CN110749307A - Power transmission line displacement settlement determination method and system based on Beidou positioning - Google Patents
Power transmission line displacement settlement determination method and system based on Beidou positioning Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The invention discloses a Beidou positioning-based power transmission line displacement settlement judgment method and system, and relates to the field of power transmission line maintenance, wherein the method comprises the steps of calculating to obtain the coordinates of a power transmission tower at the current moment by using a differential positioning algorithm based on Beidou positioning; calculating the current deformation amount and the current deformation amount of the coordinates of the specified direction of the set fixed point of the transmission tower, and eliminating the gross error in the current deformation amount; sequencing the deformation quantities in the current period according to the time sequence, and establishing a prediction model; predicting the deformation quantity of the coordinate in the appointed direction of the fixed point at the current moment based on the established prediction model, and taking the deformation quantity as a displacement settlement judgment threshold value; and comparing the calculated current deformation quantity of the specified direction coordinate of the set fixed point with a displacement settlement judgment threshold value to obtain a transmission line displacement settlement judgment result. The invention can realize accurate judgment of the transmission tower displacement settlement.
Description
Technical Field
The invention relates to the field of power transmission line maintenance, in particular to a power transmission line displacement settlement judgment method and system based on Beidou positioning.
Background
In order to practically improve the capability of the power transmission line in resisting natural disasters and establish a monitoring and early warning system with mutual cooperation of power transmission line geological disaster satellite remote sensing monitoring, Beidou ground monitoring and line inspection, the Beidou satellite positioning technology has the advantages of high precision, all-weather uninterrupted and data wireless transmission and the like, and can be applied to power transmission line geological disaster monitoring. For the power transmission line, the test point construction work of the power transmission line geological disaster satellite remote sensing monitoring and early warning system is comprehensively developed at present, and a Beidou ground monitoring station and a Beidou reference station are deployed on a tower with geological disaster hidden danger, so that the power transmission line geological disaster monitoring and early warning system based on Beidou accurate positioning is built, and accurate monitoring and judgment are carried out on the displacement settlement of the power transmission tower.
The Beidou satellite positioning technology has the advantages of high precision, all-weather uninterrupted and data wireless transmission and the like, and can be applied to monitoring of power transmission line geological disasters. However, a new error can be introduced when the Beidou satellite positioning technology is directly applied to power transmission line geological disaster monitoring, the Beidou satellite positioning precision is obviously reduced, and even the problem that the monitoring precision requirement is not met occurs, so that the displacement settlement judgment decision is influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the Beidou positioning-based power transmission line displacement settlement judging method and system, which can realize accurate judgment of the power transmission tower displacement settlement.
In order to achieve the above purpose, the invention provides a power transmission line displacement settlement judgment method based on Beidou positioning, which comprises the following steps:
based on Beidou positioning, calculating by using a differential positioning algorithm to obtain the coordinates of the transmission tower at the current moment;
calculating the current deformation amount and the current deformation amount of the coordinates of the specified direction of the set fixed point of the transmission tower, and eliminating the gross error in the current deformation amount;
sequencing the deformation quantities in the current period according to the time sequence, and establishing a prediction model;
predicting the deformation quantity of the coordinate in the appointed direction of the fixed point at the current moment based on the established prediction model, and taking the deformation quantity as a displacement settlement judgment threshold value;
and comparing the calculated current deformation quantity of the specified direction coordinate of the set fixed point with a displacement settlement judgment threshold value to obtain a transmission line displacement settlement judgment result.
