阅读说明：本技术 基于北斗定位技术的电力铁塔倒伏监测与预警技术研究与应用 (Research and application of electric power iron tower lodging monitoring and early warning technology based on Beidou positioning technology ) 是由 张静伟 张川 徐奇 于长禄 任瑞樵 李超 王石岩 彭海超 于 2021-08-27 设计创作，主要内容包括：本发明公开一种基于北斗定位技术的电力铁塔倒伏监测与预警技术研究与应用,包括一种基于北斗3的电力铁塔倒伏监测系统,所述系统包括：北斗流动站、北斗基准站、后台服务器；所述北斗流动站和所述北斗基准站之间通过无线电台进行通讯连接,而北斗流动站内置有ARM处理器负责进行计算数据,计算得到的数据通过北斗流动站内的4G模块发送至所述后台服务器,后台服务器用于接收北斗流动站内发送的数据并进行展示；系统能够及早发现铁塔安全事故隐患,通知电力相关人员及时隐患处理,从而避免铁塔倒伏、倾斜、倒塌、线路跳闸、断线等危害事故的发生,这对保障输电网安全可靠运行有着重大意义,可极大降低因故障停电事故所带来的直接和间接经济损失。(The invention discloses a Beidou positioning technology-based research and application of a power iron tower lodging monitoring and early warning technology, which comprises a Beidou 3-based power iron tower lodging monitoring system, wherein the system comprises: the Beidou rover station, the Beidou reference station and the background server are connected with the Beidou rover station; the Beidou rover station and the Beidou reference station are in communication connection through a radio station, an ARM processor is arranged in the Beidou rover station and is responsible for calculating data, the calculated data are sent to the background server through a 4G module in the Beidou rover station, and the background server is used for receiving and displaying the data sent in the Beidou rover station; the system can discover potential safety hazards of the iron tower as early as possible and inform relevant electric power personnel of timely handling of the potential hazards, so that the occurrence of damage accidents such as iron tower lodging, inclination, collapse, line tripping, line breaking and the like is avoided, the system has great significance for guaranteeing safe and reliable operation of a power transmission network, and direct and indirect economic losses caused by power failure accidents due to faults can be greatly reduced.)

1. The utility model provides an electric power iron tower lodging monitoring and early warning technical research and application based on big dipper location finding technique, includes an electric power iron tower lodging monitoring system based on big dipper 3, its characterized in that, the system includes: the Beidou rover station, the Beidou reference station and the background server are connected with the Beidou rover station; the Beidou rover station is in communication connection with the Beidou reference station through a radio station, an ARM processor is arranged in the Beidou rover station and is responsible for calculating data, the calculated data are sent to the background server through a 4G module in the Beidou rover station, and the background server is used for receiving the data sent in the Beidou rover station and displaying the data.

2. The research and application of the Beidou positioning technology-based electric power iron tower lodging monitoring and early warning technology according to claim 1, wherein the operation steps of the Beidou 3-based electric power iron tower lodging monitoring system comprise:

(1) the two satellite navigation high-precision positioning signal processing modules in the Beidou reference station respectively measure the carrier phase and the pseudo-range measurement value of a Beidou satellite through two antennas and transmit the measurement value to an ARM processor in the Beidou rover station;

(2) calculating a floating point solution, solving the floating point solution of a double-difference integer ambiguity candidate solution by using a weighted least square method, firstly solving the floating point solution of the integer ambiguity without considering the integer characteristic of the integer ambiguity, and simultaneously using a carrier phase smoothing pseudorange technology;

(3) resolving the ambiguity, namely establishing a double difference model by using the pseudo range and the carrier phase observation value, and resolving the ambiguity; simultaneously, a plurality of ambiguity resolution technologies are used to improve ambiguity resolution speed and success rate, including: least square algorithm, single epoch baseline constrained CLAMBDA algorithm, multi-epoch LAMBDA algorithm;

(4) confirming the ambiguity by using a sequential detection algorithm, a Ratio algorithm, a success rate/failure rate algorithm and a fixed failure rate algorithm;

(5) and calculating and filtering a baseline and a positioning coordinate, calculating a baseline vector determined by the two antennas, superposing the baseline vector on a reference station coordinate to obtain a high-precision coordinate of the monitoring point, and performing multi-epoch filtering by using a Kalman filter.

3. The electric power iron tower lodging monitoring and early warning technology research and application based on the Beidou positioning technology as claimed in claim 2, wherein the least square method is as follows:

GPS double-difference linear observation equation

L＝Bdx+AN，D (1)

In the above equation (1), L is a double-difference code pseudo range and a carrier phase observation vector; b is a difference GA PS positioning coefficient matrix; dx is a vector of correction numbers of unknown coordinates; n is the carrier phase double-difference ambiguity and has the integer characteristic; a is an ambiguity coefficient matrix; d is an observation vector variance matrix, and an iterative least square method is introduced to obtain a positioning equation without a coordinate unknown number correction vector dx:

in the above formulaI is a unit array, and I is a unit array,N₁₁＝B^TD^-1b, the corresponding normal equation is as follows:

the ambiguity float solution can be solved from equation (3):

equation (2) no longer has coordinate unknowns correction vectors, but only ambiguity parameters. According to the characteristic that the ambiguity of the previous epoch and the later epoch is not changed when no cycle slip exists, the normal equation (3) of a plurality of epochs can be superposed, or a Kalman filtering method is used for solving to obtain the ambiguity floating point solution.

