CN106990390A - Sensor location positioning method to be measured and device - Google Patents

Abstract

The invention discloses a sensor position positioning method and device. In the method and device, the xyz coordinates are firstly established through the time interval of electromagnetic waves transmitted between the four coordinates S _o , S _x , S _y , S _z and the position S _p of the sensor to be measured, and the propagation speed of electromagnetic waves in the air. system and determine the range of coordinate values respectively, and measure |ox|, |oy|, |oz|, |op|, |xp|, |yp|, |zp|, where |ox| is S _o and S The distance between _x , |oy| is the distance between S _o and S _y , |oz| is the distance between S _o and S _z , |op| is the distance between S _o and S _p , |xp | is the distance between S _x and S _p , |yp| is the distance between S _y and S _p , |zp| is the distance between S _z and S _p , and then according to |op|, |xp|, |yp|, |zp|, obtain the coordinate values x, y, z of S _p respectively, and then determine the coordinates of the sensor position S _p to be measured in space according to the coordinate values x, y, z of the sensor position S _p to be measured ( x,y,z). The steps of the device are simplified, and the calculation workload is reduced.

Description

Method and device for locating the position of the sensor to be measured

technical field

The invention relates to the technical field of partial discharge fault location of high-voltage electrical equipment, in particular to a method and a device for locating a position to be measured by a sensor.

Background technique

Partial discharge is a non-penetrating discharge phenomenon caused by local defects in the insulating medium. Local defects (such as bubbles, cracks, suspended metal particles and electrode burrs, etc.) Partial discharge faults occur under certain operating conditions. Partial discharge is an important symptom of insulation cracking in long-term operation of electrical equipment such as equipment under test, GIS, and cables. Partial discharge failures in equipment can eventually lead to catastrophic failure of electrical equipment if they remain undetected and untreated. Partial discharge detection can effectively reflect the insulation fault inside the equipment under test, especially for the early detection of sudden faults, which is much more effective than dielectric loss measurement, chromatographic analysis, and gas analysis.

Fault location is one of the important contents in the field of partial discharge research of electric power equipment under test. Accurate partial discharge fault location has an important auxiliary effect on the assessment of the degree of damage of partial discharge, and partial discharge location can provide the state-of-the-art maintenance of the equipment under test. Scientific information and guidance are conducive to rapid troubleshooting, avoiding the occurrence of vicious accidents, reducing losses caused by power outages and reducing maintenance costs.

Contents of the invention

In view of this, the present invention provides a method and device for locating the position of the sensor to be measured, which can overcome the defects of cumbersome steps and heavy calculation workload when locating the position of the sensor to be measured in the prior art, and thus is more suitable for practical use.

In order to achieve the above-mentioned first object, the technical scheme of the sensor position positioning method to be measured provided by the present invention is as follows:

The positioning method of the sensor position to be measured provided by the present invention comprises the following steps:

Four coordinate devices S _o , S _x , S _y , S _z are arranged in space, wherein the S _o is defined as the coordinate origin O, the S _x is on the OX coordinate axis of the space, and the S _y is on the OY coordinate of the space On the axis, the S _z is on the space OZ coordinate axis;

Transmitting a first transmission signal to the sensor to-be-measured position _Sp through the S _o , after the sensor to-be-measured position S _p receives the first transmission signal, feeds back a first feedback signal to the S _o ;

Transmitting a second transmission signal to the sensor to-be-measured position S _p through the S _x , after the sensor to-be-measured position S _p receives the second transmission signal, feeds back a second feedback signal to the S _x ;

Transmitting a third transmission signal to the sensor to-be-measured position S _p through the S _y , after the sensor to-be-measured position S _p receives the third transmission signal, feeds back a third feedback signal to the S _y ;

Transmitting a fourth transmission signal to the sensor to-be-measured position S _p through the S _z , after the sensor to-be-measured position S _p receives the fourth transmission signal, feeds back a fourth feedback signal to the S _z ;

Through the time interval between the first transmission signal and the first feedback signal, the second transmission signal, the time interval between the second feedback signal, the time interval between the third transmission signal and the third feedback signal, the fourth The time interval between the transmitting signal and the fourth feedback signal, and, the transmission rate of electromagnetic waves in the air, respectively obtain the distance between the position S _p of the sensor to be measured and the S _o , S _x , S _y , S _z distance,

According to the distance between the position S _p of the sensor to be measured and the S _o , S _x , _Sy , S _z , the coordinate values x, y, z of the position to be measured of the sensor are respectively obtained;

According to the coordinate values x, y, z of the sensor position S _p to be measured, the coordinates (x, y, z) of the sensor position S _p to be measured in space are determined.

