CN113670262A - Online monitoring device and method for tower postures of power transmission and distribution lines - Google Patents

Online monitoring device and method for tower postures of power transmission and distribution lines Download PDF

Info

Publication number
CN113670262A
CN113670262A CN202111100901.4A CN202111100901A CN113670262A CN 113670262 A CN113670262 A CN 113670262A CN 202111100901 A CN202111100901 A CN 202111100901A CN 113670262 A CN113670262 A CN 113670262A
Authority
CN
China
Prior art keywords
tower
gnss antenna
satellite
module
attitude information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111100901.4A
Other languages
Chinese (zh)
Inventor
赵永强
汪溢
胡春潮
冯善强
尤毅
孙毅
何英发
王之纯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Southern Power Grid Power Technology Co Ltd
Original Assignee
China Southern Power Grid Power Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Southern Power Grid Power Technology Co Ltd filed Critical China Southern Power Grid Power Technology Co Ltd
Priority to CN202111100901.4A priority Critical patent/CN113670262A/en
Publication of CN113670262A publication Critical patent/CN113670262A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01C9/02—Details
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/006—Artificial life, i.e. computing arrangements simulating life based on simulated virtual individual or collective life forms, e.g. social simulations or particle swarm optimisation [PSO]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Data Mining & Analysis (AREA)
  • Evolutionary Computation (AREA)
  • Biophysics (AREA)
  • Molecular Biology (AREA)
  • Computing Systems (AREA)
  • Computational Linguistics (AREA)
  • Biomedical Technology (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application discloses online monitoring device and method for tower postures of power transmission and distribution lines, wherein the device comprises: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply. The method comprises the steps of firstly processing satellite signals received by a GNSS antenna through a positioning module to obtain an initial coordinate phase of a tower, then constructing a double-difference matrix equation set according to parameters such as the initial coordinate phase, the number of satellites and the like through an MCU (microprogrammed control Unit) processor, solving by utilizing a particle swarm algorithm to obtain attitude information of the tower, and finally transmitting the attitude information to an online monitoring server through a DTU (data transfer unit) module. The scheme of the application can uninterruptedly monitor the power transmission and distribution towers, and the monitoring range is wide; the influence of the precision of the sensor can not be generated, and the monitoring precision is high. Meanwhile, the calculation amount is small, and the tower posture can be solved without a complex model. Therefore, the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.