On the basis of the technical proposal, the device comprises a shell,
the coordinates of the transmission tower at the current moment are calculated and obtained based on the Beidou positioning and by utilizing a differential positioning algorithm, specifically, an observation equation is established based on the Beidou positioning, and then the coordinates of the transmission tower at the current moment are calculated and obtained by utilizing the differential positioning algorithm;
the observation equation is established based on Beidou positioning, wherein the established observation equation is as follows:
wherein the content of the first and second substances,
the pseudo-range is represented and,
a phase observation is represented that represents the phase observation,
representing the geometric distance, dt, of the satellite to the receiverrRepresenting the receiver clock difference, dTsRepresenting the satellite clock error, c is the speed of light,
indicating an ionospheric error,
Represents tropospheric error, phir,0,iWhich is indicative of the initial phase of the receiver,
which represents the initial phase of the satellite(s),
expressing integer ambiguity, λiDenotes the wavelength, ε, of the carrier iPRepresenting pseudo-range observation noise, epsilonΦWhich is indicative of the phase observation noise,
representing the phase deviation associated with the initial phase and the integer ambiguity of the receiver.
On the basis of the technical proposal, the device comprises a shell,
the gross error in the current deformation quantity is removed, and the used gross error removing method is a gross error positioning method based on median and standardized IQR;
the gross error positioning method based on the median and the standardized IQR specifically comprises the following steps:
let a time sequence be v0,v1,…vi,…,vnThen, the robust Z-fraction statistic under the IQR criterion is calculated as follows:
wherein v isiRepresenting point location, mean representing intermediate value, Z representing check quantity, when the check quantity | Z | ≧ 3, point location viIs a measure of the variability of the results, normalized IQR (v) being the confidence level of 99% of the outliers0,v1...vn) Equal to the quarterwave distance IQR multiplied by a factor 0.7413.
On the basis of the technical proposal, the device comprises a shell,
the gross error in the past deformation quantity is removed, and the used gross error removing method is an anti-error estimation method based on an IGG III equivalent weight function;
the model of the IGG III equivalent weight function is as follows:
wherein the content of the first and second substances,is equivalent weight, P is the weight of the original data participating in the calculation, gamma is the adaptive weight reduction factor or contraction factor,to normalize the residual, k0The value range is 1.0-1.5, k1The value range is 2.5-3.0.
On the basis of the technical scheme, the prediction model is established, wherein the established prediction model is a difference moving average autoregressive model.
The invention provides a Beidou positioning-based power transmission line displacement settlement judgment system, which comprises:
the calculation module is used for calculating and obtaining the coordinates of the transmission tower at the current moment based on Beidou positioning and by utilizing a differential positioning algorithm;
the eliminating module is used for calculating the current deformation amount and the current deformation amount of the coordinate in the appointed direction of the fixed point set by the transmission tower and eliminating the gross error in the current deformation amount;
the establishing module is used for sequencing the deformation quantity of the current period according to the time sequence and establishing a prediction model;
the prediction module is used for predicting the deformation quantity of the coordinate of the specified direction of the fixed point at the current moment based on the established prediction model to be used as a displacement settlement judgment threshold;
and the comparison module is used for comparing the calculated current deformation quantity of the specified direction coordinate of the set fixed point with the displacement settlement judgment threshold value to obtain a transmission line displacement settlement judgment result.
On the basis of the technical proposal, the device comprises a shell,
the coordinates of the transmission tower at the current moment are calculated and obtained based on the Beidou positioning and by utilizing a differential positioning algorithm, specifically, an observation equation is established based on the Beidou positioning, and then the coordinates of the transmission tower at the current moment are calculated and obtained by utilizing the differential positioning algorithm;
the observation equation is established based on Beidou positioning, wherein the established observation equation is as follows:
wherein the content of the first and second substances,
the pseudo-range is represented and,
representing a phaseThe bit of the observed value is compared to a threshold value,
representing the geometric distance, dt, of the satellite to the receiverrRepresenting the receiver clock difference, dTsRepresenting the satellite clock error, c is the speed of light,
indicating an ionospheric error,Represents tropospheric error, phir,0,iWhich is indicative of the initial phase of the receiver,which represents the initial phase of the satellite(s),
expressing integer ambiguity, λiDenotes the wavelength, ε, of the carrier iPRepresenting pseudo-range observation noise, epsilonΦWhich is indicative of the phase observation noise,representing the phase deviation associated with the initial phase and the integer ambiguity of the receiver.