The method for locating the position of the sensor to be measured provided by the present invention can also be further realized by adopting the following technical measures.

As a preference,

Define the time stamp when the S _o transmits the signal as T _1o , the time stamp when the sensor position S _p receives the signal transmitted by the S _o is T _2o , and the S _p feeds back to the S _o The time stamp when the signal is received is T _2o ′, and the time stamp when the S _o receives the signal fed back by the S _p is T _3o , then

Define the time stamp when the S _x transmits the signal as T _1x , the time stamp when the sensor position S _p receives the signal transmitted by the S _x is T _2x , and the S _p feeds back to the S _x The time stamp when the signal is received is T _2x ′, and the time stamp when the S _x receives the signal fed back by the S _p is T _3x , then

Define the time stamp when the S _y transmits the signal as T _1y , the time stamp when the sensor position S _p receives the signal transmitted by the S _y is T _2y , and the S _p feeds back to the S _y The time stamp when the signal is received is T _2y ′, and the time stamp when the S _y receives the signal fed back by the S _p is T _3y , then

Define the time stamp when the S _z transmits the signal as T _1z , the time stamp when the sensor position S _p receives the signal transmitted by the S _z is T _2z , and the S _p feeds back to the S _z The time stamp when the signal is received is T _2z ′, and the time stamp when the S _z receives the signal fed back by the S _p is T _3z , then

Then at this time, |op|=c×t _op ; |xp|=c×t _xp ; |yp|=c×t _yp , |zp|=c×t _zp ,

Among them, c, the propagation speed of electromagnetic waves in the air; |op|, the distance between S _o and S _p ; |xp|, the distance between S _x and S _p ; |yp|, the distance between S _y and S _p the distance between; |zp|, the distance between S _y and S _p ;

According to the |op|, |xp|, |yp|, |zp|, the coordinates (x, y, z) of the position S _p to be measured by the sensor in space are obtained.

Preferably, the four coordinate devices S _o , S _x , S _y , S _z are respectively set at four vertices of the high-voltage equipment to be tested.

In order to achieve the above-mentioned second purpose, the technical scheme of the sensor position positioning device to be measured provided by the present invention is as follows:

The position positioning device of the sensor to be measured provided by the present invention includes four coordinate devices S _o , S _x , S _y , S _z , wherein, the S _o is set at the coordinate origin O, and the S _x is set on the space Ox coordinate axis , the S _y is set on the space OY coordinate axis, and the S _z is set on the space OZ coordinate axis;

The S _o is used to transmit a first transmission signal to the sensor to be measured position S _p , and receive the first feedback signal fed back by the sensor to be measured position S _p ;

The S _x is used to transmit a second transmission signal to the sensor to be measured position S _p , and receive a second feedback signal fed back by the sensor to be measured position S _p ;

The S _y is used to transmit a third transmission signal to the position S _p to be measured of the sensor, and receive a third feedback signal fed back by the position S _p to be measured by the sensor;

The S _z is used to transmit a fourth transmission signal to the position S _p to be measured of the sensor, and receive a fourth feedback signal fed back by the position S _p to be measured by the sensor;

Through the time interval between the first transmission signal and the first feedback signal, the time interval between the second transmission signal and the second feedback signal, the time interval between the third transmission signal and the third feedback signal, the fourth The time interval between the transmitting signal and the fourth feedback signal, and, the transmission rate of electromagnetic waves in the air, respectively obtain the distance between the position S _p of the sensor to be measured and the S _o , S _x , S _y , S _z distance,

According to the distance between the sensor position S _p to be measured and the S _o , S _x , _Sy , S _z , the coordinate values x, y, z of the sensor position S _p to be measured are respectively obtained;

According to the coordinate values x, y, z of the sensor position S _p to be measured, the coordinates (x, y, z) of the sensor position S _p to be measured in space are determined.

What the present invention provides is that the device for locating the position of the sensor to be measured can also be further realized by adopting the following technical measures.

