CN106896342A - Transformer surface characteristics location device and method based on UWB range finder modules - Google Patents
Transformer surface characteristics location device and method based on UWB range finder modules Download PDFInfo
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- CN106896342A CN106896342A CN201710251410.7A CN201710251410A CN106896342A CN 106896342 A CN106896342 A CN 106896342A CN 201710251410 A CN201710251410 A CN 201710251410A CN 106896342 A CN106896342 A CN 106896342A
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- range finder
- uwb
- finder modules
- transformer
- data transmission
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention discloses a kind of transformer surface characteristics location device and method based on UWB range finder modules, if including individual dry UWB range finder modules, many supports, data transmission module and Platform Servers, each support is distributed in the border of transformer to be measured, each UWB range finder modules are respectively on support as base station, set up space coordinates, and the distance between measurement and data transmission module in real time, and range information is sent to data transmission module；Data transmission module is placed in the test point position of transformer to be measured as rover station, and receives the range information that each UWB range finder modules send, and is transmitted to Platform Server；The Platform Server, the range information for receiving data transmission module forwarding, resolves to it, finally gives the relative coordinate of test point position.The relative coordinate that the present invention can in real time obtain test point is used for subsequent transformer partial discharge detection, while reducing manually-operated workload and measurement error.
Description
Technical field
The present invention relates to partial discharge location detection technique field, and in particular to a kind of transformer table based on UWB range finder modules
Region feature location device and method.
Background technology
The live detection technology of the converting equipments such as transformer and its scene application are converting equipment evaluation of running status and dive
One of important means in Defect Search.Wherein, shelf depreciation defect of the partial discharge location live detection for discovery converting equipment
And discharge source is accurately positioned, for defect diagonsis analysis provides strong technological means.
In traditional partial discharge location technology, sensor space modeling is main by way of manual measurement, empty in sensor
Between modeling work amount, modeling accuracy, positioning precision and data collection and the aspect such as treatment there are many restrictions, it is impossible to completely
Satisfaction requires rapid deployment, the live detection business of flexibly placement.
At present, shelf depreciation detection and localization, shelf depreciation positioning inspection are generally carried out to transformer using ultrasound, hyperfrequency method
The premise of survey is to need to determine transformer (obtaining other converting equipments) surface characteristics point (sensor) position, although GNSS
(Global Navigation Satellite System, GPS) can be used for outdoor high accuracy positioning, but
Converting equipment in transformer station, a large amount of hardwares can be impacted or even cannot worked to GNSS positioning, additionally, being based on satellite
The spatial modeling mode of position can not meet requirement to the precision of the measurement of higher degree；And, common Space linear intersection needs at least 4
Individual base station carries out Position-Solving, and being solved using 3 base station datas can obtain double joint situation, it is impossible to the final calculation result of fixation.
The content of the invention
The purpose of the present invention is to overcome existing transformer surface characteristics point position to position, can not using GNSS positioning precisions
Meet and require, and during Space linear intersection calculating, being solved using 3 base station datas can obtain double joint situation, it is impossible to it is fixed final
Resolve the problem of positioning.Transformer surface characteristics location device and method based on UWB range finder modules of the invention, using branch
Frame installs UWB range finder modules, realizes the positioning to transformer surface characteristics point, and solving GNSS cannot apply to EHV transformer
The deficiency of operating environment, while, it is ensured that can in real time obtain the relative coordinate of test point is used for subsequent transformer partial discharge detection,
Have a good application prospect.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of transformer surface characteristics location device based on UWB range finder modules, if including individual dry UWB range finder modules,
Many supports, data transmission module and Platform Servers, each support are distributed in the border of transformer to be measured, each UWB range finder modules
Respectively as base station on support, and meet right hand rule with the position relationship of data transmission module,
Each UWB range finder modules, select one of them as the origin of coordinates, set up space coordinates, and measurement in real time and number
According to the distance between transport module, and range information is sent to data transmission module；
The data transmission module is placed in the test point position of transformer to be measured, and receive each UWB range findings as rover station
The range information that module sends, and it is transmitted to Platform Server；
The Platform Server, the range information for receiving data transmission module forwarding, resolves to it, final
To the relative coordinate of test point position.