Description

Online monitoring device and method for tower postures of power transmission and distribution lines
Technical Field
The application relates to the technical field of electric power, in particular to a tower posture on-line monitoring device and method for a power transmission and distribution line.
Background
The distribution of transmission and distribution lines is wide-spread, people such as many open-air mountain areas smoke scarcely or unmanned area, the geological conditions of china are complicated changeable, statistical data shows, transmission and distribution lines subsides because of the basis that geological disasters such as mud-rock flow, soil erosion, bank protection slide caused, the heavy hidden danger such as slope, or be in the typhoon district because of shaft tower itself, heavy ice area, because of leading the uneven shaft tower slope that leads to the uneven power consumption of shaft tower atress that leads to of ground wire atress, the shaft tower takes place to incline or the column foot takes place to subside and all can become the great hidden danger that threatens transmission and distribution lines safe operation, cause the shaft tower to empty even when serious, equipment broken string.
At present, for monitoring geological disasters of a power transmission and distribution line, the traditional inclination angle sensor is mostly adopted to collect the inclination condition of a tower, the method is easily influenced by the precision of the sensor, and the monitoring range is limited.
Disclosure of Invention
The application provides a tower posture on-line monitoring device and method for a power transmission and distribution line, which are used for solving the technical problems that the prior art is easily influenced by the precision of a sensor and the monitoring range is limited.
In view of this, the first aspect of the present application provides an online tower attitude monitoring device for power transmission and distribution lines, the device including:
the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU (microprogrammed control Unit) processor, a DTU (data transfer Unit) module and a power supply;
the first GNSS antenna and the second GNSS antenna are used for respectively receiving satellite signals of n satellites and transmitting the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;
the positioning module is used for calculating and obtaining an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula after filtering the satellite signals;
the MCU processor is used for constructing a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, solving attitude information of the tower through a particle swarm algorithm, and transmitting the attitude information to the DTU module;
the DTU module is used for sending the attitude information to an online monitoring server;
the power supply is used for supplying power to the first GNSS antenna, the second GNSS antenna, the positioning module, the MCU processor and the DTU module.
Optionally, the MCU processor is specifically configured to:
establishing a single difference matrix equation set according to the initial coordinate phase and the number of the satellites;
taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set;
resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line;
and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.
Optionally, the method further comprises: an encryption module;
and the encryption module is used for receiving the attitude information of the tower, encrypting the attitude information and transmitting the encrypted attitude information to the DTU module.
Optionally, the initial carrier phase formula is:
Figure BDA0003270686060000021
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000022
is a carrier phase observation value of a Beidou navigation signal, wherein lambda is a carrier wavelength, R is a distance between a satellite and a GNSS antenna receiver, and rhoionFor ionospheric delay errors, ptronFor tropospheric delay errors, pephFor satellite ephemeris error, pmpFor multipath errors, N is the initial integer ambiguity, εaIs the satellite clock error, epsilonbIs the receiver clock error.
Optionally, the single difference matrix equation system is:
Figure BDA0003270686060000023
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000024
the carrier phase signal of the first Beidou satellite is obtained by single difference processing of a first GNSS antenna and a second GNSS antenna,
Figure BDA0003270686060000025
is the single difference carrier phase ambiguity from the first Beidou satellite to the first GNSS antenna and the second GNSS antenna,
Figure BDA0003270686060000031
the clock error between the first GNSS antenna and the second GNSS antenna is shown, lambda is the carrier wave length, the vector b is a base line vector, and the vector I is a unit vector of the Beidou satellite.
Optionally, the double difference matrix equation system is:
Figure BDA0003270686060000032
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000033
is the double-difference carrier phase between the jth Beidou satellite and the reference satellite,
Figure BDA0003270686060000034
the ambiguity is the double-difference carrier phase ambiguity of the jth Beidou satellite, lambda is the carrier wavelength, the vector b is the baseline vector, and the vector I is the unit vector of the Beidou satellite.
Optionally, the DTU module is specifically configured to: and sending the attitude information to an online monitoring server through an APN private network.