Preferably, the device for locating the position of the sensor to be measured further includes a terminal device, and the terminal device is provided with a time stamp acquisition unit, and the time stamp acquisition unit is used to obtain from the coordinate devices S _o , S _x , S _y , S _z gets timestamps T _1o , T _2o , T _2o ′T _3o , T _1x , T _2x , T _2x ′, T _3x , T _1y , T _2y , T _2y ′, T _3y , T _1z , T _2z , T _2z 'T _3z ;

in,

T _1o , the time stamp when the S _o transmits the signal; T _2o , the time stamp when the sensor position S _p receives the signal transmitted by the S _o ; T _2o ′, the S _p sends the signal to the The time stamp when S _o feeds back the signal; T _3o , the time stamp when the S _o receives the signal fed back by the S _p ;

T _1x , the time stamp when the S _x transmits the signal; T _2x , the time stamp when the signal to be measured by the sensor S _p receives the signal transmitted by the S _x ; T _2x ′, the S _p sends the signal to the The time stamp when S _x feeds back the signal; T _3x , the time stamp when the S _x receives the signal fed back by the S _p ;

T _1y , the time stamp when the S _y transmits the signal; T _2y , the time stamp when the signal to be measured by the sensor S _p receives the signal transmitted by the S _y ; T _2y ′, the S _p sends the signal to the The time stamp when S ₂ feeds back the signal; T _3y , the time stamp when the S _y receives the signal fed back by the S _p ;

T _1z , the time stamp when the S _z transmits the signal; T _2z , the time stamp when the sensor position S _p receives the signal transmitted by the S _z ; T _2z ′, the S _p sends the signal to the The time stamp when S _z feeds back the signal; T _3z , the time stamp when the S _z receives the signal fed back by the S _p .

Preferably, the terminal device is provided with a first computing unit, and the first computing unit includes a second computing module, a second computing module, a third computing module and a fourth computing module;

The first computing module according to the formula Calculate to obtain the t _op , the average time of electromagnetic wave transmission between the S _o and S _p ;

The second computing module according to the formula Calculate to obtain the t _xp , the average time of electromagnetic wave transmission between the S _x and S _p ;

The third computing module according to the formula Calculate and obtain the t _yp , the average time of electromagnetic wave transmission between the S _y and S _p ;

The fourth computing module according to the formula Calculate to obtain the t _zp , the average time of electromagnetic wave transmission between the S _z and S _p .

Preferably, the terminal device is further provided with a second computing unit, and the second computing unit includes a fifth computing module, a sixth computing module, a seventh computing module, and an eighth computing module;

According to the formula |op|=c×t _op , the fifth calculation module calculates the |op|, the distance between S _o and S _p ;

The sixth operation module obtains the |xp|, the distance between S _x and S _p according to the formula |xp|=c×t _xp ;

According to the formula |yp|=c×t _yp , the seventh operation module calculates the distance between |yp|, S _y and S _p ;

The eighth operation module obtains the |zp|, the distance between S _z and S _p according to the formula |zp|=c×t _zp .

Preferably, the terminal device is further provided with a third computing unit, and the third computing unit obtains the position S _p of the sensor to be measured according to the |op|, |xp|, |yp|, |zp| Coordinates in space (x, y, z).

Preferably, the device for locating the position of the sensor to be measured further includes a high-voltage device to be measured, and the four coordinates S _o , S _x , S _y , and S _z are respectively set at four vertices of the high-voltage device to be measured.

Preferably, signal transmission is performed between the terminal device and the four coordinate devices S _o , S _x , S _y , S _z through wireless communication.

The method and device for locating the position of the sensor to be measured provided by the present invention transmit the time interval between the four coordinate devices S _o , S _x , S _y , S _z and the position S _p of the sensor to be measured through electromagnetic waves, and the electromagnetic wave travels in the air The propagation speed of , first determine |op|, |xp|, |yp|, |zp| respectively, where |op| is the distance between S _o and S _p , and |xp| is the distance between S _x and S _p , |yp| is the distance between S _y and S _p , |zp| is the distance between S _z and S _p , and then according to |op|, |xp|, |yp|, |zp|, respectively Get the coordinate values x, y, z of S _p , and then determine the coordinates (x, y, z) of the sensor position S _p to be measured in space according to the coordinate values x, y, z of the sensor position S _p to be measured. The steps of the method and the device are simplified, and the calculation workload is reduced.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same parts. In the attached picture:

Fig. 1 is the flow chart of the steps of the positioning method of the position of the sensor to be measured provided by the present invention;

Fig. 2 is a schematic diagram showing the signal flow relationship of the sensor-to-be-measured position locating device provided by the present invention.

detailed description

In order to solve the problems existing in the prior art, the present invention provides a method and device for locating the position of the sensor to be measured, which can overcome the defects of cumbersome steps and heavy calculation workload in the prior art when locating the position of the sensor to be measured, thus, more practical.

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation and structure of the sensor position positioning method and device proposed according to the present invention will be described below in conjunction with the accompanying drawings and preferred embodiments. , features and their effects are described in detail below. In the following description, different "one embodiment" or "embodiment" do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B. The specific understanding is: A and B can be included at the same time, and A and B can be included separately. A exists, B may exist alone, and any of the above three situations can be met.