The foregoing transformer surface characteristics location device based on UWB range finder modules, the data transmission module is UWB
Range finder module.
The foregoing transformer surface characteristics location device based on UWB range finder modules, the quantity of the UWB range finder modules
It is six, and when ensureing the rover station of data transmission module positioned at each surface of transformer to be measured, exists and three UWB find range
Module carries out accessible range finding to the surface.
The foregoing transformer surface characteristics location device based on UWB range finder modules, the quantity of the support is four,
And the four corners outside of transformer to be measured is distributed in, and round level centralizer is installed on every support.
The foregoing transformer surface characteristics location device based on UWB range finder modules, card is provided with every support
Groove, the UWB range finder modules are plugged in draw-in groove.
A kind of transformer surface characteristics independent positioning method based on UWB range finder modules, comprises the following steps,
Step (A), according to transformer local environment to be measured, laying bracket loads on correspondence support UWB range finder modules
In draw-in groove, and set up space coordinates；
Step (B), data transmission module is placed in the test point position of transformer to be measured, and each UWB range finder modules are surveyed in real time
The range information of amount and data transmission module, and it is sent to data transmission module；
Step (C), data transmission module receives the range information that each UWB range finder modules send, and is transmitted to platform service
Device；
Step (D), Platform Server receives the range information of data transmission module forwarding, and it is resolved, final
To the relative coordinate of test point position.
The foregoing transformer surface characteristics independent positioning method based on UWB range finder modules, step (A) is comprised the following steps,
(A1) seven UWB range finder modules compositions are prepared, wherein, six UWB range finder modules are as base station；1 UWB range finding mould
Block, as data transmission module, is rover station；
(A2) prepare four supports, and be vertically installed at transformer to be measured, four outsides of corner；
(A3) six UWB range finder modules are separately mounted in four draw-in grooves of support, and ensure data transmission module
When rover station is located at each surface of transformer to be measured, exist carries out accessible range finding with three UWB range finder modules to the surface；
(A4) arbitrary UWB range finder modules base station is taken for the origin of coordinates, space coordinates are set up, and the space coordinates are
Relative coordinate system.
The foregoing transformer surface characteristics independent positioning method based on UWB range finder modules, step (B), each UWB range finder modules
Measurement in real time is found range with the range information of data transmission module by two-way time-of-flight method.
The foregoing transformer surface characteristics independent positioning method based on UWB range finder modules, step (C), data transmission module
The range information that will receive each UWB range finder modules transmission by wireless WIFI patterns is transmitted to Platform Server.
The foregoing transformer surface characteristics independent positioning method based on UWB range finder modules, step (D), Platform Server is adopted
Resolved with the room for improvement distance intersection algorithm information of adjusting the distance, finally given the relative coordinate of test point position.
The beneficial effects of the invention are as follows：Transformer surface characteristics location device based on UWB range finder modules of the invention
And method, UWB range finder modules are installed using support, the positioning to transformer surface characteristics point is realized, solving GNSS cannot use
In the deficiency of EHV transformer operating environment, while, it is ensured that the relative coordinate of test point can be in real time obtained for subsequent
Transformer partial discharge is detected, while reducing manually-operated workload and the manual operation measurement error brought lack of standardization, is had
There is good application prospect.
Brief description of the drawings
Fig. 1 is the system schematic of the transformer surface characteristics location device based on UWB range finder modules of the invention；
Fig. 2 is the space arrangement schematic diagram of UWB range finder modules of the invention；
Fig. 3 is the schematic diagram for setting up space coordinates of the invention；
Fig. 4 is the plane angle schematic diagram of space coordinates of the invention.
The implication marked in accompanying drawing is as follows：
1：UWB range finder modules；2：Support；3：Data transmission module；4：Platform Server；5：Transformer to be measured.
Specific embodiment
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in figure 1, the transformer surface characteristics location device based on UWB range finder modules of the invention, if including individual
A kind of dry UWB (Ultra Wideband, no-load communication techniques) range finder module 1, many supports 2, the peace of data transmission module 3
Platform server 4, each support 2 is distributed in the border of transformer to be measured 5, each UWB range finder modules 1 respectively on support as base station,
And meet right hand rule with the position relationship of data transmission module 3,
The quantity of preferred support 2 is four, and is distributed in the four corners outside of transformer to be measured 5, and on every support
Round level centralizer is installed, the vertical placement for ensureing support 2 is provided with draw-in groove, UWB range finding moulds on every support 2
Block 1 is plugged in draw-in groove.