Optionally, the power supply specifically consists of: the solar energy module, the power control module and the storage battery.
The second aspect of the application provides a tower posture on-line monitoring device of a power transmission and distribution line, which is applied to the tower posture on-line monitoring device of the power transmission and distribution line of the first aspect, and the method comprises the following steps:
the first GNSS antenna and the second GNSS antenna respectively receive satellite signals of n satellites and transmit the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;
after the positioning module filters the satellite signals, calculating to obtain an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula;
the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, obtains attitude information of the tower through particle swarm algorithm solution, and transmits the attitude information to the DTU module;
and the DTU module sends the attitude information to an online monitoring server.
Optionally, the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phase and the number of satellites, obtains attitude information of the tower through a particle swarm algorithm, and transmits the attitude information to the DTU module, and the method specifically includes:
the MCU processor establishes a single difference matrix equation set according to the initial coordinate phase and the number of the satellites;
taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set; resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line; and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.
According to the technical scheme, the method has the following advantages:
the application provides a transmission and distribution lines's shaft tower gesture on-line monitoring device, includes: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply. The method comprises the steps of firstly processing satellite signals received by a GNSS antenna through a positioning module to obtain an initial coordinate phase of a tower, then constructing a double-difference matrix equation set according to parameters such as the initial coordinate phase, the number of satellites and the like through an MCU (microprogrammed control Unit) processor, solving by utilizing a particle swarm algorithm to obtain attitude information of the tower, and finally transmitting the attitude information to an online monitoring server through a DTU (data transfer unit) module. The scheme of the application can uninterruptedly monitor the power transmission and distribution towers, and the monitoring range is wide; the differential calculation can be completed in a set of device without adding a traditional reference station, so that the influence of the precision of the sensor is avoided, and the monitoring precision is high; meanwhile, the calculation amount is small, and the tower posture can be solved without a complex model; and a virtual reference station provided by a satellite positioning service provider is not required to be used, and the condition of data extranet operation does not exist in the network security background. Therefore, the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.
Drawings
Fig. 1 is a schematic structural diagram of a tower posture online monitoring device for a power transmission and distribution line provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a tower attitude online monitoring method for power transmission and distribution lines provided in the embodiment of the present application,
fig. 3 is a Beidou satellite positioning baseline measurement principle provided in the embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, an on-line tower attitude monitoring device for power transmission and distribution lines provided in an embodiment of the present application includes:
the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply.
The first GNSS antenna and the second GNSS antenna are used for respectively receiving satellite signals of n satellites and transmitting the satellite signals to the positioning module, wherein n is not less than 3 and is an integer; the positioning module is used for calculating and obtaining an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula after filtering the satellite signals; the MCU processor is used for constructing a double-difference matrix equation set according to the initial coordinate phase and the number of satellites, solving the double-difference matrix equation set through a particle swarm algorithm to obtain attitude information of the tower, and transmitting the attitude information to the DTU module; the DTU module is used for sending the attitude information to the online monitoring server; and the power supply is used for supplying power to the first GNSS antenna, the second GNSS antenna, the positioning module, the MCU processor and the DTU module.
It should be noted that the GNSS antenna is a GPS/GLONASS compatible antenna, and is mainly used as a transmitting antenna for a co-frequency repeater system, and also used as a receiving antenna for a GPS navigation and positioning system. The antenna is in the form of a microstrip. The pattern achieves substantially hemispherical radiation. The antenna is composed of an antenna housing, a microstrip radiator, a bottom plate, a high-frequency output socket and the like, and is simple in structure, small in size and convenient to use by matching with a tripod. The RTC circuit, the storage circuit, the reset circuit and the JTAG circuit are peripheral hardware necessary for ensuring the MCU processor and related matched hardware to work normally.