Embodiment one

Referring to accompanying drawing 1, the method for locating the position of the sensor to be measured provided by Embodiment 1 of the present invention includes the following steps:

Arrange four coordinate devices S _o , S _x , S _y , S _z in space, where S _o is defined as the coordinate origin O, S _{x is} on the space OX coordinate axis, S _y is on the space OY coordinate axis, and S _z is on the space On the space OZ coordinate axis;

Transmitting the first transmission signal to the position S _p of the sensor to be measured through S _o , after the position S _p of the sensor to be measured receives the first transmission signal, feeds back the first feedback signal to S _o ;

Transmitting a second transmission signal to the position S _p to be measured by the sensor through S _x , and feeding back the second feedback signal to S _x after the position S _p to be measured by the sensor receives the second transmission signal;

Transmitting the third transmission signal to the sensor position S _p to be measured by S _y , after the sensor position S _p to be measured receives the third transmission signal, feeds back the third feedback signal to S _y ;

Transmitting the fourth transmission signal to the sensor to be measured position S _p through S _z , after the sensor to be measured position S _p receives the fourth transmission signal, feeds back the fourth feedback signal to S _z ;

By the time interval between the first transmission signal and the first feedback signal, the second transmission signal, the time interval between the second feedback signal, the time interval between the third transmission signal and the third feedback signal, the fourth transmission signal , the time interval between the fourth feedback signal, and, the transmission rate of the electromagnetic wave in the air, respectively obtain the distance between the sensor position S _p to be measured and S _o , S _x , S _y , S _z ,

According to the distance between the position S _p of the sensor to be measured and S _o , S _x , S _y , S _z , the coordinate values x, y, z of the position to be measured of the sensor are respectively obtained;

According to the coordinate values x, y, z of the sensor position S _p to be measured, determine the coordinates (x, y, z) of the sensor position S _p to be measured in space.

The method for locating the position of the sensor to be measured provided by Embodiment 1 of the present invention uses the time interval between the transmission of electromagnetic waves between the four coordinates S _o , S _x , S _y , S _z and the position S _p of the sensor to be measured, and the electromagnetic wave travels in the air Propagation velocity in , first determine |op|, |xp|, |yp|, |zp| respectively, where |op| is the distance between S _o and S _p , and |xp| is the distance between S _x and S _p The distance between, |yp| is the distance between S _y and S _p , |zp| is the distance between S _z and S _p , and according to |op|, |xp|, |yp|, |zp|, The coordinate values x, y, z of S _p are obtained respectively, and then according to the coordinate values x, y, z of the sensor position S _p to be measured, the coordinates (x, y, z) of the sensor position S _p to be measured in space are determined. The steps of the method and the device are simplified, and the calculation workload is reduced.

in,

Define the time stamp when S _o transmits the signal as T _1o , the time stamp when the sensor position S _p receives the signal transmitted by S _o is T _2o , and the time stamp when S _p feeds back the signal to S _o is T _2o ′, The time stamp when S _o receives the signal fed back by S _p is T _3o , then

Define the time stamp when S _x transmits the signal as T _1x , the time stamp when the sensor position S _p receives the signal emitted by S _x is T _2x , and the time stamp when S _p feeds back the signal to S _x is T _2x ′, The time stamp when S _x receives the signal fed back by S _p is T _3x , then

Define the time stamp when S _y transmits the signal as T _1y , the time stamp when the sensor position S _p receives the signal emitted by S _y is T _2y , and the time stamp when S _p feeds back the signal to S _y is T _2y ′, The time stamp when S _y receives the signal fed back by S _p is T _3y , then

Define the time stamp when S _z transmits the signal as T _1z , the time stamp when the sensor position S _p receives the signal emitted by S _z is T _2z , and the time stamp when S _p feeds back the signal to S _z is T _2z ′, The time stamp when S _z receives the signal fed back by S _p is T _3z , then

Then at this time, |op|=c×t _op ; |xp|=c×t _xp ; |yp|=c×t _yp , |zp|=c×t _zp ,

Among them, c, the propagation speed of electromagnetic waves in the air; |op|, the distance between S _o and S _p ; |xp|, the distance between S _x and S _p ; |yp|, the distance between S _y and S _p the distance between; |zp|, the distance between S _y and S _p ;

According to |op|, |xp|, |yp|, |zp|, the coordinates (x, y, z) of the position S _p to be measured by the sensor in space are obtained.

In this case, _{top, t xp ,} t _yp , and t _yp are all average values, and the values are more accurate, and the coordinates of the position of the sensor to be measured are also more accurate.

