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 PDF

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CN109458988A
CN109458988A CN201811604476.0A CN201811604476A CN109458988A CN 109458988 A CN109458988 A CN 109458988A CN 201811604476 A CN201811604476 A CN 201811604476A CN 109458988 A CN109458988 A CN 109458988A
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pole
inclination angle
distance
coordinates
uwb
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CN109458988B (en
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王杰
徐侠松
张松华
张超
童庆望
黄雄峰
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Hubei Power Transmission Engineering Co Ltd
China Three Gorges University CTGU
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Hubei Power Transmission Engineering Co Ltd
China Three Gorges University CTGU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels

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  • Position Fixing By Use Of Radio Waves (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

基于UWB无线测距技术的抱杆倾角测量方法，在抱杆施工时，利用UWB技术在组塔的施工空间内建立三维空间坐标系，获得各支点与抱杆端点所测距离数据，根据UWB测距技术的测距误差建立优化数据方程组，并利用二阶锥规划算法解优化数据方程组求出抱杆端点坐标，最后根据抱杆两端端点的三维空间坐标求出抱杆倾角ɑ。本发明所提出的利用三维空间的计算抱杆倾角，直接根据抱杆两个端点坐标求出抱杆倾角角度更负荷实际工况，相较于以往采用倾角测量仪测量抱杆倾角的方式，可以消除抱杆倾角弯曲的干扰，使倾角的计算结果更为准确。

The method of measuring the inclination angle of the pole based on the UWB wireless ranging technology. During the construction of the pole, the UWB technology is used to establish a three-dimensional space coordinate system in the construction space of the tower, and the measured distance data of each fulcrum and the pole end is obtained. Based on the distance measurement error of the distance technology, an optimized data equation system is established, and the second-order cone programming algorithm is used to solve the optimized data equation system to obtain the coordinates of the pole end points. The calculation of the inclination angle of the pole by using the three-dimensional space proposed by the present invention directly calculates the inclination angle of the pole according to the coordinates of the two end points of the pole. Eliminate the interference of the inclination angle bending of the pole, so that the calculation result of the inclination angle is more accurate.