1. Firstly, satellite signals of not less than 3 satellites are respectively received through two GNSS antennas, and after filtering, an initial coordinate phase of a tower is calculated by a positioning module according to the satellite signals based on an initial carrier phase formula.
The initial carrier phase formula of this embodiment is:
Figure BDA0003270686060000051
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000052
is a carrier phase observation value of a Beidou navigation signal, wherein lambda is a carrier wavelength, R is a distance between a satellite and a GNSS antenna receiver, and rhoionFor ionospheric delay errors, ptronFor tropospheric delay errors, pephFor satellite ephemeris error, pmpFor multipath errors, N is the initial integer ambiguity, εaIs the satellite clock error, epsilonbIs the receiver clock error.
2. And then establishing a single difference matrix equation system through the initial coordinate phases and the number of the satellites.
Wherein, the calculation process of the single difference observation equation is as follows:
the Beidou baseline measurement principle is as shown in FIG. 3, the GNSS antenna 1 and the GNSS antenna 2 receive signals sent by the Beidou satellite 1 and the Beidou satellite 2 at the same time, and since the two GNSS antennas are generally close to each other, a single-difference observation equation can be obtained according to the formula (1):
Figure BDA0003270686060000061
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000062
the carrier phase signal of the Beidou satellite 1 is obtained by single difference processing of GNSS1 and GNSS2,
Figure BDA0003270686060000063
is the distance from the beidou satellite 1 to the GNSS1,
Figure BDA0003270686060000064
the distance from the beidou satellite 1 to the GNSS2,
Figure BDA0003270686060000065
is the single difference carrier phase ambiguity between the Beidou satellite 1 to the GNSS1 and the GNSS2,
Figure BDA0003270686060000066
is the clock difference between GNSS1 and GNSS 2.
Wherein, the calculation process of the single difference observation matrix is as follows:
assuming that n satellites are observed simultaneously by GNSS1 and GNSS2, equation (2) can be converted into a matrix equation set:
Figure BDA0003270686060000067
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000068
the carrier phase signal of the first Beidou satellite is obtained by single difference processing of a first GNSS antenna and a second GNSS antenna,
Figure BDA0003270686060000069
is the single difference carrier phase ambiguity from the first Beidou satellite to the first GNSS antenna and the second GNSS antenna,
Figure BDA00032706860600000610
the clock error between the first GNSS antenna and the second GNSS antenna is shown, lambda is the carrier wave length, the vector b is a base line vector, and the vector I is a unit vector of the Beidou satellite.
3. Then any one WeChat in the n satellites is used as a reference satellite, single difference measurement values of the rest n-1 satellites are respectively compared with the reference satellite, and a double-difference matrix equation set is constructed.
The calculation process of the double difference matrix equation set is as follows:
if the Beidou satellite 1 is taken as a reference satellite, the single difference measurement values of other n-1 satellites are subtracted from the single difference measurement value of the reference satellite to obtain a double-difference observation equation set:
Figure BDA0003270686060000071
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000072
is the double-difference carrier phase between the jth Beidou satellite and the reference satellite,
Figure BDA0003270686060000073
the ambiguity is the double-difference carrier phase ambiguity of the jth Beidou satellite, lambda is the carrier wavelength, the vector b is the baseline vector, and the vector I is the unit vector of the Beidou satellite.
4. And then resolving a double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of the base line.
It should be noted that, in the particle swarm optimization, a particle only has two attributes of a speed and a position, the speed represents the moving speed, and the position represents the moving direction; the optimal solution searched by each particle independently is called an individual extremum, and the optimal individual extremum in the particle swarm is used as the current global optimal solution; and continuously iterating, updating the speed and the position, and finally obtaining the optimal solution meeting the termination condition.
Figure BDA0003270686060000074
In the formula, viIs the current velocity of the particle, xiIs the current position of the particle, rand () is a random number between (0,1), C1、C2Is the learning factor and ω is the inertial weight.
The key of fixing the ambiguity is to determine the ambiguity as a correct integer solution by using an ambiguity floating solution, solve a minimum integer vector by using an integer particle swarm algorithm, and take the minimum integer vector as an optimal candidate vector of the ambiguity, wherein an objective function of the method is defined as follows:
Figure BDA0003270686060000075
in the formula (I), the compound is shown in the specification,