Among them, the four coordinate devices S _o , S _x , S _y , S _z are respectively set at the four vertices of the high-voltage equipment to be tested. This facilitates the arrangement of the four coordinate devices S _o , S _x , S _y , and S _z .

Embodiment two

Referring to accompanying drawing 2, the positioning device for the position of the sensor to be measured provided by the second embodiment of the present invention includes four coordinate devices S _o , S _x , S _y , S _z , wherein S _o is set at the coordinate origin O, and S _x is set at the space On the Ox coordinate axis, S _y is set on the space OY coordinate axis, and S _z is set on the space OZ coordinate axis;

S _o is used to transmit the first transmission signal to the sensor to be measured position S _p , and receive the first feedback signal fed back by the sensor to be measured position S _p ;

S _x is used to transmit a second transmission signal to the sensor to be measured position S _p , and receive the second feedback signal fed back by the sensor to be measured position S _p ;

S _y is used to transmit a third transmission signal to the sensor to be measured position S _p , and receive the third feedback signal fed back by the sensor to be measured position S _p ;

S _z is used to transmit the fourth transmission signal to the position S _p to be measured by the sensor, and receive the fourth feedback signal fed back by the position S _p to be measured by the sensor;

By the time interval between the first transmission signal and the first feedback signal, the time interval between the second transmission signal and the second feedback signal, the time interval between the third transmission signal and the third feedback signal, the fourth transmission signal and the time interval between the fourth feedback signal, and, the transmission rate of the electromagnetic wave in the air, respectively obtain the distance between the sensor position S _p to be measured and S _o , S _x , S _y , S _z ,

According to the distance between the sensor position S _p to be measured and S _o , S _x , S _y , S _z , the coordinate values x, y, z of the sensor position S _p to be measured are respectively obtained;

According to the coordinate values x, y, z of the sensor position S _p to be measured, determine the coordinates (x, y, z) of the sensor position S _p to be measured in space.

The positioning device for the position to be measured of the sensor provided by the second embodiment of the present invention uses electromagnetic waves to transmit the time interval between the four coordinates S _o , S _x , S _y , S _z and the position S _p to be measured of the sensor, and the electromagnetic wave travels in the air Propagation velocity in , first determine |op|, |xp|, |yp|, |zp| respectively, where |op| is the distance between S _o and S _p , and |xp| is the distance between S _x and S _p The distance between, |yp| is the distance between S _y and S _p , |zp| is the distance between S _z and S _p , and according to |op|, |xp|, |yp|, |zp|, The coordinate values x, y, z of S _p are obtained respectively, and then according to the coordinate values x, y, z of the sensor position S _p to be measured, the coordinates (x, y, z) of the sensor position S _p to be measured in space are determined. The steps of the method and the device are simplified, and the calculation workload is reduced.

Wherein, the positioning device of the position to be measured by the sensor also includes a terminal device, and the terminal device is provided with a time stamp acquisition unit, which is used to obtain the time stamp T _1o , T from the coordinates S _o , S _x , S _y , S _{z 2o} , T _2o ′T _3o , T _1x , T _2x , T _2x ′, T _3x , T _1y , T _2y , T _2y ′, T _3y , T _1z , T _2z , T _2z ′ T _3z ;

in,

T _1o , the time stamp when S _o transmits the signal; T _2o , the time stamp when the sensor position S _p receives the signal transmitted by S _o ; T _2o ′, the time stamp when S _p feeds back the signal to S _o ; T _3o , the time stamp when S _o receives the signal fed back by S _p ;

T _1x , the time stamp when S _x transmits the signal; T _2x , the time stamp when the sensor position S _p receives the signal transmitted by S _x ; T _2x ′, the time stamp when S _p feeds back the signal to S _x ; T _3x , the time stamp when S _x receives the signal fed back by S _p ;

T _1y , the time stamp when S _y transmits the signal; T _2y , the time stamp when the sensor position S _p receives the signal transmitted by S _y ; T _2y ′, the time stamp when S _p feeds back the signal to S ₂ ; T _3y , the time stamp when S _y receives the signal fed back by S _p ;

T _1z , the time stamp when S _z transmits the signal; T _2z , the time stamp when the sensor position S _p receives the signal transmitted by S _z ; T _2z ′, the time stamp when S _p feeds back the signal to S _z ; T _3z , the time stamp when S _z receives the signal fed back by S _p .