Each UWB range finder modules 1, select one of them as the origin of coordinates, set up space coordinates, and measurement in real time and number
According to the distance between transport module 3, and range information is sent to data transmission module 3；
The data transmission module 3 is placed in the test point position of transformer to be measured 5, and receives each UWB and survey as rover station
Away from the range information that module 1 sends, and Platform Server is transmitted to, preferred data transmission module 3 equally thinks UWB range finding moulds
Block, the quantity of UWB range finder modules 1 is six, and ensures that the rover station of data transmission module 3 is located at each of transformer to be measured 5
During surface, exist carries out accessible range finding with three UWB range finder modules (not including data transmission module) to the surface；
The Platform Server 4, the range information for receiving the forwarding of data transmission module 3, resolves, finally to it
Obtain the relative coordinate of test point position.
According to the above-mentioned transformer surface characteristics independent positioning method based on UWB range finder modules, comprise the following steps,
Step (A), according to transformer local environment to be measured, laying bracket loads on correspondence support UWB range finder modules
In draw-in groove, and space coordinates are set up, comprised the following steps,
(A1) seven UWB range finder modules compositions are prepared, wherein, six UWB range finder modules are as base station；1 UWB range finding mould
Block, as data transmission module, is rover station；
(A2) prepare four supports, and be vertically installed at transformer to be measured, four outsides of corner；
(A3) six UWB range finder modules are separately mounted in four draw-in grooves of support, and ensure data transmission module
When rover station is located at each surface of transformer to be measured, exist carries out accessible range finding with three UWB range finder modules to the surface；
(A4) arbitrary UWB range finder modules base station is taken for the origin of coordinates, space coordinates are set up, and the space coordinates are
Relative coordinate system, as shown in Fig. 2 for the ease of observation, space boost line is with the addition of in figure, while transformer to be measured has been concealed,
A, B, C, D, F, G are respectively the base station that six UWB range finder modules are constituted, and E is the rover station that data transmission module is constituted,
After establishing space coordinates, it may be determined that B point coordinates is (0,0,0), A point coordinates is (dAB, 0,0), C point z coordinates
It is that 0, x, y-coordinate value are tried to achieve by AB coordinates and ABC distances；
If E is placed in E ' places, AE ', BE ', CE ' distances are measured, calculate E ' coordinates, z is retained in two solutions of E ' coordinates
Be worth is positive result as E ' coordinates；
By AD, BD, E ' tri- distances of D and A, B, E point coordinates of ' three determine D point coordinates, and z values are retained in two solutions of D coordinates
It is positive result as D coordinates；
Projected lengths of the CD in yoz planes can be obtained by the yz coordinates of C, D, CF, CG, FG length is measured, then CF and CG exists
The projected length of plane yoz is the d2 high of the FG length of sides in △ CHI；
Similarly, the projected length d1 of DF, DG on plane yoz is obtained；
Whole base station is illustrated in fig. 3 shown below in the projection of plane yoz, and A, B, C, D coordinate are, it is known that and two projector distance d1
With d2, it is known that the projection coordinate of F, G on yoz faces can be solved, the x coordinate that range equation solves F points is listed at 2 points by C, F, led to
The height relation of F points and C points is determined when crossing placement in advance, the x coordinate value of F points can be finally determined, similarly, it may be determined that G points
Coordinate value；
Step (B), data transmission module is placed in the test point position of transformer to be measured, and each UWB range finder modules are surveyed in real time
The range information of amount and data transmission module, and data transmission module is sent to, when measurement distance information is by two-way flight
Between method (two way-time of flight, TW-TOF) found range, formula is as follows,
Wherein, d is range information, and c is ray velocity, and Δ t is the two-way flight time, and each range finder module is since startup
An independent timestamp can be generated, if the pulse of Ta1 transmission requests property of the emitter of range finder module A on its timestamp
Signal, the Tb1 of the receiver of range finder module B on its timestamp receives the signal, and means are acted upon to signal, mould of finding range
Block B launches a signal for response property at the Tb2 moment, by range finding modules A in the time stamp T a2 receptions of oneself, thus
The pulse signal flight time between two modules can be calculated, so that it is determined that flying distance；