On the basis of the technical proposal, the device comprises a shell,
the gross error in the current deformation quantity is removed, and the used gross error removing method is a gross error positioning method based on median and standardized IQR;
the gross error positioning method based on the median and the standardized IQR specifically comprises the following steps:
let a time sequence be v0,v1,…vi,…,vnThen, the robust Z-fraction statistic under the IQR criterion is calculated as follows:
wherein v isiIndicating a point location, meanRepresenting the intermediate value, Z represents the check quantity, and when the check quantity | Z | ≧ 3, the point viIs a measure of the variability of the results, normalized IQR (v) being the confidence level of 99% of the outliers0,v1...vn) Equal to the quarterwave distance IQR multiplied by a factor 0.7413.
On the basis of the technical proposal, the device comprises a shell,
the gross error in the past deformation quantity is removed, and the used gross error removing method is an anti-error estimation method based on an IGG III equivalent weight function;
the model of the IGG III equivalent weight function is as follows:
wherein the content of the first and second substances,is equivalent weight, P is the weight of the original data participating in the calculation, gamma is the adaptive weight reduction factor or contraction factor,
to normalize the residual, k0The value range is 1.0-1.5, k1The value range is 2.5-3.0.
On the basis of the technical scheme, the prediction model is established, wherein the established prediction model is a difference moving average autoregressive model.
Compared with the prior art, the invention has the advantages that: the method comprises the steps of firstly calculating the current settlement amount, establishing a prediction model based on the current settlement amount, obtaining a displacement settlement judgment threshold value through prediction of the prediction model, namely analyzing the current settlement data to obtain a displacement settlement safety value, and then comparing the current actual settlement amount with the displacement settlement judgment threshold value to judge whether the current settlement amount of the transmission tower is safe or not, so that accurate judgment of the displacement settlement of the transmission line is realized.
Drawings
Fig. 1 is a flowchart of a transmission line displacement settlement determination method based on Beidou positioning in the embodiment of the invention.
Detailed Description
The embodiment of the invention provides a power transmission line displacement settlement judgment method based on Beidou positioning, which realizes accurate judgment of the power transmission tower displacement settlement in a mode of establishing a prediction model. The embodiment of the invention also correspondingly provides a power transmission line displacement settlement judgment system based on Beidou positioning. The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, the method for determining the displacement settlement of the power transmission line based on the Beidou positioning provided by the embodiment of the invention comprises the following steps:
s1: and calculating to obtain the coordinates of the transmission tower at the current moment by using a differential positioning algorithm based on Beidou positioning.
In the embodiment of the invention, the coordinates of the transmission tower at the current moment are calculated and obtained by utilizing a differential positioning algorithm based on Beidou positioning, specifically, an observation equation is established based on Beidou positioning, and then the coordinates of the transmission tower at the current moment are calculated and obtained by utilizing the differential positioning algorithm;
the observation equation is established based on Beidou positioning, wherein the established observation equation is as follows:
wherein the content of the first and second substances,
the pseudo-range is represented and,
a phase observation is represented that represents the phase observation,
representing the geometric distance, dt, of the satellite to the receiverrRepresenting the receiver clock difference, dTsRepresenting the satellite clock error, c is the speed of light,
indicating an ionospheric error,
Represents tropospheric error, phir,0,iWhich is indicative of the initial phase of the receiver,
which represents the initial phase of the satellite(s),
expressing integer ambiguity, λiDenotes the wavelength, ε, of the carrier iPRepresenting pseudo-range observation noise, epsilonΦWhich is indicative of the phase observation noise,
representing the phase deviation associated with the initial phase and the integer ambiguity of the receiver.
S2: and calculating the current deformation amount and the current deformation amount of the coordinates of the specified direction of the fixed point set by the transmission tower, and eliminating the gross error in the current deformation amount. The deformation quantity of the fixed point appointed direction coordinate in each set time period is calculated according to the time sequence, and a plurality of deformation quantities are obtained.