In this case, the terminal device can automatically obtain the above timestamps T _1o , T _2o , T _2o ′T _3o , T _1x , T _2x , T _2x ′, T _3x , T _1y , T _2y , T _2y ′, T _3y , T _1z , T _2z , T _2z ′T _3z , thus eliminating the need to manually obtain the above timestamps T _1o , T _2o , T _2o ′T _3o , T _1x , T _2x , T _2x ′, T _3x , T _1y , T _2y , T _2y ′, T _3y , T _1z , T _2z , T _2z ′ T _3z steps.

In this embodiment, the terminal device is selected from a PC, a single-chip microcomputer, a handheld terminal, and the like.

Wherein, the terminal device is provided with a first computing unit, and the first computing unit includes a second computing module, a second computing module, a third computing module and a fourth computing module;

The first calculation module according to the formula Calculate to get t _op , the average time of electromagnetic wave transmission between S _o and S _p ;

The second calculation module according to the formula Calculate to get t _xp , the average time of electromagnetic wave transmission between S _x and S _p ;

The third operation module according to the formula Calculated to get t _yp , the average time of electromagnetic wave transmission between S _y and S _p ;

The fourth calculation module according to the formula Calculate to get t _zp , the average time of electromagnetic wave transmission between S _z and S _p .

In this case, the terminal device can automatically calculate top, _txp , _typ , _typ , thereby _eliminating the steps of manually calculating _top , _txp , _typ , _typ .

Wherein, the terminal device is also provided with a second computing unit, and the second computing unit includes a fifth computing module, a sixth computing module, a seventh computing module, and an eighth computing module;

According to the formula |op|=c×t _op , the fifth operation module obtains |op|, the distance between S _o and S _p ;

The sixth operation module calculates |xp|, the distance between S _x and S _p according to the formula |xp|=c×t _xp ;

The seventh operation module obtains |yp|, the distance between S _y and S _p according to the formula |yp|=c×t _yp ;

The eighth operation module obtains |zp|, the distance between S _z and S _p according to the formula |zp|=c×t _zp .

Wherein, the terminal device is also provided with a third computing unit, and the third computing unit _obtains the spatial coordinates (x, y, z).

In this case, the terminal device can automatically calculate |op|, |xp|, |yp|, |zp|, and obtain the coordinates (x, y, z) of the position S _p of the sensor to be measured in space, thus eliminating the need for A step of manually calculating |op|, |xp|, |yp|, |zp|, and , to obtain the coordinates (x, y, z) of the position S _p of the sensor to be measured in space.

Preferably, the device for locating the position of the sensor to be measured further includes the high voltage equipment to be measured, and the four coordinates S _o , S _x , S _y , S _z are respectively set at the four vertices of the high voltage equipment to be measured. This facilitates the arrangement of the four coordinate devices S _o , S _x , S _y , and S _z .

Wherein, signal transmission is performed between the terminal device and the four coordinate devices S _o , S _x , S _y , and S _z through wireless communication. In this case, there is no signal line between the terminal equipment and the four coordinate devices S _o , S _x , S _y , S _z , and the arrangement is simple. In this embodiment, the wireless communication interface is selected from one of Bluetooth technology, Wi-Fi, 4G, 3G, GPRS, and zigbee.

While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (10)

1. A method for positioning a position to be measured of a sensor is characterized by comprising the following steps:

four coordinators S are spatially arranged_o、S_x、S_y、S_zWherein said S is defined_oIs the origin of coordinates O, S_xOn a spatial OX coordinate axis, said S_yOn the axis of the space OY, S_zOn the OZ coordinate axis of the space;

by said S_oTo the position S to be measured of the sensor_pTransmitting a first transmission signalThe position S to be measured of the sensor_pAfter receiving the first transmission signal, sending the first transmission signal to the S_oFeeding back a first feedback signal;

by said S_xTo the position S to be measured of the sensor_pEmitting a second emission signal to the position S to be measured of the sensor_pAfter receiving the second transmitting signal, transmitting to the S_xFeeding back a second feedback signal;

by said S_yTo the position S to be measured of the sensor_pTransmitting a third transmitting signal to the position S to be measured of the sensor_pAfter receiving the third transmitting signal, transmitting to the S_yFeeding back a third feedback signal;

by said S_zTo the position S to be measured of the sensor_pTransmitting a fourth transmitting signal to the position S to be measured of the sensor_pAfter receiving the fourth transmitting signal, transmitting to the S_zFeeding back a fourth feedback signal;

respectively obtaining the position S to be measured of the sensor through the time interval between the first emission signal and the first feedback signal, the time interval between the second emission signal and the second feedback signal, the time interval between the third emission signal and the third feedback signal, the time interval between the fourth emission signal and the fourth feedback signal, and the transmission rate of the electromagnetic waves in the air_pAnd said S_o、S_x、S_y、S_zThe distance between the two or more of the two or more,

according to the position S to be measured of the sensor_pAnd said S_o、S_x、S_y、S_zRespectively obtaining the positions S to be measured of the sensors_pCoordinate values x, y, z;

according to the position S to be measured of the sensor_pX, y and z, determining the position S to be measured of the sensor_pCoordinates in space (x, y, z).