Step (C), data transmission module receives the range information that each UWB range finder modules send, and is transmitted to platform service
Device, the range information that will receive each UWB range finder modules transmission especially by wireless WIFI patterns is transmitted to Platform Server；
Step (D), Platform Server receives the range information of data transmission module forwarding, and it is resolved, final
To the relative coordinate of test point position, resolved using the room for improvement distance intersection algorithm information of adjusting the distance, finally given
The relative coordinate of test point position, it is to avoid three base station measurement point coordinates to be measured obtain the deficiency of double joint, detailed process is as follows,
The space schematic diagram of room for improvement distance intersection algorithm, as shown in figure 4, being resolved with it, can then obtain using three base stations
To unique solution,
The room for improvement Linear Intersection is referred to using three base stations (UWB range finder modules) and rover station (data biography
Defeated module) between range formula set up spatial relationship：
Wherein, (xA, yA, zA) it is the coordinate of base station A, (xB, yB, zB) it is the coordinate of base station B, (xC, yC, zC) it is base station C's
Coordinate, base station A, base station B, base station C and rover station P position relation meet right hand rule, and S1, S2, S3 are rover station and base station
Distance, cos αA、cosβA、cosγARepresent the direction cosines value of vector AP, cos αB、cosβB、cosγBRepresent the side of vector BP
To cosine value, cos αC、cosβC、cosγCThe direction cosines value of expression vector CP, the volume of V representation space tetrahedrons P-ABC,
Direction cosine matrix is represented with K, then：
Wherein,Respectively vector PA and PB, vector PA and PC, the angle of vector PB and PC, triangle
Functional value can be tried to achieve by triangle PAB, triangle PAC, triangle PBC.
It is defined as follows vector simultaneously：
Above three vector carries out inner product and mixed product is calculated, and can obtain
In above formula, M1=SASBSC| K |, SA is represented
PA distances, SB represents PB distances, and SC represents PC distances, and DAB represents AB distances, and DAC represents AC distances, for ease of expression matrix,
Represented with M1, M2, M3 during display.
Can be obtained by deriving：
Then flowing station coordinates is：xP=XP+xA, yP=YP+yA, zP=HP+zA。
Utilization space geometrical principle, to equations, can obtain the unique coordinate of rover station, and 4 more traditional base stations are entered
For row space orientation, method of discrimination is optimized, while saving UWB range finder modules cost, it is necessary to three.
Transformer surface characteristics location device and method based on UWB range finder modules of the invention, using UWB range finding moulds
Block is found range, and UWB range finder modules have advantages below：The data rate of UWB is up to tens MBPSs to hundreds of million ratios
It is special per second, because UWB uses duration extremely short burst pulse, thus there is high multi-path resolved rate, in metal environment
In still can keep high-precision distance measurement function；Because UWB range frequencies are big, per second to obtain multiple distance measurement value, distance measurement value has
Two types：LOS (line of sight, the line-of-sight transmission of wireless signal) and NLOS (not line of sight, wireless communication
Number non-line-of-sight transmission) two kinds, retain LOS distances by differentiating, and distance measurement value process and can be had up to rule using Rye
Effect improves range accuracy.The present invention realize to transformer (can be applied to other converting equipments) surface characteristics point efficiently easily
Positioning function, big convenient the carrying out of converting equipment partial discharge electrification detection, while reducing manually-operated workload and people
To operate the measurement error brought lack of standardization.The present invention has good market popularization value, and current electric grid scale is just further
Expand, the engineering such as extra-high voltage alternating current-direct current mixing bulk power grid, New Generation of Intelligent transformer station, intelligent transmission line of electricity is just speeded up the construction, entirely
The great outfit of new power network and intelligence equipment are continued to bring out, and new challenge is proposed to grid equipment safety and intelligent O＆M.
Obtaining converting equipment surface partial discharge location detection point coordinates using the inventive method will bring very big convenient, improve partial discharge defect
The efficiency of positioning, strong help is brought to power grid operation maintenance management.
General principle of the invention, principal character and advantage has been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, simply original of the invention is illustrated described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
All fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and its equivalent circle.