In the embodiment of the invention, gross errors in the past deformation quantity are removed, and the used gross error removing method is a gross error positioning method based on median and standardized IQR (Interquartile Range);
the gross error positioning method based on the median and the standardized IQR specifically comprises the following steps:
let a time sequence be v0,v1,…vi,…,vnThen, the robust Z-fraction statistic under the IQR criterion is calculated as follows:
wherein v isiRepresenting point location, mean representing intermediate value, Z representing check quantity, when the check quantity | Z | ≧ 3, point location viIs a measure of the variability of the results, normalized IQR (v) being the confidence level of 99% of the outliers0,v1...vn) Equal to the quarterwave distance IQR multiplied by a factor 0.7413.
After a group of discrete time series observations are arranged from small to large, the median and the standardized IQR can be adopted to measure the centralized and dispersed degree of data. The median is the median of the sequence arranged from small to large, i.e. half is higher than it and half is lower than it, if the sequence length is odd, then the single central value is taken; if the sequence length is even, then take the average of the two center values. The quartile range IQR is the difference between the low quartile value and the high quartile value, the low quartile value being the nearest value at one quarter of the ordered sequence, and the high quartile value being the nearest value at three quarters of the ordered sequence.
Optionally, in the embodiment of the present invention, gross errors in the past deformation quantity are removed, and the used gross error removal method is an anti-error estimation method based on an IGG III equivalent weight function;
the igiii equivalent weight function is modeled as:
wherein the content of the first and second substances,is equivalent weight, P is the weight of the original data participating in the calculation, gamma is the adaptive weight reduction factor or contraction factor,
to normalize the residual, k0The value range is 1.0-1.5, k1The value range is 2.5-3.0.
No matter linear regression or periodic fitting is adopted in a fitting model based on a least square algorithm (LS), due to the fact that LS estimation does not have tolerance capability, subsequent analysis of the sequence can be affected by gross errors in the sequence, although standardized residual error statistics have a certain gross error detection function, the residual error detection capability for residual errors polluted by the gross errors is limited, and for the polluted residual errors, the influence of the polluted residual errors on model calculation can be reduced in a weight reduction mode.
In the embodiment of the invention, the forward deformation quantity with larger error is removed in a gross error removing mode, the left data are all data with higher accuracy, and the accuracy of the subsequently established prediction model is ensured.
S3: sequencing the deformation quantities in the current period according to the time sequence, and establishing a prediction model;
in the embodiment of the invention, a prediction model is established, wherein the established prediction model is a difference moving average autoregressive model.
Whether the observed data are arranged according to a time sequence or the observed data are arranged according to a spatial position sequence, more or less statistical autocorrelation phenomena exist among the observed data. For a long time, the methods for analyzing and processing the deformation data assume that the observed data are statistically independent or not related, such as regression analysis, etc., and such statistical methods are static data processing methods, and in a strict sense, it cannot be directly applied to the case that the considered data are statistically related. Unlike traditional regression analysis (linear, polynomial, exponential, etc.), the differential moving average autoregressive model can take into account the autocorrelation of the data.
S4: predicting the deformation quantity of the coordinate in the appointed direction of the fixed point at the current moment based on the established prediction model, and taking the deformation quantity as a displacement settlement judgment threshold value;
in an actual situation, the pole tower of the power transmission line can generate settlement within an acceptable range, namely, the settlement value is within a certain value range, the settlement is safe, no remedial measures need to be taken, if the displacement settlement measured by Beidou positioning is directly used for judgment, the settlement within the specific value range is difficult to judge as normal settlement, so that the settlement in the previous period is calculated, a prediction model is established based on the settlement in the previous period, a displacement settlement judgment threshold value is obtained through prediction of the prediction model, which is equivalent to analyzing the previous period settlement data to obtain a displacement settlement safety value, and then the current actual settlement is compared with the displacement settlement judgment threshold value, so that whether the settlement of the current power transmission pole tower is safe or not is judged, and the accurate judgment on the displacement settlement of the power transmission line is realized.
