiver B obtains respectively the epoch that one group of corresponding moment of satellite carrier signal is satellite;

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

In formula (1), l is sample wire L (3) length, and length range is 1～3 meter, the wavelength that λ is radio-frequency carrier, Η ⁱand Η ^jrespectively satellite i and the satellite j elevation angle to the carrier wave plane of sample wire L (3), Ω ⁱand Ω ^jrespectively satellite i and the j position angle to the carrier wave plane of sample wire L (3), N ^ijfor the poor integer ambiguity of Phase Double, ε ^ijfor observation noise, and ε ^ijthat average is zero white Gaussian noise; Therefore, the mathematical expectation of formula (2) is integer:

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

(3)

In formula (3), sample wire course angle α and sample wire angle of pitch β are unknown, choose α and β equation (3) is set up, and selected α and β value are respectively sample wire course angle and the sample wire angle of pitch;

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

(4)

B, employing SPSA arithmetic analysis sample wire attitude angle

According to formula (5), making function F (α, β) value reach one group minimum (α, β) is the optimum solution of sample wire attitude angle; Establish function F (α, β) for objective function to be optimized, by following process, sample wire attitude angle be optimized:

Attitude angle (α (0) when selected sample wire is static, β (0)), one group of primary iteration point as algorithm, sample wire attitude angle is being carried out in the process of simultaneous perturbation, by (1,1) 2 distributions, determine respectively the direction Δ of sample wire course angle α and sample wire angle of pitch β disturbance _k, perturbation amplitude c (k) is:

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

Two target function values after disturbance are:

F(θ(k)+c(k)×Δ _k)，F(θ(k)-c(k)×Δ _k)

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

Obtain the estimation gradient of current sample wire course angle α and sample wire angle of pitch β; According to formula (8) and formula (9), obtain sample wire course angle α and the sample wire angle of pitch β of next iteration:

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

θ(k+1)=θ(k)-a(k)g(k) (9)

Making θ (1)-θ (0)=μ is a constant, represents the algorithm 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;

By formula (7) (8) (9), continue iteration, reach expection iterations, stop iteration; The net result of iteration is that sample wire attitude angle is sample wire course angle α and sample wire angle of pitch β.

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