Figure BDA0003270686060000076
in order to be a floating-point ambiguity vector,
Figure BDA0003270686060000077
is composed of
Figure BDA0003270686060000078
X is an integer space ZnThe integer vector of (2).
5. And finally, sending the attitude information to an online monitoring server through a DTU module.
The application provides a transmission and distribution lines's shaft tower gesture on-line monitoring device, includes: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU processor, a DTU module and a power supply.
(1) Denoising, decomposing and calculating the satellite positioning signal through a third-generation Beidou satellite navigation technology, a Kalman filtering algorithm, a carrier phase difference technology and a ambiguity solving algorithm, and finally obtaining the attitude change of the tower, thereby achieving the purpose of measuring the attitude of the power transmission line tower; (2) the inclination, settlement and deviation conditions of the power transmission and distribution tower can be continuously monitored for 7 x 24h, the monitoring range is wide, the inclination and settlement values of the tower are quantitatively analyzed, the defect grade is determined according to the rule specification, and a treatment suggestion is provided. Therefore, the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.
In a specific embodiment, the MCU processor is specifically configured to:
establishing a single difference matrix equation set according to the initial coordinate phase and the number of the satellites; taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set; resolving a double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line; and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to the DTU module.
In an optional embodiment, the online monitoring device of the present application further comprises: an encryption module;
and the encryption module is used for receiving the attitude information of the tower, encrypting the attitude information and transmitting the encrypted attitude information to the DTU module.
It should be noted that, in order to improve the security of the attitude information, when the MCU processor calculates the attitude information of the tower, the encryption module of the present embodiment encrypts the attitude information and transmits the encrypted attitude information to the DTU module. And then the DTU module transmits the data to an online monitoring server through an APN private network.
In a particular embodiment, the power supply is specifically composed of: the solar energy module, the power control module and the storage battery.
The solar module converts solar energy into electric energy, and the electric energy is stored in the storage battery; the power controller controls the electric energy output by the storage battery within a proper amplitude and frequency range, supplies power to the MCU module, the positioning module, the GNSS antenna and the like, and ensures that the device works normally.
The above is an embodiment of the device for online monitoring of the tower postures of the power transmission and distribution line provided by the application, and the following is an embodiment of the method for online monitoring of the tower postures of the power transmission and distribution line provided by the application.
Referring to fig. 2, an embodiment of the present application provides a method for online monitoring tower postures of power transmission and distribution lines, including:
in step 101, a first GNSS antenna and a second GNSS antenna respectively receive satellite signals of n satellites and transmit the satellite signals to a positioning module, where n is not less than 3 and is an integer.
102, filtering the satellite signals by a positioning module, and calculating to obtain an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula;
103, the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phase and the number of satellites, obtains attitude information of the tower through particle swarm optimization, and transmits the attitude information to the DTU module;
and step 104, the DTU module sends the attitude information to an online monitoring server.
According to the pole tower attitude online monitoring method for the power transmission and distribution line, invalid information is filtered through satellite data such as a Beidou navigation system and the like received by a GNSS antenna; positioning the phase of the current initial coordinate; establishing a single difference matrix equation set according to the number N of the received satellites; taking a certain satellite as a reference satellite, and comparing single difference measurement values of other N-1 satellites with the reference satellite to obtain a double-difference matrix equation set; and resolving the carrier phase ambiguity by utilizing a particle swarm algorithm to obtain the three-dimensional attitude angle information of the base line. The monitoring method can uninterruptedly monitor the power transmission and distribution towers, and has a wide monitoring range; the sensor can not be influenced by the precision of the sensor, and the monitoring precision is high, so that the technical problems that the prior art is easily influenced by the precision of the sensor and the monitoring range is limited are solved.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the method described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (10)