S5: and comparing the calculated current deformation quantity of the specified direction coordinate of the set fixed point with a displacement settlement judgment threshold value to obtain a transmission line displacement settlement judgment result. When the current deformation amount is larger than the displacement settlement judgment threshold value, the uncontrollable displacement settlement risk of the power transmission line is indicated, and the power transmission line needs to be processed in time, otherwise, the uncontrollable displacement settlement risk of the power transmission line is not generated, and the displacement settlement is in a normal range. For example, the displacement settlement judgment threshold value obtained through prediction by the prediction model is 15mm, and the calculated current deformation quantity of the specified direction coordinate of the set fixed point is 20mm, which indicates that the transmission line has an uncontrollable displacement settlement risk and needs to be processed in time to ensure the safety of the transmission line.
According to the power transmission line displacement settlement judging method based on Beidou positioning, the current deformation quantity and the current deformation quantity of the coordinates of the appointed direction of the fixed point set by the power transmission tower are calculated, the gross error in the current deformation quantity is eliminated, the current deformation quantity is sorted according to the time sequence, a prediction model is established, the displacement settlement judging threshold value is obtained based on prediction of the prediction model, and the accurate judgment of the power transmission line displacement settlement is realized by adopting a mode of combining the Beidou positioning and the prediction model.
The power transmission line displacement settlement judging system based on Beidou positioning comprises a calculating module, a removing module, an establishing module, a predicting module and a comparing module.
The calculation module is used for calculating and obtaining the coordinates of the transmission tower at the current moment based on Beidou positioning and by utilizing a differential positioning algorithm; the eliminating module is used for calculating the current deformation amount and the current deformation amount of the coordinate in the appointed direction of the set fixed point of the transmission tower and eliminating the gross error in the current deformation amount; the establishing module is used for sequencing the deformation quantity of the current period according to the time sequence and establishing a prediction model; the prediction module is used for predicting the deformation quantity of the coordinate of the specified direction of the fixed point at the current moment based on the established prediction model and taking the deformation quantity as a displacement settlement judgment threshold value; and the comparison module is used for comparing the calculated current deformation quantity of the specified direction coordinate of the set fixed point with the displacement settlement judgment threshold value to obtain the transmission line displacement settlement judgment result. And establishing a prediction model, wherein the established prediction model is a difference moving average autoregressive model.
Based on Beidou positioning, calculating by using a differential positioning algorithm to obtain the coordinates of the transmission tower at the current moment, specifically, establishing an observation equation based on the Beidou positioning, and calculating by using the differential positioning algorithm to obtain the coordinates of the transmission tower at the current moment;
the observation equation is established based on Beidou positioning, wherein the established observation equation is as follows:
wherein the content of the first and second substances,
the pseudo-range is represented and,a phase observation is represented that represents the phase observation,
representing the geometric distance, dt, of the satellite to the receiverrRepresenting the receiver clock difference, dTsRepresenting the satellite clock error, c is the speed of light,indicating an ionospheric error,
Represents tropospheric error, phir,0,iWhich is indicative of the initial phase of the receiver,
which represents the initial phase of the satellite(s),
expressing integer ambiguity, λiDenotes the wavelength, ε, of the carrier iPRepresenting pseudo-range observation noise, epsilonΦWhich is indicative of the phase observation noise,
representing the phase deviation associated with the initial phase and the integer ambiguity of the receiver.
Removing gross errors in the deformation quantity of the past period, wherein the used gross error removing method is a gross error positioning method based on median and standardized IQR; the gross error positioning method based on the median and the standardized IQR specifically comprises the following steps:
let a time sequence be v0,v1,…vi,…,vnThen, the robust Z-fraction statistic under the IQR criterion is calculated as follows:
wherein v isiRepresenting point location, mean representing intermediate value, Z representing check quantity, when the check quantity | Z | ≧ 3, point location viIs a measure of the variability of the results, normalized IQR (v) being the confidence level of 99% of the outliers0,v1…vn) Equal to the quarterwave distance IQR multiplied by a factor 0.7413.