It is fixed.
Claims (10)
1. the transformer surface characteristics location device of UWB range finder modules is based on, it is characterised in that：If being found range including individual dry UWB
Module, many supports, data transmission module and Platform Servers, each support are distributed in the border of transformer to be measured, each UWB range findings
Module meets right hand rule respectively on support as base station with the position relationship of data transmission module,
Each UWB range finder modules, select one of them as the origin of coordinates, set up space coordinates, and measurement in real time is passed with data
The distance between defeated module, and range information is sent to data transmission module；
The data transmission module is placed in the test point position of transformer to be measured, and receive each UWB range finder modules as rover station
The range information of transmission, and it is transmitted to Platform Server；
The Platform Server, the range information for receiving data transmission module forwarding, resolves to it, finally gives this
The relative coordinate of test point position.
2. the transformer surface characteristics location device based on UWB range finder modules according to claim 1, its feature exists
In：The data transmission module is UWB range finder modules.
3. the transformer surface characteristics location device based on UWB range finder modules according to claim 1 and 2, its feature
It is：The quantity of the UWB range finder modules is six, and ensures that the rover station of data transmission module is located at the every of transformer to be measured
During one surface, exist carries out accessible range finding with three UWB range finder modules to the surface.
4. the transformer surface characteristics location device based on UWB range finder modules according to claim 1, its feature exists
In：The quantity of the support is four, and is distributed in the four corners outside of transformer to be measured, and round water is provided with every support
Quasi- centralizer.
5. the transformer surface characteristics location device based on UWB range finder modules according to claim 1, its feature exists
In：Draw-in groove is provided with every support, the UWB range finder modules are plugged in draw-in groove.
6. the transformer surface characteristics independent positioning method of UWB range finder modules is based on, it is characterised in that：Comprise the following steps,
Step（A）, according to transformer local environment to be measured, UWB range finder modules are loaded the draw-in groove on correspondence support by laying bracket
It is interior, and set up space coordinates；
Step（B）, by data transmission module be placed in transformer to be measured test point position, each UWB range finder modules in real time measurement with
The range information of data transmission module, and it is sent to data transmission module；
Step（C）, data transmission module receives the range information that each UWB range finder modules send, and is transmitted to Platform Server；
Step（D）, Platform Server receive data transmission module forwarding range information, it is resolved, finally give this
The relative coordinate of test point position.
7. the transformer surface characteristics independent positioning method based on UWB range finder modules according to claim 6, its feature exists
In：Step（A）, comprise the following steps,
（A1）Prepare seven UWB range finder modules compositions, wherein, six UWB range finder modules are as base station；1 UWB range finder module does
It is data transmission module, is rover station；
（A2）Prepare four supports, and be vertically installed at transformer to be measured, four outsides of corner；
（A3）Six UWB range finder modules are separately mounted in four draw-in grooves of support, and ensure the flowing of data transmission module
When each surface of transformer to be measured, exist carries out accessible range finding to erect-position with three UWB range finder modules to the surface；
（A4）Arbitrary UWB range finder modules base station is taken for the origin of coordinates, space coordinates are set up, the space coordinates are relative
Coordinate system.
8. the transformer surface characteristics independent positioning method based on UWB range finder modules according to claim 6, its feature exists
In：Step（B）, the measurement in real time of each UWB range finder modules and the range information of data transmission module are by two-way time-of-flight method
Found range.
9. the transformer surface characteristics independent positioning method based on UWB range finder modules according to claim 6, its feature exists
In：Step（C）, the range information forwarding that data transmission module is sent each UWB range finder modules of reception by wireless WIFI patterns
To Platform Server.
10. the transformer surface characteristics independent positioning method based on UWB range finder modules according to claim 6, its feature exists
In：Step（D）, Platform Server resolved using the room for improvement distance intersection algorithm information of adjusting the distance, and finally gives the survey
The relative coordinate of pilot position.
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| CN108181559A (en) * | 2018-01-04 | 2018-06-19 | 国家电网公司华中分部 | A kind of self locating device for substation's shelf depreciation alignment system |
| CN109407122A (en) * | 2018-12-06 | 2019-03-01 | 唐振民 | A kind of position location satellite is blocked the Global localization system under environment |
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Application publication date: 20170627 |