1. The utility model provides a transmission and distribution lines's shaft tower gesture on-line monitoring device which characterized in that includes: the device comprises a first GNSS antenna, a second GNSS antenna, a positioning module, an MCU (microprogrammed control Unit) processor, a DTU (data transfer Unit) module and a power supply;
the first GNSS antenna and the second GNSS antenna are used for respectively receiving satellite signals of n satellites and transmitting the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;
the positioning module is used for calculating and obtaining an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula after filtering the satellite signals;
the MCU processor is used for constructing a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, solving attitude information of the tower through a particle swarm algorithm, and transmitting the attitude information to the DTU module;
the DTU module is used for sending the attitude information to an online monitoring server;
the power supply is used for supplying power to the first GNSS antenna, the second GNSS antenna, the positioning module, the MCU processor and the DTU module.
2. The device of claim 1, wherein the MCU processor is specifically configured to:
establishing a single difference matrix equation set according to the initial coordinate phase and the number of the satellites;
taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set;
resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line;
and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.
3. The tower attitude online monitoring device of the power transmission and distribution line according to claim 1, further comprising: an encryption module;
and the encryption module is used for receiving the attitude information of the tower, encrypting the attitude information and transmitting the encrypted attitude information to the DTU module.
4. The tower attitude online monitoring device of the power transmission and distribution line according to claim 2, wherein the initial carrier phase formula is:
Figure FDA0003270686050000011
in the formula (I), the compound is shown in the specification,
Figure FDA0003270686050000021
is a carrier phase observation value of a Beidou navigation signal, wherein lambda is a carrier wavelength, R is a distance between a satellite and a GNSS antenna receiver, and rhoionFor ionospheric delay errors, ptronFor tropospheric delay errors, pephFor satellite ephemeris error, pmpFor multipath errors, N is the initial integer ambiguity, εaIs the satellite clock error, epsilonbIs the receiver clock error.
5. The device for on-line monitoring of the tower postures of the power transmission and distribution line according to claim 2, wherein the homodyne matrix equation set is as follows:
Figure FDA0003270686050000022
in the formula (I), the compound is shown in the specification,
Figure FDA0003270686050000023
the carrier phase signal of the first Beidou satellite is obtained by single difference processing of a first GNSS antenna and a second GNSS antenna,
Figure FDA0003270686050000024
is the single difference carrier phase ambiguity from the first Beidou satellite to the first GNSS antenna and the second GNSS antenna,
Figure FDA0003270686050000025
the clock error between the first GNSS antenna and the second GNSS antenna is shown, lambda is the carrier wave length, the vector b is a base line vector, and the vector I is a unit vector of the Beidou satellite.
6. The device for on-line monitoring of the tower postures of the power transmission and distribution line according to claim 2, wherein the double difference matrix equation set is as follows:
Figure FDA0003270686050000026
in the formula (I), the compound is shown in the specification,
Figure FDA0003270686050000027
is the double-difference carrier phase between the jth Beidou satellite and the reference satellite,
Figure FDA0003270686050000028
the ambiguity is the double-difference carrier phase ambiguity of the jth Beidou satellite, lambda is the carrier wavelength, the vector b is the baseline vector, and the vector I is the unit vector of the Beidou satellite.
7. The device for on-line monitoring of the tower postures of the power transmission and distribution line according to claim 1, wherein the DTU module is specifically configured to: and sending the attitude information to an online monitoring server through an APN private network.
8. The tower attitude online monitoring device of the power transmission and distribution line according to claim 1, wherein the power supply specifically comprises: the solar energy module, the power control module and the storage battery.
9. An on-line monitoring method for the tower postures of the power transmission and distribution lines is characterized by being applied to the on-line monitoring device for the tower postures of the power transmission and distribution lines in any one of claims 1 to 8, and the method comprises the following steps:
the first GNSS antenna and the second GNSS antenna respectively receive satellite signals of n satellites and transmit the satellite signals to the positioning module, wherein n is not less than 3 and is an integer;
after the positioning module filters the satellite signals, calculating to obtain an initial coordinate phase of the tower according to the satellite signals based on an initial carrier phase formula;
the MCU processor constructs a double-difference matrix equation set according to the initial coordinate phases and the number of satellites, obtains attitude information of the tower through particle swarm algorithm solution, and transmits the attitude information to the DTU module;
and the DTU module sends the attitude information to an online monitoring server.
10. The method according to claim 9, wherein the MCU processor constructs a double difference matrix equation set according to the initial coordinate phase and the number of satellites, obtains attitude information of the tower through a particle swarm algorithm, and transmits the attitude information to the DTU module, and specifically comprises:
the MCU processor establishes a single difference matrix equation set according to the initial coordinate phase and the number of the satellites; taking any one WeChat of n satellites as a reference satellite, and respectively comparing single difference measurement values of the rest n-1 satellites with the reference satellite to construct a double-difference matrix equation set; resolving the double-difference matrix equation set through a particle swarm algorithm to obtain carrier phase ambiguity, and solving to obtain three-dimensional attitude angle information of a base line; and converting the three-dimensional attitude angle information into attitude information of the tower and then transmitting the attitude information to a DTU module.
CN202111100901.4A 2021-09-18 2021-09-18 Online monitoring device and method for tower postures of power transmission and distribution lines Pending CN113670262A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111100901.4A CN113670262A (en) 2021-09-18 2021-09-18 Online monitoring device and method for tower postures of power transmission and distribution lines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111100901.4A CN113670262A (en) 2021-09-18 2021-09-18 Online monitoring device and method for tower postures of power transmission and distribution lines

