CN109458988A - Pole inclination angle measurement method based on UWB wireless distance finding technology - Google Patents
Pole inclination angle measurement method based on UWB wireless distance finding technology Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
Pole inclination angle measurement method based on UWB wireless distance finding technology, in pole construction, three-dimensional coordinate system is established in the construction space of group tower using UWB technology, obtain each fulcrum and the surveyed range data of pole endpoint, optimization data equation group is established according to the range error of UWB ranging technology, and pole extreme coordinates are found out using Second-order cone programming algorithm solution optimization data equation group, pole inclination angle ɑ is finally found out according to the three dimensional space coordinate of pole both ends endpoint.Calculating pole inclination angle using three-dimensional space proposed by the invention, directly pole tilt angles more load actual condition is found out according to two extreme coordinates of pole, compared to previous in such a way that dipmeter measures pole inclination angle, the curved interference in pole inclination angle can be eliminated, keeps the calculated result at inclination angle more accurate.
Description
Technical field
It is specifically a kind of to be based on UWB wireless distance finding technology the present invention relates to high-tension line steel tower technical field of electric power construction
Pole inclination angle measurement method.
Background technique
There are a large amount of demands that high-tension line steel tower is found using pole group in power construction.During group tower construction, embrace
Bar is suspended in inside tower body, and when lifting by crane tower body main material, pole will carry out inclination appropriate, to prevent from being touched by tower crane material
Group tower body keeps lifting unstable, causes to damage to tower material.When inclination the tension state of bracing wire and bearing rope can send out pole
Changing makes unbalance stress, causes construction safety hidden danger.Therefore, monitoring is measured to the tilt angle in pole system,
Reflect corresponding external cable, the stress of support line and pole and displacement under different pole inclination angles, to ensure construction safety.
Typical pole Dip Angle Monitoring method is using dipmeter, and dipmeter is generally by being mounted on pole
Obliquity sensor detected the variation at inclination angle, but during group tower, pole will appear hettocyrtosis, and inclination angle is caused to measure
Instrument can not correctly measure pole inclination angle, and construction personnel is made to do the judgement to make mistake to the state of pole, lead to the generation of accident.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of pole inclination angle measurement side based on UWB wireless distance finding technology
Method calculates pole inclination angle using three-dimensional space, and directly according to two extreme coordinates of pole, it is real to find out pole tilt angles more load
Border operating condition.The curved interference in pole inclination angle can be eliminated in such a way that dipmeter measures pole inclination angle compared to previous,
Keep the calculated result at inclination angle more accurate.
The technical scheme adopted by the invention is as follows:
Based on the pole inclination angle measurement method of UWB wireless distance finding technology, in pole construction, using UWB technology in a group tower
Construction space in establish three-dimensional coordinate system, each fulcrum and the surveyed range data of pole endpoint are obtained, according to UWB ranging skill
The range error of art establishes optimization data equation group, and finds out pole end using Second-order cone programming algorithm solution optimization data equation group
Point coordinate, finally finds out pole inclination angle ɑ according to the three dimensional space coordinate of pole both ends endpoint.
Pole inclination angle measurement method based on UWB wireless distance finding technology, comprising the following steps:
Step 1: simple space coordinates are established, according to construction site working condition, by UWB wireless distance finding inserting knot
The three-dimensional space of B1, B2, B3, B4 each point is determined after arranging UWB wireless distance finding node in 4 positions of B1, B2, B3, B4
Coordinate；A1, A2 are pole both ends, respectively arrange a UWB wireless distance finding node in A1, A2, pole its ends A 1, A2 at work
Coordinate is unknown, is set as A1(x1,y1,z1), A2(x2,y2,z2)；
Step 2: the measurement distance measured according to the distance of coordinate points in coordinate system and UWB wireless distance finding node, with measurement
Distance is less than or equal to the condition of UWB wireless distance finding directional error with the Error Absolute Value of actual range, lists equation (1), determines
Solve A1(x1,y1,z1) point coordinate constraining equation:
In equation (1):For the A found out according to coordinate system coordinate1B1、A1B2、A1B3、A1B4
Actual range, l1、l2、l3、l4The measurement distance obtained for UWB ranging nodal test.M is survey of the measuring device in 100m
Measure error；
Step 3: with actual range and the measurement minimum target of range error, determining and solve A1(x1,y1,z1) objective function
As shown in formula (2):
In formula: △ l is actual range and the absolute error for measuring distance；
Step 4: with equation (1) for constraint condition, formula (2) is that objective function is solved by the method for Non-Linear Programming
Pole one end A1(x1,y1,z1) point coordinate；
Step 5: according in step 2, step 3, step 4 to point A1(x1,y1,z1) coordinate method for solving, solve out and embrace
Another terminal A of bar2(x2,y2,z2) three dimensional space coordinate；
Step 6: according to three-dimensional space angle formula (3), the pole both ends terminal A solved in conjunction with step 4, step 51
(x1,y1,z1), A2(x2,y2,z2) coordinate, solve the tilt angles ɑ of pole.
