CN116045914A - Electric power iron tower gradient monitoring system - Google Patents
Electric power iron tower gradient monitoring system Download PDFInfo
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- CN116045914A CN116045914A CN202211726484.9A CN202211726484A CN116045914A CN 116045914 A CN116045914 A CN 116045914A CN 202211726484 A CN202211726484 A CN 202211726484A CN 116045914 A CN116045914 A CN 116045914A
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- 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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- G—PHYSICS
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- 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
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Abstract
The application relates to electric power iron tower monitoring field discloses an electric power iron tower gradient monitoring system, include: an antenna, a signal receiving device; the antenna is arranged on the iron tower and is used for receiving observation signals of satellites on the electric iron tower; the antenna is connected with the signal receiving device and is used for transmitting the observation signal to the signal receiving device for processing; the signal receiving device is used for calculating the inclination of the electric iron tower according to the observation signal. By adopting the technical scheme, the state of the iron tower is monitored by using the satellite, the observation signal is received by the antenna and then is sent to the signal receiving device for signal processing and analysis, the signal receiving device can calculate the gradient of the electric power iron tower according to the observation signal, and by adopting the technical scheme, the real-time monitoring of the gradient of the electric power iron tower can be realized by receiving the satellite signal, more accurate and comprehensive iron tower information can be provided, the integral deformation condition of the iron tower is reflected, and accordingly, the occurrence of harm accidents such as iron tower inclination, collapse, line tripping, line breakage and the like is effectively avoided.
Description
Technical Field
The application relates to the field of electric power iron tower monitoring, in particular to an electric power iron tower gradient monitoring system.
Background
The electric network connecting the electric power supply place and the electric power demand place, especially the trans-regional electric network and the ultra-high voltage electric transmission line, has electric power iron towers, electric transmission lines and insulators which are exposed in the wild for a long time because of the complicated topography and the bad natural environment, and is extremely easy to be damaged and unexpected due to abrasion, tower falling, broken line and the like when being influenced by natural reasons such as material aging, corrosion, lightning flashover, ice and snow disasters and the like and artificial reasons such as artificial theft, illegal operation and the like, so that the equipment needs to be monitored in real time.
Traditional monitoring means include: 1. the manual inspection method has a longer re-inspection period, generally an inspection once per month, and is difficult to find the potential safety hazard existing in the transmission line in time. 2. The manned helicopter is patrolled and examined, and manned helicopter patrols and examines the mode swiftly, and single patrolling and examining is efficient, but manned helicopter need set up temporary take-off and landing point, purchase, maintenance helicopter and driver use the expense huge, and the ultra-low altitude flight is controlled by the country, causes to patrol and examine the attendance rate lower, hardly reaches the requirement of patrolling and examining of power department. 3. Unmanned aerial vehicle patrols and examines, unmanned aerial vehicle receives the restriction of duration, is difficult to realize that the on a large scale patrols and examines, is suitable for meticulous patrolling and examining with the fixed point relatively to unmanned aerial vehicle needs personnel to control, leads to patrolling and examining efficiency and quality still mainly by the manual work decision. 4. Based on the detection means of the inclination sensor, the measurement accuracy of the inclination of the electric iron tower measured by the method is difficult to meet the measurement accuracy requirement of 741 regulations, and the inclination sensor can only measure local angle change of the iron tower and is difficult to reflect the integral deformation of the iron tower.
Therefore, how to better monitor the deformation degree of the electric iron tower is a problem to be solved by the person skilled in the art.
Disclosure of Invention
The purpose of this application is to provide an electric power iron tower gradient monitoring system to better realization is to the monitoring of electric power iron tower deformation degree.
For solving above-mentioned technical problem, this application provides an electric power iron tower gradient monitoring system, include:
an antenna, a signal receiving device;
the antenna is arranged on the iron tower and is used for receiving observation signals of satellites on the electric iron tower;
the antenna is connected with the signal receiving device and is used for transmitting the observation signal to the signal receiving device for processing;
the signal receiving device is used for calculating the inclination of the electric iron tower according to the observation signal.
Preferably, the method further comprises: monitoring a platform;
the monitoring platform is connected with the signal receiving device and used for summarizing and storing the observation data sent by the signal receiving device.
Preferably, the signal receiving device is further used for performing cycle slip detection and repair on the observed signal.
