阅读说明：本技术 基于北斗多天线姿态测量的电力铁塔高精度倾斜监测方法 (high-precision inclination monitoring method for electric power iron tower based on Beidou multi-antenna attitude measurement ) 是由 汪玉成 稂龙亚 斯庭勇 杨阳 吕玉祥 张孜豪 吴昊 董亚文 杜广东 晏节晋 王津 于 2019-08-28 设计创作，主要内容包括：本发明涉及一种基于北斗多天线姿态测量的电力铁塔高精度倾斜监测方法,包括以下步骤：实时采集三个天线卫星观测数据,根据原始观测数据质量判断是否符合铁塔三维姿态角解算要求,若符合,则通过北斗高精度定位差分解算和姿态测量算法获得电力铁塔实时三维姿态角度数据；否则进行解算初始化,重新采集下一时刻的卫星观测数据；对依托于历史数据库的人工智能和专家经验方法及电力铁塔运行规程要求,构建电力铁塔高精度倾斜监测分类分级预警标准,通过对比铁塔三维姿态角初始值、当前姿态结果及历史数据,开展铁塔倾斜形变趋势预测,并及时通知线路铁塔运维管理人员。本发明可对电力铁塔进行全天候、高精度三维姿态角度监测,有力提升电力铁塔安全监测及预警水平。(The invention relates to a high-precision inclination monitoring method for an electric power iron tower based on Beidou multi-antenna attitude measurement, which comprises the following steps of: acquiring satellite observation data of three antennas in real time, judging whether the three-dimensional attitude angle resolving requirement of the iron tower is met or not according to the quality of original observation data, and if so, obtaining the real-time three-dimensional attitude angle data of the power iron tower through a Beidou high-precision positioning differential resolving and attitude measuring algorithm; otherwise, carrying out resolving initialization and re-acquiring satellite observation data at the next moment; the method comprises the steps of establishing a high-precision inclination monitoring classification early warning standard for the electric iron tower by means of artificial intelligence and expert experience methods of a historical database and requirements of operation regulations of the electric iron tower, carrying out iron tower inclination deformation trend prediction by comparing an initial value of a three-dimensional attitude angle of the iron tower, a current attitude result and historical data, and timely notifying operation and maintenance managers of the line iron tower. The invention can carry out all-weather and high-precision three-dimensional attitude angle monitoring on the electric power iron tower and powerfully improve the safety monitoring and early warning level of the electric power iron tower.)

1. the method for monitoring the high-precision inclination of the electric power iron tower based on Beidou multi-antenna attitude measurement is characterized by comprising the following steps of:

(1) Deploying three Beidou measurement antennas at key positions on the electric power iron tower, collecting Beidou original observation data of the three antennas, and checking data quality;

(2) If the data quality is normal and meets the high-precision three-dimensional attitude angle resolving requirement, obtaining two baseline vector data of the three Beidou measurement antennas through Beidou high-precision positioning differential resolving;

(3) Calculating a three-dimensional attitude angle of the iron tower through an attitude measurement algorithm by using the two baseline vector results and the high-precision inclination monitoring model of the electric iron tower, and outputting a current attitude result of the iron tower;

(4) and predicting the inclination deformation trend of the iron tower by comparing the initial value of the three-dimensional attitude angle of the iron tower, the current attitude result and historical data.

and 2, (5) judging whether the three-dimensional attitude angle change data of the iron tower exceeds a set threshold, and if so, timely notifying operation and maintenance managers of the line iron tower according to multiple means of predefined alarm levels.

3. The electric power iron tower high-precision inclination monitoring method based on Beidou multi-antenna attitude measurement according to claim 1, is characterized in that: in the step (2), two baseline vector data of three Beidou measurement antennas are obtained through Beidou high-precision positioning differential solution, and the method specifically comprises the following steps:

(21) The main antenna-auxiliary antenna 1 and the main antenna-auxiliary antenna 2 form two baselines, namely a main baseline and an auxiliary baseline, and differential calculation is respectively carried out on each baseline;

(22) carrying out single-difference and double-difference resolution on carrier phases by using Beidou original observation data, and establishing a double-difference carrier phase observation equation;

(23) Solving a double-difference carrier phase observation equation, and obtaining coordinate correction quantities of two base lines and a real integer ambiguity solution by using a least square method;

(24) Obtaining double-difference fixed integer ambiguity through a floating point solution of the double-difference integer ambiguity and an LAMBDA algorithm;

(25) and (4) the fixed integer ambiguity is substituted for a double-difference carrier phase observation equation, and the vector coordinates of the main base line and the auxiliary base line are obtained through calculation.