In formula: l5For the distance that pole two-end-point projects on x, y plane, | | A1A2| | it is A1With A2The distance of two-end-point；
Step 7: according to the calculated result of step 6, i.e., when using pole group tower pole accurate tilt angle ɑ.
A kind of pole inclination angle measurement method based on UWB wireless distance finding technology of the present invention, technical effect are as follows:
1), the calculating pole inclination angle proposed by the invention using three-dimensional space, directly according to two extreme coordinates of pole
Pole tilt angles more load actual condition is found out, it, can compared to previous in such a way that dipmeter measures pole inclination angle
To eliminate the curved interference in pole inclination angle, keep the calculated result at inclination angle more accurate.
2), by UWB wireless distance finding technology, real-time inclination angle data transfer is realized.
3), UWB ranging node is cheap compared to traditional dipmeter device, can greatly reduce reduction group tower construction
Inclination angle monitoring cost in the process.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is the pole inclination angle measurement method schematic illustration based on UWB technology.
Fig. 2 is pole inclination angle measurement procedure schematic diagram.
Specific embodiment
Based on the pole inclination angle measurement method of UWB wireless distance finding technology, in pole construction, using UWB technology in a group tower
Construction space in establish three-dimensional coordinate system, each fulcrum and the surveyed range data of pole endpoint are obtained, according to UWB ranging skill
The range error of art establishes optimization data equation group, and finds out pole end using Second-order cone programming algorithm solution optimization data equation group
Point coordinate, finally finds out pole inclination angle ɑ according to the three dimensional space coordinate of pole both ends endpoint, provides for transmission line of electricity group tower construction
More accurate reference frame.
Based on the pole inclination angle measurement method of UWB wireless distance finding technology, including the following steps:
Step 1: simple space coordinates are established, according to construction site working condition, by UWB wireless distance finding inserting knot
In 4 positions of B1, B2, B3, B4 as shown in Figure 1:, the position of B1, B2, B3, B4 need to be determined according to working site operating condition,
It is preferably arrangement condition to be convenient for measuring, after arranging UWB wireless distance finding node, determines the three-dimensional space of B1, B2, B3, B4 each point
Between coordinate.A1, A2 are pole both ends as shown in Figure 1:, respectively arrange that a UWB wireless distance finding node, pole are working in A1, A2
When its ends A 1, A2 coordinate it is unknown, be set as A1(x1,y1,z1), A2(x2,y2,z2)。
Step 2: the measurement distance measured according to the distance of coordinate points in coordinate system and UWB wireless distance finding node, with measurement
Distance is less than or equal to the condition of UWB wireless distance finding directional error with the Error Absolute Value of actual range, can list equation (1),
It determines and solves A1(x1,y1,z1) point coordinate constraining equation.
In equation (1):For the A found out according to coordinate system coordinate1B1、A1B2、A1B3、A1B4
Actual range, l1、l2、l3、l4The measurement distance obtained for UWB ranging nodal test.M is survey of the measuring device in 100m
Measure error.
Step 3: with actual range and the measurement minimum target of range error, determining and solve A1(x1,y1,z1) objective function
As shown in formula (2):
In formula: △ l is actual range and the absolute error for measuring distance.