2. The method of claim 1, wherein the step of locating the position of the sensor to be measured,

defining said S_oLaunchingTime stamp of signal is T_1oThe position S to be measured of the sensor_pReceiving the data from the S_oThe time stamp of the transmitted signal is T_2oSaid S_pTo the S_oTime stamp at feedback signal is T_2o', said S_oReceiving the data from the S_pTime stamp of the fed back signal is T_3oThen, then $t_{op}=\frac{\left(T_{2o}-T_{1o}\right)+\left(T_{3o}-T_{2o}^{\′}\right)}{2};$

Defining said S_xThe time stamp when the signal is transmitted is T_1xThe position S to be measured of the sensor_pReceiving the data from the S_xThe time stamp of the transmitted signal is T_2xSaid S_pTo the S_xTime stamp at feedback signal is T_2x', said S_xReceiving the data from the S_pTime stamp of the fed back signal is T_3xThen, then $t_{xp}=\frac{\left(T_{2x}-T_{1x}\right)+\left(T_{3x}-T_{2x}^{\′}\right)}{2};$

Defining said S_yThe time stamp when the signal is transmitted is T_1yThe position S to be measured of the sensor_pReceiving the data from the S_yThe time stamp of the transmitted signal is T_2ySaid S_pTo the S_yTime stamp at feedback signal is T_2y', said S_yReceiving the data from the S_pTime stamp of the fed back signal is T_3yThen, then $t_{yp}=\frac{\left(T_{2y}-T_{1y}\right)+\left(T_{3y}-T_{2y}^{\′}\right)}{2};$

Defining said S_zThe time stamp when the signal is transmitted is T_1zThe position S to be measured of the sensor_pReceiving the data from the S_zThe time stamp of the transmitted signal is T_2zSaid S_pTo the S_zTime stamp at feedback signal is T_2z', said S_zReceiving the data from the S_pTime stamp of the fed back signal is T_3zThen, then $t_{zp}=\frac{\left(T_{2z}-T_{1z}\right)+\left(T_{3z}-T_{2z}^{\′}\right)}{2};$

Then, | op | ═ c × t at this time_op；|xp|＝c×t_xp；|yp|＝c×t_yp，|zp|＝c×t_zp，

Wherein, c, the propagation speed of the electromagnetic wave in the air; i op, S_oAnd S_pThe distance between them; i xp I, S_xAnd S_pThe distance between them; yp, S_yAnd S_pThe distance between them; zp, S_yAnd S_pThe distance between them;

obtaining the position S to be measured of the sensor according to the | op |, | xp |, | yp |, and | zp |, wherein the position S is a position to be measured of the sensor_pCoordinates in space (x, y, z).

3. The method as claimed in claim 1, wherein the four coordinators S are arranged in a circle_o、S_x、S_y、S_zAnd the four top points are respectively arranged at the four top points of the high-voltage equipment to be tested.

4. The device for positioning the position to be measured of the sensor is characterized by comprising four coordinators S_o、S_x、S_y、S_zWherein said S_oSet at the origin of coordinates O, S_xArranged on a spatial OX coordinate axis, said S_ySet on the coordinate axis of space OY, S_zArranged on the space OZ coordinate axis;

said S_oFor aligning the position S to be measured of the sensor_pTransmitting a first transmission signal and receiving a position S to be measured by the sensor_pA first feedback signal that is fed back;

said S_xFor aligning the position S to be measured of the sensor_pTransmitting a second transmission signal and receiving a position S to be measured by the sensor_pFeeding back a second feedback signal;

said S_yFor aligning the position S to be measured of the sensor_pTransmitting a third transmitting signal and receiving a position S to be measured by the sensor_pFeeding back a third feedback signal;

said S_zFor aligning the position S to be measured of the sensor_pTransmitting a fourth transmitting signal and receiving a position S to be measured by the sensor_pFeeding back a fourth feedback signal;

respectively obtaining the position S to be measured of the sensor through the time interval between the first transmitting signal and the first feedback signal, the time interval between the second transmitting signal and the second feedback signal, the time interval between the third transmitting signal and the third feedback signal, the time interval between the fourth transmitting signal and the fourth feedback signal and the transmission rate of electromagnetic waves in the air_pAnd said S_o、S_x、S_y、S_zThe distance between the two or more of the two or more,

according to the position S to be measured of the sensor_pAnd said S_o、S_x、S_y、S_zRespectively obtaining the positions S to be measured of the sensors_pCoordinate values x, y, z;

according to the position S to be measured of the sensor_pX, y and z, determining the position S to be measured of the sensor_pCoordinates in space (x, y, z).