4. The electric power iron tower high-precision inclination monitoring method based on Beidou multi-antenna attitude measurement according to claim 1, is characterized in that: in the step (1), Beidou original observation data of the three antennas are collected in real time through a Beidou positioning and attitude measurement receiver.

5. The electric power iron tower high-precision inclination monitoring method based on Beidou multi-antenna attitude measurement according to claim 1, is characterized in that: in the step (3), the output result of the current attitude of the iron tower comprises a yaw angle, a pitch angle and a roll angle.

6. The electric power iron tower high-precision inclination monitoring method based on Beidou multi-antenna attitude measurement according to claim 1, is characterized in that: and (3) utilizing the two baseline vector results and the high-precision inclination monitoring model of the power iron tower, fusing a geodetic coordinate system, a carrier coordinate system and a local horizontal coordinate system, and calculating the three-dimensional attitude angle of the iron tower through an attitude measurement algorithm.

7. The electric power iron tower high-precision inclination monitoring method based on Beidou multi-antenna attitude measurement according to claim 1, is characterized in that: in the step (3), the calculation of the three-dimensional attitude angle of the iron tower is performed through an attitude measurement algorithm to obtain the current attitude result of the iron tower, and the method specifically comprises the following steps:

(31) obtaining a geodetic coordinate system in said step (2);

(32) Converting the baseline vector coordinates of the main baseline and the auxiliary baseline into coordinates in a local horizontal coordinate system;

(33) calculating the yaw angle and the pitch angle of the electric iron tower according to the vector coordinates of the main base line in a local horizontal coordinate system;

(34) and calculating the yaw angle of the electric iron tower according to the vector coordinates of the auxiliary base line in the local horizontal coordinate system.

Technical Field

the invention relates to the technical field of power transmission line power iron tower monitoring, in particular to a power iron tower high-precision inclination monitoring method based on Beidou multi-antenna attitude measurement.

background

the stability and reliability of the electric power iron tower of the power transmission line are important guarantee for the safe operation of the power transmission line, and the electric power iron tower is greatly threatened to the safety condition of the electric power iron tower due to the influence of various artificial activities such as engineering construction, mining and the like around the power transmission line because the transmission distance of the power transmission line is long, the environmental conditions along the way are severe, the geological topography is complex, the climate is variable, and the phenomena such as fracture, inclination, collapse, integral slippage and the like of key parts of the iron tower occur. At present, the monitoring of the power iron tower mainly depends on the manual inspection and the sensor monitoring, the manual inspection and the traditional sensor monitoring have low efficiency, long period and high cost, the micro trend change of the iron tower is difficult to find, the existing iron tower inclination monitoring sensor is difficult to measure the three-dimensional posture of the iron tower, and the requirements of all-weather accurate monitoring of the iron tower, advance judgment of accidents and the like cannot be met.

disclosure of Invention

The invention aims to provide a Beidou multi-antenna attitude measurement-based high-precision inclination monitoring method for an electric power iron tower, which can be used for carrying out all-weather and high-precision three-dimensional attitude angle monitoring on the electric power iron tower and powerfully improving the safety monitoring and early warning level of the electric power iron tower.

in order to achieve the purpose, the invention adopts the following technical scheme:

a high-precision inclination monitoring method for an electric power iron tower based on Beidou multi-antenna attitude measurement comprises the following steps:

(1) three Beidou measurement antennas are arranged at key positions on the electric iron tower, Beidou original observation data of the three antennas are collected in real time through a Beidou positioning and attitude measurement receiver, and the data quality is checked;