Preferably, the cycle slip detection of the observed signal includes:
training an initial OS-ELM prediction model by using m carrier phase measurement values without cycle slip;
calculating a carrier phase predicted value of a t+1th epoch according to the carrier phase measured value of the first t epochs;
measuring a carrier phase observation value and a pseudo-range measurement value of a satellite according to the observation signal;
calculating the prediction variance of the OS-ELM prediction model in the t+1 epoch
Constructing cycle slip detection statistics
If the cycle slip detection statistic exceeds a threshold value, confirming that cycle slip occurs in the observation signal;
and if the cycle slip detection statistic does not exceed the threshold value, confirming that the cycle slip does not occur in the observation signal.
Preferably, repairing the observed signal includes:
calculating the size of occurrence cycle slip
Starting from the moment when cycle slip occurs, adding a preset value to the carrier phase observed value at all the moments.
Preferably, the calculating the inclination of the electric iron tower according to the observed signal includes:
calculating a carrier phase observed value and a pseudo-range measured value of the Beidou satellite according to the observed signals;
solving a floating solution of the double-difference integer ambiguity candidate solution by using a weighted least square method;
establishing a double-difference model by using the pseudo-range measured value and the carrier phase observed value to solve the ambiguity;
confirming the whole cycle ambiguity by using a sequential detection algorithm, a Ratio algorithm, a success rate/failure rate algorithm and a fixed failure rate algorithm;
calculating a base line vector determined by the two antennas, and overlapping the base line vector with a reference station coordinate to obtain gradient information of the electric iron tower;
and performing multi-epoch filtering by using a Kalman filter to improve the positioning accuracy.
Preferably, the calculating the baseline vector determined by the two antennas and overlapping with the reference station coordinates to obtain the inclination information of the electric iron tower includes:
two points with smaller y coordinates of the upper end point and larger y coordinates of the lower end point of the two base lines are respectively marked as A1 and B1 and are used as parallel lines in the horizontal direction, the two points A2 and B2 are intersected with the other line segment, the midpoints M1 of the A1 and B1 and the midpoints M2 of the A2 and B2 are respectively selected, and the included angle theta between the line segment M1M2 and the vertical direction is the inclination of the electric iron tower.
Preferably, the monitoring platform is further used for evaluating and early warning the state of the electric power iron tower based on the iron tower state prediction model.
Preferably, the evaluation formula of the iron tower state prediction model on the state of the electric iron tower is as follows:
H＝MSE max *R；
wherein x is t For the true value observed at time t, y t Is the predicted value at time t. MSE represents the average error of the whole test set, and H represents the iron tower state threshold. MSE (mean square error) max The MSE is the maximum value in the model training process, and R is an empirical coefficient;
if at time t (y t -x t ) 2 And if the value is more than H, confirming that the state of the iron tower at the moment t is an abnormal state.
Preferably, the alarm information is sent when the state of the iron tower is continuously and repeatedly monitored to be an abnormal state.
The utility model provides an electric power iron tower gradient monitoring system, include: an antenna, a signal receiving device; the antenna is arranged on the iron tower and is used for receiving observation signals of satellites on the electric iron tower; the antenna is connected with the signal receiving device and is used for transmitting the observation signal to the signal receiving device for processing; the signal receiving device is used for calculating the inclination of the electric iron tower according to the observation signal. Compared with the prior art, the system and the method can not reflect the whole deformation of the iron tower when monitoring the inclination of the electric iron tower, waste manpower and material resources, adopt the technical scheme, use the satellite to monitor the state of the iron tower, send the signal to the signal receiving device for signal processing and analysis after receiving the observation signal through the antenna, the signal receiving device can calculate the inclination of the electric iron tower according to the observation signal, adopt the technical scheme, can realize the real-time monitoring of the inclination of the electric iron tower through receiving the satellite signal, compared with the means such as manual inspection or inclination sensor monitoring, observe the electric iron tower through the satellite in the application, can provide more accurate and comprehensive iron tower information, reflect the whole deformation condition of the iron tower, thereby effectively avoiding the occurrence of the accidents such as the inclination of the iron tower, collapse, line tripping, broken line and the like.
Drawings
For a clearer description of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of an inclination monitoring system of an electric power iron tower according to an embodiment of the present application;
fig. 2 is a block diagram of a signal receiving apparatus according to an embodiment of the present application;
fig. 3 is a physical diagram of a signal receiving apparatus according to an embodiment of the present application;
fig. 4 is a schematic diagram of a prediction model provided in an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments herein without making any inventive effort are intended to fall within the scope of the present application.