5. The sensor position-to-be-measured positioning device according to claim 4, further comprising a terminal device, wherein a timestamp acquisition unit is arranged on the terminal device, and the timestamp acquisition unit is used for acquiring the timestamp from the coordinator S_o、S_x、S_y、S_zObtaining a timestamp T_1o、T_2o、T_2o′T_3o、T_1x、T_2x、T_2x′、T_3x、T_1y、T_2y、T_2y′、T_3y、T_1z、T_2z、T_2z′T_3z；

Wherein,

T_1osaid S_oA timestamp of when the signal was transmitted; t is_2oThe position S to be measured of the sensor_pReceiving the data from the S_oA timestamp of the transmitted signal; t is_2o', said S_pTo the S_oA timestamp of when the signal was fed back; t is_3oSaid S_oReceiving the data from the S_pA timestamp of the signal being fed back;

T_1xsaid S_xA timestamp of when the signal was transmitted; t is_2xThe position S to be measured of the sensor_pReceiving the data from the S_xA timestamp of the transmitted signal; t is_2x', said S_pTo the S_xA timestamp of when the signal was fed back; t is_3xSaid S_xReceiving the data from the S_pA timestamp of the signal being fed back;

T_1ysaid S_yA timestamp of when the signal was transmitted; t is_2yThe position S to be measured of the sensor_pReceiving the data from the S_yA timestamp of the transmitted signal; t is_2y', said S_pTo the S₂A timestamp of when the signal was fed back; t is_3ySaid S_yReceiving the data from the S_pA timestamp of the signal being fed back;

T_1zsaid S_zA timestamp of when the signal was transmitted; t is_2zThe position S to be measured of the sensor_pReceiving the data from the S_zA timestamp of the transmitted signal; t is_2z', said S_pTo the S_zA timestamp of when the signal was fed back; t is_3zSaid S_zReceiving the data from the S_pTime stamp of the signal being fed back.

6. The sensor position-to-be-measured positioning device according to claim 5, wherein a first operation unit is provided on the terminal device, and the first operation unit comprises a first operation module, a second operation module, a third operation module and a fourth operation module;

the first operation module is according to a formulaCalculating to obtain the t_opElectromagnetic waves at said S_o、S_pThe average time of transmission between;

the second operation module is according to a formulaCalculating to obtain the t_xpElectromagnetic waves at said S_x、S_pThe average time of transmission between;

the third operation module is according to a formulaCalculating to obtain the t_ypElectromagnetic waves at said S_y、S_pThe average time of transmission between;

the fourth operation module is according to a formulaCalculating to obtain the t_zpElectromagnetic waves at said S_z、S_pThe average time of transmission between.

7. The sensor position-to-be-measured positioning device according to claim 6, wherein a second arithmetic unit is further provided on the terminal device, and the second arithmetic unit includes a fifth arithmetic module, a sixth arithmetic module, a seventh arithmetic module, and an eighth arithmetic module;

the fifth operation module is used for obtaining the equation | op | ═ c × t_opAnd the | op | and S are obtained by operation_oAnd S_pThe distance between them;

the sixth operation module is according to the formula | xp | ═ c × t_xpAnd calculating to obtain the | xp |, S_xAnd S_pThe distance between them;

the seventh operation module is used for calculating the equation | yp | ═ c × t_ypAnd calculating to obtain the | yp |, S_yAnd S_pThe distance between them;

the eighth operation module is configured to obtain c × t according to the equation | zp | ═ c × t_zpAnd calculating to obtain the | zp |, S_zAnd S_pThe distance between them.

8. The positioning device for the position to be measured of the sensor according to claim 7, wherein a third operation unit is further disposed on the terminal device, and the third operation unit obtains the position to be measured S of the sensor according to | op |, | xp |, | yp |, and | zp |_pCoordinates in space (x, y, z).

9. The apparatus of claim 4, further comprising a high voltage device to be tested, wherein the four coordinators S_o、S_x、S_y、S_zAnd the four high-voltage devices are respectively arranged at the four top points of the tested high-voltage device.

10. The apparatus as claimed in claim 5, wherein the terminal device and the four coordinators S are arranged in a row_o、S_x、S_y、S_zThe signal transmission is carried out in a wireless communication mode.