Description

Pole inclination angle measurement method based on UWB wireless distance finding technology
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.基于UWB无线测距技术的抱杆倾角测量方法，其特征在于：在抱杆施工时，利用UWB技术在组塔的施工空间内建立三维空间坐标系，获得各支点与抱杆端点所测距离数据，根据UWB测距技术的测距误差建立优化数据方程组，并利用二阶锥规划算法解优化数据方程组求出抱杆端点坐标，最后根据抱杆两端端点的三维空间坐标求出抱杆倾角ɑ。1. The method for measuring the inclination angle of a pole based on UWB wireless ranging technology is characterized in that: during the construction of the pole, UWB technology is utilized to establish a three-dimensional space coordinate system in the construction space of the group tower, and each fulcrum and the end point of the pole are measured. Based on the distance data, an optimized data equation set is established according to the ranging error of the UWB ranging technology, and the second-order cone programming algorithm is used to solve the optimized data equation set to obtain the coordinates of the pole end points, and finally the three-dimensional space coordinates of the two ends of the pole are obtained. Pole inclination ɑ. 2.基于UWB无线测距技术的抱杆倾角测量方法，其特征在于包括以下步骤：2. The method for measuring the inclination of a pole based on UWB wireless ranging technology, is characterized in that comprising the following steps: 步骤1：建立简单的空间坐标系，根据施工现场工作情况，将UWB无线测距节点布置在B1、B2、B3、B4的4个位置，布置完UWB无线测距节点后，确定B1、B2、B3、B4各点的三维空间坐标；A1、A2为抱杆两端，在A1、A2各布置一个UWB无线测距节点，抱杆在工作时其两端A1、A2坐标未知，设为A1(x1,y1,z1)，A2(x2,y2,z2)；Step 1: Establish a simple spatial coordinate system. According to the working conditions of the construction site, arrange the UWB wireless ranging nodes in four positions of B1, B2, B3, and B4. After arranging the UWB wireless ranging nodes, determine B1, B2, The three-dimensional space coordinates of each point of B3 and B4; A1 and A2 are the two ends of the pole, and a UWB wireless ranging node is arranged in each of A1 and A2. When the pole is working, the coordinates of A1 and A2 at both ends of the pole are unknown, and set as A 1 (x 1 , y 1 , z 1 ), A 2 (x 2 , y 2 , z 2 ); 步骤2：根据坐标系中坐标点的距离与UWB无线测距节点测得的测量距离，以测量距离与实际距离的误差绝对值小于等于UWB无线测距装置误差的条件，列出方程(1)，确定求解A1(x1,y1,z1)点坐标的约束条件方程：Step 2: According to the distance of the coordinate point in the coordinate system and the measured distance measured by the UWB wireless ranging node, and the absolute value of the error between the measured distance and the actual distance is less than or equal to the error of the UWB wireless ranging device, formula (1) is listed. , determine the constraint equation for solving the coordinates of the point A 1 (x 1 , y 1 , z 1 ): 方程(1)中：为根据坐标系坐标求出的A1B1、A1B2、A1B3、A1B4的实际距离，l1、l2、l3、l4为UWB测距节点检测得到的测量距离；M为测量装置在100m内的测量误差；In equation (1): are the actual distances of A 1 B 1 , A 1 B 2 , A 1 B 3 , and A 1 B 4 obtained from the coordinates of the coordinate system, and l 1 , l 2 , l 3 , and l 4 are detected by UWB ranging nodes. Measurement distance; M is the measurement error of the measurement device within 100m; 步骤3：以实际距离与测量距离误差最小为目标，确定求解A1(x1,y1,z1)目标函数如公式(2)所示：Step 3: Taking the minimum error between the actual distance and the measured distance as the goal, determine the objective function of solving A 1 (x 1 , y 1 , z 1 ) as shown in formula (2): 式中：△l为实际距离与测量距离的绝对误差；In the formula: △l is the absolute error between the actual distance and the measured distance; 步骤4：以方程(1)为约束条件，公式(2)为目标函数，按非线性规划的方法，求解出抱杆一端A1(x1,y1,z1)点的坐标；Step 4: Taking equation (1) as the constraint condition and equation (2) as the objective function, according to the method of nonlinear programming, solve the coordinates of the point A 1 (x 1 , y 1 , z 1 ) at one end of the pole; 步骤5：根据步骤2、步骤3、步骤4中对点A1(x1,y1,z1)坐标的求解方法，求解出出抱杆另一端点A2(x2,y2,z2)的三维空间坐标；Step 5: According to the method for solving the coordinates of point A 1 (x 1 , y 1 , z 1 ) in step 2, step 3 and step 4, solve the other end point A 2 (x 2 , y 2 , z of the pole) 2 ) the three-dimensional space coordinates; 步骤6：根据三维空间角度公式(3)，结合步骤4、步骤5求解出的抱杆两端端点A1(x1,y1,z1)，A2(x2,y2,z2)的坐标，求解出抱杆的倾角角度ɑ；Step 6: According to the three-dimensional space angle formula (3), combined with steps 4 and 5, the end points A 1 (x 1 , y 1 , z 1 ) and A 2 (x 2 , y 2 , z 2 of both ends of the pole are solved) ) coordinates, and solve the inclination angle ɑ of the pole; 式中：l5为抱杆两端点在x、y平面上投影的距离，||A1A2||为A1与A2两端点的距离；In the formula: l 5 is the projected distance between the two ends of the pole on the x, y plane, || A 1 A 2 || is the distance between the two ends of A 1 and A 2 ; 步骤7：根据步骤6的计算结果，即在利用抱杆组塔时抱杆的精确倾斜角度ɑ。Step 7: According to the calculation result of Step 6, that is, the precise inclination angle ɑ of the pole when using the pole group tower.
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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
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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 A monitoring device and method for a suspended pole group tower
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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