The electric network connecting the electric power supply place and the electric power demand place, especially the trans-regional electric network and the ultra-high voltage electric transmission line, has electric power iron towers, electric transmission lines and insulators which are exposed in the wild for a long time because of the complicated topography and the bad natural environment, and is extremely easy to be damaged and unexpected due to abrasion, tower falling, broken line and the like when being influenced by natural reasons such as material aging, corrosion, lightning flashover, ice and snow disasters and the like and artificial reasons such as artificial theft, illegal operation and the like, so that the equipment needs to be monitored in real time.
Traditional monitoring means include: 1. the manual inspection method has a longer re-inspection period, generally an inspection once per month, and is difficult to find the potential safety hazard existing in the transmission line in time. 2. The manned helicopter is patrolled and examined, and manned helicopter patrols and examines the mode swiftly, and single patrolling and examining is efficient, but manned helicopter need set up temporary take-off and landing point, purchase, maintenance helicopter and driver use the expense huge, and the ultra-low altitude flight is controlled by the country, causes to patrol and examine the attendance rate lower, hardly reaches the requirement of patrolling and examining of power department. 3. Unmanned aerial vehicle patrols and examines, unmanned aerial vehicle receives the restriction of duration, is difficult to realize that the on a large scale patrols and examines, is suitable for meticulous patrolling and examining with the fixed point relatively to unmanned aerial vehicle needs personnel to control, leads to patrolling and examining efficiency and quality still mainly by the manual work decision. 4. Based on the detection means of the inclination sensor, the measurement accuracy of the inclination of the electric iron tower measured by the method is difficult to meet the measurement accuracy requirement of 741 regulations, and the inclination sensor can only measure local angle change of the iron tower and is difficult to reflect the integral deformation of the iron tower.
Therefore, how to better monitor the deformation degree of the electric iron tower is a problem to be solved by the person skilled in the art.
The core of the application is to provide a power iron tower gradient monitoring system to better realization is to the monitoring of power iron tower deformation degree.
In order to provide a better understanding of the present application, those skilled in the art will now make further details of the present application with reference to the drawings and detailed description.
Fig. 1 is a block diagram of an inclination monitoring system of an electric power tower according to an embodiment of the present application, as shown in fig. 1, the system includes:
an antenna 1 and a signal receiving device 2;
the antenna 1 is arranged on the iron tower and is used for receiving observation signals of the satellite 4 on the electric iron tower;
the antenna 1 is connected with the signal receiving device 2 and is used for transmitting the observation signal to the signal receiving device 2 for processing;
the signal receiving device 2 is used for calculating the inclination of the electric iron tower according to the observed signal.
It can be understood that, the observation of the electric iron tower is realized through the satellite 4, specifically, the positioning of the electric iron tower can be realized through the high-precision positioning of the Beidou third-generation system, in the embodiment, the Beidou antenna 1 and the Beidou signal receiving device 2 are utilized to receive the Beidou satellite 4 signals, the baseline vector between the two antennas 1 is resolved by adopting the carrier phase difference technology, and the high-precision coordinates of the Beidou monitoring point are calculated by combining the known coordinates of the reference station.
The Beidou antenna 1 has the advantages of stable signal, small volume, light weight, water resistance, dust resistance, earthquake resistance and the like. The position of the Beidou antenna 1 on the electric power iron tower is the position of the monitoring point. Fig. 2 is a block diagram of a signal receiving apparatus 2 provided in the embodiment of the present application, and fig. 3 is a physical diagram of the signal receiving apparatus 2 provided in the embodiment of the present application, where the signal receiving apparatus 2 mainly includes four functional units: the Beidou receiving board card, the processor unit, the wireless communication unit and the power supply unit can realize the functions of acquisition, analysis, transmission and the like of original observation data of the satellite 4. The functions of each unit are as follows:
the Beidou receiving board card is used for receiving and analyzing the Beidou satellite 4 observation data; the processor unit comprises an MCU, an SD card and the like, wherein the MCU is responsible for the cooperative work of each unit of the system, and the SD card is used for caching original observation data; the wireless communication unit is used for transmitting satellite 4 observation data to the cloud monitoring platform in a monitoring environment which can be covered by the 3/4G wireless public network; the power supply unit is responsible for providing a stable power supply.