Optionally, gross errors in the past deformation quantity are removed, and the gross error removal method is an anti-error estimation method based on an IGG III equivalent weight function; the igiii equivalent weight function is modeled as:
wherein the content of the first and second substances,
is equivalent weight, P is the weight of the original data participating in the calculation, gamma is the adaptive weight reduction factor or contraction factor,
to normalize the residual, k0The value range is 1.0-1.5, k1The value range is 2.5-3.0.
The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The power transmission line displacement settlement judgment method based on Beidou positioning is characterized by comprising the following steps of:
based on Beidou positioning, calculating by using a differential positioning algorithm to obtain the coordinates of the transmission tower at the current moment;
calculating the current deformation amount and the current deformation amount of the coordinates of the specified direction of the set fixed point of the transmission tower, and eliminating the gross error in the current deformation amount;
sequencing the deformation quantities in the current period according to the time sequence, and establishing a prediction model;
predicting the deformation quantity of the coordinate in the appointed direction of the fixed point at the current moment based on the established prediction model, and taking the deformation quantity as a displacement settlement judgment threshold value;
and comparing the calculated current deformation quantity of the specified direction coordinate of the set fixed point with a displacement settlement judgment threshold value to obtain a transmission line displacement settlement judgment result.
2. The electric transmission line displacement settlement judgment method based on Beidou positioning as set forth in claim 1, characterized in that:
the Beidou positioning-based coordinate calculation method for the transmission tower at the current moment by utilizing the differential positioning algorithm specifically comprises the following steps: establishing an observation equation based on Beidou positioning, and then calculating by using a differential positioning algorithm to obtain the coordinates of the transmission tower at the current moment;
the established observation equation is as follows:
wherein the content of the first and second substances,
the pseudo-range is represented and,
a phase observation is represented that represents the phase observation,
representing the geometric distance, dt, of the satellite to the receiverrRepresenting the receiver clock difference, dTsRepresenting the satellite clock error, c is the speed of light,
indicating an ionospheric error,
Represents tropospheric error, phir,0,iWhich is indicative of the initial phase of the receiver,
which represents the initial phase of the satellite(s),
expressing integer ambiguity, λiDenotes the wavelength, ε, of the carrier iPRepresenting pseudo-range observation noise, epsilonΦWhich is indicative of the phase observation noise,
representing the phase deviation associated with the initial phase and the integer ambiguity of the receiver.
3. The electric transmission line displacement settlement judgment method based on Beidou positioning as set forth in claim 1, characterized in that:
the gross error in the current deformation quantity is removed, and the used gross error removing method is a gross error positioning method based on median and standardized IQR;
the gross error positioning method based on the median and the standardized IQR specifically comprises the following steps:
let a time sequence be v0,v1,…vi,…,vnThen, the robust Z-fraction statistic under the IQR criterion is calculated as follows:
wherein v isiRepresenting point location, mean representing intermediate value, Z representing check quantity, when the check quantity | Z | ≧ 3, point location viIs a measure of the variability of the results, normalized IQR (v) being the confidence level of 99% of the outliers0,v1...vn) Equal to the quarterwave distance IQR multiplied by a factor 0.7413.
4. The electric transmission line displacement settlement judgment method based on Beidou positioning as set forth in claim 1, characterized in that:
the gross error in the past deformation quantity is removed, and the used gross error removing method is an anti-error estimation method based on an IGGIII equivalent weight function;
the model of the IGGIII equivalence weight function is:
wherein the content of the first and second substances,is equivalent weight, P is the weight of the original data participating in the calculation, gamma is the adaptive weight reduction factor or contraction factor,
to normalize the residual, k0The value range is 1.0-1.5, k1The value range is 2.5-3.0.