(2) If the data quality is normal and meets the high-precision three-dimensional attitude angle resolving requirement, first obtaining two baseline vector data of a main antenna-auxiliary antenna 1 and a main antenna-auxiliary antenna 2 of the electric iron tower through Beidou high-precision positioning differential resolving;

(3) Fusing a geodetic coordinate system, a carrier coordinate system and a local horizontal coordinate system by using two baseline vector results and a high-precision inclination monitoring model of the electric power iron tower, calculating a three-dimensional attitude angle of the iron tower through an attitude measurement algorithm, and outputting a current attitude result of the iron tower, wherein the result comprises a yaw angle, a pitch angle and a roll angle;

(4) and predicting the inclination deformation trend of the iron tower by comparing the initial value of the three-dimensional attitude angle of the iron tower, the current attitude result and historical data.

(5) And judging whether the three-dimensional attitude angle change data of the iron tower exceeds a set threshold, and if so, timely notifying operation and maintenance management personnel of the line iron tower according to multiple means of predefined alarm levels.

In the step (2) of the above scheme, the obtaining of the two baseline vector data of the main antenna-auxiliary antenna 1 and the main antenna-auxiliary antenna 2 of the electric iron tower through the Beidou high-precision positioning differential solution specifically includes the following steps:

(21) the main antenna-auxiliary antenna 1 and the main antenna-auxiliary antenna 2 form two baselines, namely a main baseline and an auxiliary baseline, and differential calculation is respectively carried out on each baseline;

(22) carrying out single-difference and double-difference resolution on carrier phases by using the original Beidou observation value, and establishing a double-difference carrier phase observation equation;

(23) solving a double-difference carrier phase observation equation, and obtaining coordinate correction quantities of two base lines and a real integer ambiguity solution by using a least square method;

(24) Obtaining double-difference fixed integer ambiguity through a floating point solution of the double-difference integer ambiguity and an LAMBDA algorithm;

(25) and (4) the fixed integer ambiguity is substituted for a double-difference carrier phase observation equation, and the vector coordinates of the main base line and the auxiliary base line are obtained through calculation.

in the step (3) of the above scheme, the calculation of the three-dimensional attitude angle of the iron tower is performed by the attitude measurement algorithm to obtain the current attitude result of the iron tower, and the method specifically comprises the following steps:

(31) obtaining geodetic coordinates in step (2) of claim 1;

(32) converting the baseline vector coordinates of the main baseline and the auxiliary baseline into coordinates in a local horizontal coordinate system;

(33) calculating the yaw angle and the pitch angle of the electric iron tower through an attitude measurement algorithm according to the vector coordinates of the main base line in a local horizontal coordinate system;

(34) and calculating the yaw angle of the electric iron tower through an attitude measurement algorithm according to the vector coordinates of the auxiliary base line in a local horizontal coordinate system.

according to the technical scheme, the monitoring method can be used for carrying out all-weather, all-time and automatic monitoring on the electric power iron tower, and can be used for collecting three-dimensional accurate attitude angle data of the monitored iron tower in various complex environments, so that the inclination state of the iron tower can be diagnosed in an all-around and sharp manner, the safety monitoring and early warning level of the electric power iron tower is improved powerfully, and meanwhile, the routing inspection service of the electric power iron tower of the power transmission line is promoted to be changed to a three-dimensional and intelligent direction. The method is characterized in that a classification early warning standard for high-precision inclination monitoring of the electric power iron tower is established by means of artificial intelligence and expert experience methods of a historical database and requirements of operation regulations of the electric power iron tower, iron tower inclination deformation trend prediction is carried out by comparing initial values of three-dimensional attitude angles of the iron tower, current attitude results and historical data, operation and maintenance management personnel of the line iron tower are informed in time, the method has important significance for safety early warning, precaution and decision making of the electric power iron towers in different levels, and the method and the efficiency for monitoring geological disasters of the current power transmission line can be effectively supplemented and improved.

drawings

Fig. 1 is a schematic structural diagram of an electric power iron tower of the present invention;

fig. 2 is a cross-sectional view of pylon a-B of fig. 1;

FIG. 3 is a three-dimensional attitude diagram of the three antennas of the present invention;

FIG. 4 is a three-dimensional attitude angle model diagram of the present invention;

Fig. 5 is a flow chart of a method of the present invention.