The utility model provides an electric power iron tower gradient monitoring system, include: an antenna, a signal receiving device; the antenna is arranged on the iron tower and is used for receiving observation signals of satellites on the electric iron tower; the antenna is connected with the signal receiving device and is used for transmitting the observation signal to the signal receiving device for processing; the signal receiving device is used for calculating the inclination of the electric iron tower according to the observation signal. Compared with the prior art, the system and the method can not reflect the whole deformation of the iron tower when monitoring the inclination of the electric iron tower, waste manpower and material resources, adopt the technical scheme, use the satellite to monitor the state of the iron tower, send the signal to the signal receiving device for signal processing and analysis after receiving the observation signal through the antenna, the signal receiving device can calculate the inclination of the electric iron tower according to the observation signal, adopt the technical scheme, can realize the real-time monitoring of the inclination of the electric iron tower through receiving the satellite signal, compared with the means such as manual inspection or inclination sensor monitoring, observe the electric iron tower through the satellite in the application, can provide more accurate and comprehensive iron tower information, reflect the whole deformation condition of the iron tower, thereby effectively avoiding the occurrence of the accidents such as the inclination of the iron tower, collapse, line tripping, broken line and the like.
In a specific implementation, in order to ensure the satellite signal quality, the signal receiving device may perform cycle slip detection and repair on the satellite signal by using a sequential extreme learning method.
The method comprises the following specific steps:
training an initial OS-ELM prediction model by using m carrier phase measurement values without cycle slip;
calculating a carrier phase predicted value of a t+1th epoch according to the carrier phase measured value of the first t epochs;
measuring carrier phase observations and pseudorange measurements of satellites based on the observed signals;
calculating the prediction variance of the OS-ELM prediction model in the t+1 epoch
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Cycle slip detection and repair is determined by the error between the predicted value and the true value. Constructing cycle slip detection statistics
If the cycle slip detection statistic exceeds the threshold value, confirming that cycle slip occurs in the observation signal;
if the cycle slip detection statistic does not exceed the threshold, confirming that no cycle slip occurs in the observed signal.
According to the three-time standard deviation principle, if S t+1 > 3, cycle slip is considered to occur.
Repairing the observed signal includes:
calculating the size of occurrence cycle slip according to the following formula
Wherein Int [.]Representing the nearest integer taken down. Starting from the moment of cycle slip, the carrier phase observation values of all the moments are added with A, and the part less than one week is kept unchanged, so that cycle slip repair is realized.
In the implementation, along with the observation signals transmitted by the satellite, the oldest data are removed, the latest data are added to form a new input quantity, and the step of calculating the carrier phase predicted value of the t+1th epoch according to the carrier phase measured value of the first t epochs is returned again.
Calculating the gradient of the electric iron tower according to the observation signal specifically comprises:
firstly, a signal receiving device respectively measures carrier phase and pseudo-range measurement values of a Beidou satellite through two antennas, secondly, floating solution calculation is carried out, and a weighted least square method is utilized to solve floating solution of double-difference integer ambiguity candidate solutions, namely, integer characteristics of the integer ambiguity are not considered, and the floating solution of the integer ambiguity is firstly obtained. Meanwhile, carrier phase smoothing pseudo-range technology can be used, so that the precision of the floating solution of the whole-cycle ambiguity is improved, and the speed and the success rate of the subsequent ambiguity resolution are improved. Then the resolution of the ambiguity. And establishing a double-difference model by using the pseudo-range and the carrier phase observation value, and resolving the ambiguity. Simultaneously using a plurality of ambiguity resolution techniques to increase ambiguity resolution speed and success rate, including: a least squares algorithm, a single epoch baseline constraint CLAMBDA algorithm, a multi epoch LAMBDA algorithm. Again, the confirmation of ambiguity. The ambiguity calculation result may converge on the wrong position, which may lead to a huge error in the result, and thus a reliable confirmation algorithm is necessary. The whole cycle ambiguity is confirmed using a sequential detection algorithm, a Ratio algorithm, a success rate/failure rate algorithm, a fixed failure rate algorithm. And finally, calculating and filtering the base line and the positioning coordinates. And calculating a base line vector determined by the two antennas, and superposing the base line vector on a reference station coordinate to obtain the gradient information of the electric iron tower. And finally, performing multi-epoch filtering by using a Kalman filter, and improving the positioning accuracy.