Step 4: with equation (1) for constraint condition, formula (2) is that objective function is solved by the method for Non-Linear Programming
Pole one end A1(x1,y1,z1) point coordinate.
Step 5: according in step 2, step 3, step 4 to point A1(x1,y1,z1) coordinate method for solving, solve out and embrace
Another terminal A of bar2(x2,y2,z2) three dimensional space coordinate.
Step 6: according to three-dimensional space angle formula (3), the pole both ends terminal A solved in conjunction with step 4, step 51
(x1,y1,z1), A2(x2,y2,z2) coordinate, solve the tilt angles ɑ of pole.
In formula: l5For the distance that pole two-end-point projects on x, y plane, | | A1A2| | it is A1With A2The distance of two-end-point,
Step 7: according to the calculated result of step 6, i.e., when using pole group tower pole accurate tilt angle ɑ, to
In group tower work when pole inclination angle is more than certain angle, safety precaution in advance is provided.
Pole extreme coordinates calculated result: pole extreme coordinates are carried out according to the method in step 3, step 4, step 5
Optimization computation obtains its extreme coordinates result:
A1Point coordinate solving result is as follows:
A2Point coordinate solving result is as follows:
Specific example:
According to above-mentioned algorithm, it is assumed that B1 (0,0,0), B2 (20,0,0), B3 (20,20,0), B4 (0,20,0).Solve A1It sits
L1=29.5m when mark, L2=30m, L3=30.5m, L4=31m.Solve A2L1=19.5m, L2=20m, L3=when point coordinate
20.5m L4=20m.
According to above-mentioned calculated result A1Point coordinate is (9.256252,8.475005,26.69732), A2Point coordinate be
Pole inclination angle ɑ=4.824 ° are calculated according to two-end-point coordinate in (9.506246,9.506246,14.12490).
A kind of pole inclination angle measurement method based on UWB wireless distance finding technology of the present invention, is passed using super wideband wireless ranging
Sensor measures the distance between pole two-end-point and each fulcrum, by data measured optimization processing and carries out three-dimensional space reconstruction,
According to the three-dimensional space gone out finally rebuild, the method for calculating pole inclination angle.The method is advised in calculating process using second order cone
That draws optimizes measured data the three-dimensional space model for reconstructing local optimum, and is embraced using the calculating of three-dimensional space
Bar inclination angle can eliminate the curved interference in pole inclination angle and calculate compared with subject to directly according to the space coordinate of two endpoints of pole
True inclination angle.This method is for the monitoring during group tower construction to pole tilt angles, since pole Dip countion is based on UWB
The ranging data of wireless distance finding device, the present invention can also be used in group tower process therefrom on pole both ends and direction distance prison
Control.
A kind of pole inclination angle measurement method based on UWB wireless distance finding technology of the present invention, wireless distance finding technology is utilized
In group tower construction work, the monitoring to safe distance in entire work progress orientation can be provided.
Claims (2)
1. the pole inclination angle measurement method based on UWB wireless distance finding technology, it is characterised in that: in pole construction, utilize UWB skill
Art establishes three-dimensional coordinate system in the construction space of group tower, obtains each fulcrum and the surveyed range data of pole endpoint, according to
The range error of UWB ranging technology establishes optimization data equation group, and optimizes data equation group using Second-order cone programming algorithm solution
Pole extreme coordinates are found out, pole inclination angle ɑ is finally found out according to the three dimensional space coordinate of pole both ends endpoint.