Detailed Description

the invention is further described below with reference to the accompanying drawings:

As shown in fig. 1-3, in the method for monitoring high-precision inclination of an electric power iron tower based on Beidou multi-antenna attitude measurement of the embodiment, three Beidou high-precision measurement type antennas, namely a main antenna, an auxiliary antenna 1 and an auxiliary antenna 2, are deployed at key positions on the electric power iron tower. In fig. 1, a denotes a base, b denotes a tower head, c denotes a tower body, and d denotes tower legs. In fig. 2 and 3, a1 denotes a main antenna, a2 denotes a minus sky 1, and A3 denotes a sub antenna 3. Two base lines formed by the three antennas can reflect the three-dimensional attitude angle condition of the iron tower in an omnibearing manner, wherein the main antenna and the auxiliary antenna 1 are arranged in the main shaft direction of the monitored iron tower, and the main base line formed by the main antenna and the auxiliary antenna 1 can determine two attitude angle data of a yaw angle and a pitch angle of the iron tower; the auxiliary antenna 2 is arranged in the direction perpendicular to the main shaft direction, and the auxiliary base line formed by the auxiliary antenna and the main antenna can determine the roll angle data of the iron tower.

as shown in fig. 4, the present invention reflects the three-dimensional attitude angle of the power iron tower, and relates to the transformation between the geocentric/geostationary coordinate system, the carrier coordinate system, the local horizontal coordinate system, and the definition of the three-dimensional attitude angle of the iron tower.

Geocentric geodesic coordinate system (ECEF): the origin O is the geoquality, the Z axis points to the north pole of the earth, the X axis points to the intersection point of the Greenwich meridian and the equator, and the Y axis, the X axis and the Z axis form a right-hand rectangular coordinate system. The geocentric geodesic coordinate system adopted by the Beidou system is the current national geodesic coordinate system in China.

and in a carrier coordinate system (BFS), the origin is the phase center of the main antenna, the Y axis is superposed with the main axis of the iron tower, the X axis is perpendicular to the Y axis and points to the right side of the carrier, and the Z axis and the X, Y axis are orthogonal to form a right-hand coordinate system.

local horizontal coordinate system (LLS): the origin of the reference coordinate system in attitude measurement is located at the phase center of the main antenna, the Y axis points to the local north meridian, the X axis and the Y axis point to the east perpendicularly, and the Z axis is orthogonal to the X, Y axis, so that the reference coordinate system obeys a right-hand coordinate system.

the three-dimensional attitude angles of the iron tower in the invention are three Euler angles of the iron tower (specifically expressed by main and auxiliary baselines) relative to a local horizontal coordinate system, and the yaw angle, the pitch angle and the roll angle of the iron tower are respectively expressed by psi, theta and phi in fig. 4. The yaw angle psi is an included angle formed by the projection of the main base line vector on the local horizontal plane and the Y axis of the local horizontal coordinate system; the pitch angle theta is an included angle formed by the vector of the main base line and the local horizontal plane; the roll angle phi is an included angle between an intersection line of the carrier coordinate system X axis and the local horizontal plane and the carrier coordinate system X axis when the roll angle phi rotates along the main base line.

as shown in fig. 5, satellite signals are transmitted to the Beidou positioning and attitude measuring receiver in real time in an antenna feeder mode, and three-dimensional attitude angle data of the electric power iron tower is resolved, so that all-weather and high-precision inclination monitoring of the electric power iron tower is realized.