Calculating a base line vector determined by the two antennas and overlapping the base line vector with a reference station coordinate to obtain gradient information of the electric iron tower comprises the following steps: according to the baseline vector measured by the antenna, the LSD algorithm is used for solving the gradient of the tower, and the solving process and formula are as follows:
the judging conditions are as follows:
wherein l i 、l j On the basis of the detection results of the tower profile, two points with smaller y coordinates of the upper end points and larger y coordinates of the lower end points of the two base lines are selected, the two points are respectively marked as A1 and B1 and are used as parallel lines in the horizontal direction, the two points are intersected with the other line segment at the corresponding two points A2 and B2, the midpoint M1 of the A1 and the midpoint M2 of the A2 and the midpoint M2 of the B2 are respectively selected, and the included angle theta between the line segment M1M2 and the vertical direction is the inclination of the electric iron tower.
In this embodiment, the line segments are first grouped according to the inclination of the filtered line segments in such a manner that the line segments are first sorted according to the inclination angle, and the inclination angles of the base lines are calculated as
And then judging whether the difference of the inclination angles of each base line and the subsequent base line is larger than 3 degrees, and if not, considering that the two line segments approximately belong to the same direction.
In addition, the electric iron tower gradient monitoring system provided in this embodiment further includes: a monitoring platform 3;
the monitoring platform 3 is connected with the signal receiving device 2 and is used for summarizing and storing the observation data sent by the signal receiving device.
Specifically, the monitoring platform is tower-shaped monitoring and early warning system platform software (cloud monitoring platform), and is a visual remote power tower deformation monitoring platform. The method comprises the steps that Beidou satellite original observation data are sent to a cloud monitoring platform in a 4G/Beidou short message mode, the cloud monitoring platform gathers information in a centralized mode, the inclination of an electric iron tower is solved by utilizing an LSD algorithm according to measurement information, a 'sequence learning-based iron tower safety comprehensive analysis and decision method' is operated, and comprehensive assessment and decision are conducted on the safety state of the electric iron tower. The main functional units of the platform comprise: socket network communication, mysql database storage management, algorithm realization, a man-machine interaction interface oriented to the field of tower-shaped monitoring and the like.
The Socket network communication unit supports a bidirectional communication function between the monitoring point equipment and the network server, and the network server also supports parallel receiving of satellite observation data of a plurality of monitoring point equipment. The bidirectional communication function can not only receive, process and display the data sent by the monitoring point equipment in real time, but also respond and feed back the instruction input by the user in real time. The system can automatically identify the instruction input by the user and can also analyze, process, display and other operations on the data corresponding to the instruction.
The Mysql database storage management unit stores the original observation data of the monitoring points and the software algorithm resolving result in the network server in the Mysql database in real time, so that the functions of recording, inquiring, modifying, deleting, generating a report, exporting the report, backing up and the like are realized.
Storing original observation data of monitoring points received by a network server and algorithm resolving results of the network server, such as cycle slip detection and restoration results of the original observation data, real-time resolving results of the gradient of an electric power tower, static resolving results of the gradient, early warning results and the like, in a Mysql database in real time, and realizing the function of leading out and backing up various analysis result tables; the operations of creating, inquiring, copying, modifying, deleting and the like of the data table can be performed in the Mysql database; the station information, the monitoring point attribute information, the original monitoring data and the algorithm resolving result in the database are managed in a unified mode, and the monitoring data can be displayed in real time, queried in history, analyzed and the like by taking the monitoring point name and the monitoring time as indexes in a tower-shaped monitoring and early warning system platform.
The monitoring platform is also used for evaluating and early warning the state of the electric power iron tower based on the iron tower state prediction model. The algorithm implementation unit is used for constructing an iron tower state prediction model based on the long-short-term memory network to evaluate and early warn the deformation of the electric iron tower. The calculation period of the electric power iron tower gradient is determined by a transmission channel of monitoring point observation data, if the monitoring point data is transmitted to a network server through a 4G wireless network, the real-time calculation period of the electric power iron tower gradient is 1 second, the static calculation period is 3 hours, and if the monitoring point data is transmitted to the network server through a Beidou short message communication link, the static calculation period is 12 hours in order to ensure the calculation accuracy of the gradient. And finally, constructing an iron tower state prediction model based on the long-short time memory network to evaluate and early warn the deformation of the electric iron tower.
The method mainly comprises the following three steps:
preprocessing the collected data.
The model built in this step needs to be able to learn the behavior of the normal data as much as possible so that the value of the normal data can be accurately predicted, using long and short term memory networks to learn the behavior of the normal data from the training data set.