2. the pole inclination angle measurement method based on UWB wireless distance finding technology, it is characterised in that the following steps are included:
Step 1: establishing simple space coordinates, according to construction site working condition, UWB wireless distance finding inserting knot is existed
4 positions of B1, B2, B3, B4 after arranging UWB wireless distance finding node, determine that the three-dimensional space of B1, B2, B3, B4 each point is sat
Mark；A1, A2 are pole both ends, respectively arrange a UWB wireless distance finding node in A1, A2, its ends A 1, A2 are sat pole at work
It marks unknown, is set as A1(x1,y1,z1), A2(x2,y2,z2)；
Step 2: the measurement distance measured according to the distance of coordinate points in coordinate system and UWB wireless distance finding node, to measure distance
It is less than or equal to the condition of UWB wireless distance finding directional error with the Error Absolute Value of actual range, lists equation (1), determines and solve
A1(x1,y1,z1) point coordinate constraining equation:
In equation (1):For the A found out according to coordinate system coordinate1B1、A1B2、A1B3、A1B4Reality
Border distance, l1、l2、l3、l4The measurement distance obtained for UWB ranging nodal test；M is that measurement of the measuring device in 100m misses
Difference；
Step 3: with actual range and the measurement minimum target of range error, determining and solve A1(x1,y1,z1) objective function such as formula
(2) shown in:
In formula: △ l is actual range and the absolute error for measuring distance；
Step 4: with equation (1) for constraint condition, formula (2) solves pole by the method for Non-Linear Programming for objective function
One end A1(x1,y1,z1) point coordinate；
Step 5: according in step 2, step 3, step 4 to point A1(x1,y1,z1) coordinate method for solving, it is another to solve out pole
End point A2(x2,y2,z2) three dimensional space coordinate；
Step 6: according to three-dimensional space angle formula (3), the pole both ends terminal A solved in conjunction with step 4, step 51(x1,y1,
z1), A2(x2,y2,z2) coordinate, solve the tilt angles ɑ of pole；
In formula: l5For the distance that pole two-end-point projects on x, y plane, | | A1A2| | it is A1With A2The distance of two-end-point；
Step 7: according to the calculated result of step 6, i.e., when using pole group tower pole accurate tilt angle ɑ.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497813A (en) * | 2020-04-15 | 2020-08-07 | 浙江鸿泉电子科技有限公司 | Tire locking detection method and device based on UWB technology |
| CN112665550A (en) * | 2021-01-13 | 2021-04-16 | 三峡大学 | Suspension holding pole group tower monitoring device and method |
| CN112904273A (en) * | 2021-01-13 | 2021-06-04 | 三峡大学 | Real-time monitoring device and method for assembling of power transmission line iron tower |
| CN113607129A (en) * | 2021-07-28 | 2021-11-05 | 三峡大学 | Method and system for measuring and calculating gradient threshold of suspension holding pole in real time |
| CN113625224A (en) * | 2021-07-28 | 2021-11-09 | 三峡大学 | Method and system for monitoring space attitude of hoisting tower piece in real time |
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| CN204788358U (en) * | 2015-03-20 | 2015-11-18 | 北京中电兴发科技有限公司 | Shaft tower slope monitoring system |
| CA2934685A1 (en) * | 2015-06-30 | 2016-12-30 | Canrig Drilling Technology Ltd. | Active monitoring of alignment of rig component |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204788358U (en) * | 2015-03-20 | 2015-11-18 | 北京中电兴发科技有限公司 | Shaft tower slope monitoring system |
| CA2934685A1 (en) * | 2015-06-30 | 2016-12-30 | Canrig Drilling Technology Ltd. | Active monitoring of alignment of rig component |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111497813A (en) * | 2020-04-15 | 2020-08-07 | 浙江鸿泉电子科技有限公司 | Tire locking detection method and device based on UWB technology |
| CN112665550A (en) * | 2021-01-13 | 2021-04-16 | 三峡大学 | Suspension holding pole group tower monitoring device and method |
| CN112904273A (en) * | 2021-01-13 | 2021-06-04 | 三峡大学 | Real-time monitoring device and method for assembling of power transmission line iron tower |
| CN112665550B (en) * | 2021-01-13 | 2022-04-08 | 三峡大学 | Suspension holding pole group tower monitoring device and method |
| CN112904273B (en) * | 2021-01-13 | 2024-05-28 | 三峡大学 | Real-time monitoring device and method for assembly of transmission line iron towers |
| CN113607129A (en) * | 2021-07-28 | 2021-11-05 | 三峡大学 | Method and system for measuring and calculating gradient threshold of suspension holding pole in real time |
| CN113625224A (en) * | 2021-07-28 | 2021-11-09 | 三峡大学 | Method and system for monitoring space attitude of hoisting tower piece in real time |
| CN113625224B (en) * | 2021-07-28 | 2023-10-27 | 三峡大学 | Real-time monitoring method and system for space attitude of lifting tower slice |
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