The method for monitoring the high-precision inclination of the electric power iron tower based on Beidou multi-antenna attitude measurement specifically comprises the following steps:

s1: the Beidou positioning and attitude measuring receiver collects Beidou original observation data of the three antennas in real time and checks the data quality;

The method comprises the steps of collecting original Beidou observation data of three antennas, checking navigation messages and observation data of each antenna at the current moment, and judging whether the data quality of a monitoring area meets the real-time high-precision three-dimensional attitude angle resolving requirement.

s2: if the data quality is normal and meets the high-precision three-dimensional attitude angle resolving requirement, firstly carrying out Beidou high-precision positioning differential resolving to obtain two baseline vector data of a main antenna-auxiliary antenna 1 and a main antenna-auxiliary antenna 2 of the electric iron tower, and concretely comprising the following steps:

s21: the main antenna, the auxiliary antenna 1 and the auxiliary antenna 2 collect satellite signals at the current epoch moment and analyze the satellite signals into satellite navigation messages, pseudo-range, carrier phase and other observation value data;

s22: and carrying out single difference and double difference resolving by utilizing the carrier phase observed value, and establishing a simplified double-difference carrier phase observation equation:

In the formula (1), λ is a carrier wavelength,A carrier phase observation for the baseline at time t is a double difference,To observe the code pseudoranges for epoch t from satellite j to antenna i,is double difference integer ambiguity.

S23: solving a double-difference carrier phase observation equation, obtaining coordinate correction quantities of two base lines and a double-difference integer ambiguity floating solution by using a least square method, and constructing an equation according to the least square method:

ΔY＝-N^-1U (2)

In the formula (2), N ═ A B^TP(A B)，U＝(A B)^TPL，

Wherein A is an observation coefficient, and B is a singleA bit matrix, L is an observation noise vector, P is a weight matrix, deltaX is a baseline vector,is double difference integer ambiguity.

S24: obtaining double-difference fixed integer ambiguity through a floating point solution of the double-difference integer ambiguity and an LAMBDA algorithm;

S25: the fixed integer ambiguity is substituted for the double-difference carrier phase observation equation, and the main vector quantity coordinate (delta X) of the geodetic coordinate system is calculated₁，ΔY₁，ΔZ₁) And sub-baseline vector coordinates (Δ X)₂，ΔY₂，ΔZ₂)。

S3: the method comprises the following steps of utilizing two baseline vector coordinates and a high-precision inclination monitoring model of the electric iron tower, fusing a geodetic coordinate system, a carrier coordinate system and a local horizontal coordinate system, calculating a three-dimensional attitude angle of the iron tower through an attitude measurement algorithm, and outputting a current attitude result (a yaw angle, a pitch angle and a roll angle) of the iron tower, wherein the method specifically comprises the following steps:

The two baseline vector coordinates resolved by the difference are coordinates in the geodetic coordinate system, the measured geodetic coordinates are to be converted to LLS coordinates. The vector coordinate transformation of the main baseline in the local horizontal coordinate system is disclosed as (3):

the vector coordinate transformation of the secondary baseline in the local horizontal coordinate system is disclosed as (3):

wherein L is₀、B₀longitude and latitude of the phase center of the main antenna.

The three-dimensional attitude angle of the iron tower is calculated by the formulas (5) to (7):

the yaw angle of the iron tower is as follows:

the pitch angle of the iron tower is as follows:

Iron tower roll angle:

s4: predicting the inclination deformation trend of the iron tower by comparing the initial value of the three-dimensional attitude angle of the iron tower, the current attitude result and historical data;

The three-dimensional attitude angle data of the iron tower obtained by calculation is stored in a database in real time, real-time and historical iron tower inclination state curves based on time sequences are drawn by comparing the three-dimensional attitude angle data of the current iron tower with the three-dimensional attitude angle data of the initial value in real time, and the iron tower inclination deformation monitoring and trend prediction are carried out based on a high-precision inclination monitoring model of the power iron tower.

s5: and judging whether the three-dimensional attitude angle change data of the iron tower exceeds a set threshold, and if so, timely notifying operation and maintenance management personnel of the line iron tower according to multiple means of predefined alarm levels.

The method comprises the steps of establishing a high-precision inclination monitoring classification early warning standard of the electric iron tower by means of artificial intelligence and expert experience methods of a historical database and requirements of operation regulations of the electric iron tower, and informing operation and maintenance management personnel of the line iron tower in time according to a predefined warning level multi-means if the high-precision inclination monitoring classification early warning standard exceeds a set threshold value based on real-time three-dimensional attitude angle of the iron tower and historical change data.

the above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.