Sequential prediction of values in an observation dataset using a built prediction model, fig. 4 is a schematic diagram of a prediction model provided in an embodiment of the present application. And judging whether the true value belongs to abnormal data according to the threshold value by calculating an error between the predicted value and the true value. Since the sensor itself may have some errors in collecting the status data of the iron tower, it may also be subject to some interference factors during storage and transmission, which may result in abnormal data generation, but the iron tower may not be abnormal at this time. Therefore, the sending precondition of the early warning of the abnormal state of the iron tower is that alarm information is sent when the state of the iron tower is continuously monitored for many times to be the abnormal state, so that the condition of excessively high false alarm rate is effectively avoided, and the manpower waste is reduced.
The evaluation formula of the iron tower state prediction model on the state of the electric iron tower is as follows:
H＝MSE max *R；
wherein x is t For the true value observed at time t, y t Is the predicted value at time t. MSE represents the average error of the whole test set, and H represents the iron tower state threshold. MSE (mean square error) max The MSE is the maximum value in the model training process, and R is an empirical coefficient;
if at time t (y t -x t ) 2 And if the value is more than H, confirming that the state of the iron tower at the moment t is an abnormal state.
The tower-shaped monitoring and early warning system platform provides rich monitoring functions and a friendly man-machine interaction interface, and the friendly man-machine interaction interface is designed based on a B/S architecture. The interactive function that the system provided has satisfied various needs to iron tower slope monitoring, has provided multiple services such as graphical result display, historical monitoring data inquiry, data form print display, carries out modularized design to each functional requirement towards actual demand, and visual effectual makes things convenient for staff to learn the operation. The specific functions include: displaying the deformation state of the electric iron tower in a graph and table form, and automatically generating an inclination curve of the electric iron tower; establishing a 3D model for the electric power iron tower, and intuitively reflecting the inclination condition of the electric power iron tower; the function of receiving and checking the working state of the monitoring point in real time is supported; the alarm device has an alarm function and can freely set an alarm threshold; the system has the functions of single-point positioning of monitoring points and map display; the system has a real-time data display function; the system has a historical data query and check function; the system has a data input function; the system has the function of logging and inquiring.
In a specific implementation, the following actions may be adopted for information security in data transmission:
APN data private network mode: an APN server is configured in an internal network of a national power grid company, an on-site monitoring device uses an APN data private network, an internal network card is utilized to carry out server access authorization on the device, a card number and an APN are bound on a network side, the range of a user accessible system is defined, information such as the card number of the device is checked in the process of establishing connection between the device end and the server, and only a SIM card belonging to the national power grid company can access the special APN network, and connection of the device with the server is refused for the device with unsuccessful verification. After the APN data private network is adopted, the server is isolated from the public network Internet, and when an unauthorized user wants to connect with the server, the connection is refused because the connection cannot be checked in the process of checking the information, so that the information security is greatly ensured.
Data encryption: the entire data transfer process may be cryptographically protected. After the monitoring data are packed according to the protocol, the monitoring data are further encrypted by adopting a Nanrui or Puhua encryption chip, and the security degree of the encrypted information mainly depends on the secret key. The encryption process is carried out by combining two modes of asymmetric encryption and symmetric encryption, and is used for carrying out identity authentication and data encryption transmission respectively. The encryption gateway public key and the user terminal private key are written into the encryption chip, when connection is established, the server can carry out identity authentication on the information encrypted by the user terminal private key by using the public key, only the key is matched, the information transmission key is sent to the user terminal after the authentication information passes, and then the information transmitted by the terminal and the server is sent to the other party after the information transmitted by the terminal and the server is encrypted by the information transmission key. The key transmission mechanism realized by adopting the sign-in session mechanism ensures the timeliness of key transmission, one-day-one-secret, or even one-time-one-secret, may be employed to prevent theft of the key.
Network access security authentication mechanism: and firewall software is adopted to set network authentication and security functions, so that the system safety is ensured. When the external network is accessed to the power internal network, the firewall is authenticated by the national network company, the firewall obtains a communication address (comprising a link layer address and an IP address) allowing the external communication device to enter from the identity authentication manager, the external communication device capable of authenticating the identity through the firewall is legal and allows information to enter, otherwise, the illegal address does not allow information to enter.