Publications (1)

Publication Number Publication Date
CN113670262A true CN113670262A (en) 2021-11-19

Family

ID=78549730

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111100901.4A Pending CN113670262A (en) 2021-09-18 2021-09-18 Online monitoring device and method for tower postures of power transmission and distribution lines

Country Status (1)

Country Link
CN (1) CN113670262A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114488248A (en) * 2022-01-24 2022-05-13 上海移柯通信技术股份有限公司 GNSS-based object posture detection system, method, device and medium
CN115371535A (en) * 2022-10-26 2022-11-22 广东电网有限责任公司佛山供电局 Power infrastructure monitoring system based on satellite positioning

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102169184A (en) * 2011-01-04 2011-08-31 北京航空航天大学 Method and device for measuring installation misalignment angle of double-antenna GPS (Global Position System) in integrated navigation system
CN104597471A (en) * 2015-01-13 2015-05-06 华东师范大学 Orientation attitude determination method oriented to clock synchronization multi-antenna GNSS receiver
US20170254901A1 (en) * 2016-03-07 2017-09-07 Mitsubishi Electric Research Laboratories, Inc. Carrier Phase Double Differencing GNSS Receiving System with Spatial Integrity Monitoring
CN110608714A (en) * 2019-08-01 2019-12-24 江苏科博空间信息科技有限公司 Tower crane attitude automatic monitoring method based on Beidou/GNSS
CN113405602A (en) * 2021-06-21 2021-09-17 长沙学院 Pole tower state monitoring device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102169184A (en) * 2011-01-04 2011-08-31 北京航空航天大学 Method and device for measuring installation misalignment angle of double-antenna GPS (Global Position System) in integrated navigation system
CN104597471A (en) * 2015-01-13 2015-05-06 华东师范大学 Orientation attitude determination method oriented to clock synchronization multi-antenna GNSS receiver
US20170254901A1 (en) * 2016-03-07 2017-09-07 Mitsubishi Electric Research Laboratories, Inc. Carrier Phase Double Differencing GNSS Receiving System with Spatial Integrity Monitoring
CN110608714A (en) * 2019-08-01 2019-12-24 江苏科博空间信息科技有限公司 Tower crane attitude automatic monitoring method based on Beidou/GNSS
CN113405602A (en) * 2021-06-21 2021-09-17 长沙学院 Pole tower state monitoring device

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
常传文,茅文深: "DPSO算法在导航卫星姿态测量中的应用", 《指挥信息系统与技术》 *
陈强强，陈志平 等: "基于GPS测姿仪的电力铁塔姿态监测研究", 《电力科学与工程》 *
陈强强,陈志平,施浒立: "基于GPS的电力铁塔测姿系统设计", 《杭州电子科技大学学报（自然科学版）》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114488248A (en) * 2022-01-24 2022-05-13 上海移柯通信技术股份有限公司 GNSS-based object posture detection system, method, device and medium
CN115371535A (en) * 2022-10-26 2022-11-22 广东电网有限责任公司佛山供电局 Power infrastructure monitoring system based on satellite positioning

Similar Documents

Publication Publication Date Title
CN108317949B (en) RTK high-precision differential positioning deformation monitoring system and method
CN107797126B (en) BDS/GPS broadcast type network RTK algorithm based on star network
CN107356947A (en) The method that satellite difference pseudorange biases are determined based on single-frequency navigation satellite data
CN108169776B (en) Ionospheric delay error correction method based on background model and measured data
CN113670262A (en) Online monitoring device and method for tower postures of power transmission and distribution lines
CN111736185B (en) Terminal positioning method and device, computer readable storage medium and terminal equipment
Sun et al. Resilient pseudorange error prediction and correction for GNSS positioning in urban areas
CN103235321A (en) GPS (global positioning system) pseudo-range positioning precision timing method
CN107544075A (en) Based on Static Precise Point Positioning and harmonic analysis estimation oceanic tides loading displacement parameter method
Li et al. Real‐Time Sensing of Precipitable Water Vapor From BeiDou Observations: Hong Kong and CMONOC Networks
CN114646992A (en) Positioning method, positioning device, computer equipment, storage medium and computer program product
CN115877421A (en) Deformation detection method and device for geological sensitive area of power transmission channel
Sun et al. Xiaomi Mi 8 smartphone GNSS data quality analysis and single‐frequency RTK positioning performance evaluation
CN107132423A (en) A kind of method and device of ionization detection layer electron density sum
CN116224393A (en) Wave spectrum calculation method based on GNSS wave measurement buoy
Elsayed et al. Vertical ionospheric delay estimation for single-receiver operation
Cheng et al. A direct attitude determination approach based on GPS double-difference carrier phase measurements
Zhang et al. GNSS velocimeter by adaptively combining carrier phase and Doppler measurements
Guo et al. Research on the method of three-dimensional surface displacements of Tianjin area based on combined multi-source measurements
Liao et al. Adaptive weighted particle swarm optimization (AWPSO) attitude determination algorithm based on Chi-square test
Tu et al. Approach for GPS precise time transfer using an augmentation information and zero‐differenced PPP model
Tu et al. GNSS time offset monitoring based on the single difference among systems
Zhang et al. GNSS Carrier-Phase Multipath Modeling and Correction: A Review and Prospect of Data Processing Methods
Lee et al. A novel approach to design measurement models of single-frequency GPS receivers for cost-effective structural monitoring networks
CN113899957B (en) Outdoor antenna absolute calibration method and system based on double-difference phase observation value

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20211119