5. The electric transmission line displacement settlement judgment method based on Beidou positioning as set forth in claim 1, characterized in that: and establishing a prediction model, wherein the established prediction model is a difference moving average autoregressive model.
6. The utility model provides a transmission line displacement settlement decision-making system based on big dipper location which characterized in that includes:
the calculation module is used for calculating and obtaining the coordinates of the transmission tower at the current moment based on Beidou positioning and by utilizing a differential positioning algorithm;
the eliminating module is used for calculating the current deformation amount and the current deformation amount of the coordinate in the appointed direction of the fixed point set by the transmission tower and eliminating the gross error in the current deformation amount;
the establishing module is used for sequencing the deformation quantity of the current period according to the time sequence and establishing a prediction model;
the prediction module is used for predicting the deformation quantity of the coordinate of the specified direction of the fixed point at the current moment based on the established prediction model to be used as a displacement settlement judgment threshold;
and the comparison module is used for comparing the calculated current deformation quantity of the specified direction coordinate of the set fixed point with the displacement settlement judgment threshold value to obtain a transmission line displacement settlement judgment result.
7. The electric transmission line displacement settlement judgment system based on Beidou positioning as set forth in claim 6, characterized in that:
the coordinates of the transmission tower at the current moment are calculated and obtained based on the Beidou positioning and by utilizing a differential positioning algorithm, specifically, an observation equation is established based on the Beidou positioning, and then the coordinates of the transmission tower at the current moment are calculated and obtained by utilizing the differential positioning algorithm;
the observation equation is established based on Beidou positioning, wherein the established observation equation is as follows:
wherein the content of the first and second substances,wherein
The pseudo-range is represented and,
a phase observation is represented that represents the phase observation,
representing the geometric distance, dt, of the satellite to the receiverrRepresenting the receiver clock difference, dTsRepresenting the satellite clock error, c is the speed of light,
indicating an ionospheric error,Represents tropospheric error, phir,0,iWhich is indicative of the initial phase of the receiver,
which represents the initial phase of the satellite(s),expressing integer ambiguity, λiDenotes the wavelength, ε, of the carrier iPRepresenting pseudo-range observation noise, epsilonΦWhich is indicative of the phase observation noise,
representing the phase deviation associated with the initial phase and the integer ambiguity of the receiver.
8. The electric transmission line displacement settlement judgment system based on Beidou positioning as set forth in claim 6, characterized in that:
the gross error in the current deformation quantity is removed, and the used gross error removing method is a gross error positioning method based on median and standardized IQR;
the gross error positioning method based on the median and the standardized IQR specifically comprises the following steps:
let a time sequence be v0,v1,…vi,…,vnThen, the robust Z-fraction statistic under the IQR criterion is calculated as follows:
wherein v isiRepresenting point location, mean representing intermediate value, Z representing check quantity, when the check quantity | Z | ≧ 3, point location viIs a measure of the variability of the results, normalized IQR (v) being the confidence level of 99% of the outliers0,v1...vn) Equal to the quarterwave distance IQR multiplied by a factor 0.7413.
9. The electric transmission line displacement settlement judgment system based on Beidou positioning as set forth in claim 6, characterized in that:
the gross error in the past deformation quantity is removed, and the used gross error removing method is an anti-error estimation method based on an IGGIII equivalent weight function;
the model of the IGGIII equivalence weight function is:
wherein the content of the first and second substances,is equivalent weight, P is the weight of the original data participating in the calculation, gamma is the adaptive weight reduction factor or contraction factor,
to normalize the residual, k0The value range is 1.0-1.5, k1The value range is 2.5-3.0.
10. The electric transmission line displacement settlement judgment system based on Beidou positioning as set forth in claim 6, characterized in that: and establishing a prediction model, wherein the established prediction model is a difference moving average autoregressive model.
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| CN113295140A (en) * | 2021-04-23 | 2021-08-24 | 杭州申昊科技股份有限公司 | Method and system for detecting railway settlement based on virtual reference station |
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