The power tower inclination monitoring system provided by the application is described in detail above. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it would be obvious to those skilled in the art that various improvements and modifications can be made to the present application without departing from the principles of the present application, and such improvements and modifications fall within the scope of the claims of the present application.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other elements in a process, method, article, or apparatus that comprises the element
An element.
Claims (10)
1. An electric pylon inclination monitoring system, comprising:
an antenna, a signal receiving device;
the antenna is arranged on the iron tower and is used for receiving observation signals of satellites on the electric iron tower;
the antenna is connected with the signal receiving device and is used for transmitting the observation signal to the signal receiving device for processing;
the signal receiving device is used for calculating the inclination of the electric iron tower according to the observation signal.
2. The power pylon inclination monitoring system of claim 1 further comprising: monitoring a platform;
the monitoring platform is connected with the signal receiving device and used for summarizing and storing the observation data sent by the signal receiving device.
3. A power pylon inclination monitoring system according to claim 1 wherein the signal receiving means is further adapted to cycle slip detection and repair the observed signal.
4. A power pylon inclination monitoring system according to claim 3 wherein the cycle slip detection of the observed signal comprises:
training an initial OS-ELM prediction model by using m carrier phase measurement values without cycle slip;
calculating a carrier phase predicted value of a t+1th epoch according to the carrier phase measured value of the first t epochs;
measuring a carrier phase observation value and a pseudo-range measurement value of a satellite according to the observation signal;
calculating the prediction variance of the OS-ELM prediction model in the t+1 epoch
Constructing cycle slip detection statistics
If the cycle slip detection statistic exceeds a threshold value, confirming that cycle slip occurs in the observation signal;
and if the cycle slip detection statistic does not exceed the threshold value, confirming that the cycle slip does not occur in the observation signal.
5. The power pylon inclination monitoring system of claim 4 wherein repairing the observed signal comprises:
calculating the size of occurrence cycle slip
Starting from the moment when cycle slip occurs, adding a preset value to the carrier phase observed value at all the moments.
6. The system for monitoring the inclination of a power pylon according to claim 5, wherein the calculating the inclination of a power pylon according to the observed signal comprises:
calculating a carrier phase observed value and a pseudo-range measured value of the Beidou satellite according to the observed signals;
solving a floating solution of the double-difference integer ambiguity candidate solution by using a weighted least square method;
establishing a double-difference model by using the pseudo-range measured value and the carrier phase observed value to solve the ambiguity;
confirming the whole cycle ambiguity by using a sequential detection algorithm, a Ratio algorithm, a success rate/failure rate algorithm and a fixed failure rate algorithm;
calculating a base line vector determined by the two antennas, and overlapping the base line vector with a reference station coordinate to obtain gradient information of the electric iron tower;
and performing multi-epoch filtering by using a Kalman filter to improve the positioning accuracy.
7. The system for monitoring the inclination of a power pylon according to claim 6, wherein calculating the baseline vectors determined by the two antennas and superimposing the baseline vectors with reference station coordinates to obtain the inclination information of the power pylon comprises:
two points with smaller y coordinates of the upper end point and larger y coordinates of the lower end point of the two base lines are respectively marked as A1 and B1 and are used as parallel lines in the horizontal direction, the two points A2 and B2 are intersected with the other line segment, the midpoints M1 of the A1 and B1 and the midpoints M2 of the A2 and B2 are respectively selected, and the included angle theta between the line segment M1M2 and the vertical direction is the inclination of the electric iron tower.
8. The power pylon inclination monitoring system of claim 2 wherein the monitoring platform is further configured to evaluate and pre-warn the status of the power pylon based on a pylon status prediction model.
9. The power pylon inclination monitoring system of claim 8 wherein the pylon state prediction model evaluates the state of the power pylon as:
H＝MSE max *R；
wherein x is t For the true value observed at time t, y t Is the predicted value at time t. MSE represents the average error of the whole test set, and H represents the iron tower state threshold. MSE (mean square error) max The MSE is the maximum value in the model training process, and R is an empirical coefficient;
if at time t (y t -x t ) 2 And if the value is more than H, confirming that the state of the iron tower at the moment t is an abnormal state.
10. The system for monitoring the inclination of an electric pylon according to claim 9, wherein an alarm message is sent when the state of the pylon is detected as abnormal a plurality of times in succession.
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| CN202211726484.9A CN116045914A (en) | 2022-12-30 | 2022-12-30 | Electric power iron tower gradient monitoring system |
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