4. The research and application of the Beidou positioning technology-based electric iron tower lodging monitoring and early warning technology according to claim 2 are characterized in that baseline vectors determined by the two antennas are resolved by a single baseline, data preprocessing is performed first, coarse differences in observed values are eliminated, and cycle slip detection and repair are performed, because the calculation of satellite distance and propagation time is affected due to the fact that the accuracy of approximate coordinates of a station to be detected is low relative to the accuracy of a base station, the precision of the approximate coordinates of the station to be detected needs to be continuously improved through successive iteration so as to correct satellite signal transmission time and corresponding ephemeris coordinates, and the whole cycle of values are close to integers to obtain a good baseline vector result;

and high-precision coordinates of the monitoring points are superposed with a baseline vector based on the coordinates of the reference station, the result of resolving the carrier phase observation value or the differential observation value is the coordinate difference of the two observation points, and the accurate position value of the observation station can be obtained by combining the relatively fixed coordinate values of the reference station.

Technical Field

The invention relates to the technical field of electric power safety monitoring, in particular to research and application of an electric power iron tower lodging monitoring and early warning technology based on a Beidou positioning technology.

Background

The existing electric power iron tower safety monitoring methods include manual inspection, manned helicopter inspection, unmanned aerial vehicle inspection and detection based on an inclination angle sensor. The traditional manual inspection method has a long repeated inspection period which is generally one time of monthly inspection, and potential safety hazards of the power transmission line are difficult to find in time; the inspection mode of the manned helicopter is rapid and quick, the single inspection efficiency is high, but the manned helicopter needs to be provided with a temporary lifting point, the cost for purchasing, maintaining and maintaining the helicopter and engaging a driver is huge, and the ultra-low altitude flight is controlled by the state, so that the inspection attendance rate is low, and the inspection requirement of the power department is difficult to achieve; the unmanned aerial vehicle is limited by cruising ability, is difficult to realize large-scale inspection, is more suitable for fine inspection and fixed-point inspection, and needs personnel to control, so that the inspection efficiency and quality are still mainly determined manually; the measurement accuracy of the lodging of the electric iron tower measured by the inclination angle sensor detection method is difficult to meet the measurement accuracy requirement of 741 regulations, and the inclination angle sensor can only measure the local change of the iron tower and is difficult to reflect the overall change of the iron tower.

Disclosure of Invention

The invention provides a Beidou positioning technology-based research and application of a lodging monitoring and early warning technology of an electric power iron tower, which is used for solving the problems mentioned in the background.

The utility model provides an electric power iron tower lodging monitoring and early warning technical research and application based on big dipper location finding technique, includes an electric power iron tower lodging monitoring system based on big dipper 3, the system includes: the Beidou rover station, the Beidou reference station and the background server are connected with the Beidou rover station; the Beidou rover station is in communication connection with the Beidou reference station through a radio station, an ARM processor is arranged in the Beidou rover station and is responsible for calculating data, the calculated data are sent to the background server through a 4G module in the Beidou rover station, and the background server is used for receiving the data sent in the Beidou rover station and displaying the data.

Preferably, an electric power iron tower lodging monitoring system operation step based on big dipper 3 includes:

(1) the two satellite navigation high-precision positioning signal processing modules in the Beidou reference station respectively measure the carrier phase and the pseudo-range measurement value of a Beidou satellite through two antennas and transmit the measurement value to an ARM processor in the Beidou rover station;

(2) calculating a floating point solution, solving the floating point solution of a double-difference integer ambiguity candidate solution by using a weighted least square method, firstly solving the floating point solution of the integer ambiguity without considering the integer characteristic of the integer ambiguity, and simultaneously using a carrier phase smoothing pseudorange technology;

(3) resolving the ambiguity, namely establishing a double difference model by using the pseudo range and the carrier phase observation value, and resolving the ambiguity; simultaneously, a plurality of ambiguity resolution technologies are used to improve ambiguity resolution speed and success rate, including: least square algorithm, single epoch baseline constrained CLAMBDA algorithm, multi-epoch LAMBDA algorithm;

(4) confirming the ambiguity by using a sequential detection algorithm, a Rat io algorithm, a success rate/failure rate algorithm and a fixed failure rate algorithm;

(5) and calculating and filtering a baseline and a positioning coordinate, calculating a baseline vector determined by the two antennas, superposing the baseline vector on a reference station coordinate to obtain a high-precision coordinate of the monitoring point, and filtering the multi-epoch by using a Kalman filter.

Preferably, the least squares method is:

GPS double-difference linear observation equation

L＝Bdx+AN，D (1)

In the above equation (1), L is a double-difference code pseudo range and a carrier phase observation vector; b is a differential GPS positioning coefficient matrix; dx is a vector of correction numbers of unknown coordinates; n is the carrier phase double-difference ambiguity and has the integer characteristic; a is an ambiguity coefficient matrix; d is an observation vector variance matrix, and an iterative least square method is introduced to obtain a positioning equation without a coordinate unknown number correction vector dx:

in the above formulaI is a unit array, and I is a unit array,the corresponding normal equation is as follows:

the ambiguity float solution can be solved from equation (3):

equation (2) no longer has coordinate unknowns correction vectors, but only ambiguity parameters. According to the characteristic that the ambiguity of the previous epoch and the later epoch is not changed when no cycle slip exists, the normal equation (3) of a plurality of epochs can be superposed, or a Kalman filtering method is used for solving to obtain the ambiguity floating point solution.

Preferably, the baseline vectors determined by the two antennas are resolved by adopting a single baseline, data is preprocessed first, gross errors in observed values are eliminated, namely cycle slip detection and restoration are carried out, and the calculation of the satellite distance and the propagation time is influenced because the precision of the approximate coordinates of the to-be-detected station relative to the base station is low, the precision of the approximate coordinates of the to-be-detected station needs to be continuously improved by successive iteration so as to correct the satellite signal transmission time and corresponding ephemeris coordinates, and the whole cycle of the to-be-detected values approach to integers to obtain a good baseline vector result;

and high-precision coordinates of the monitoring points are superposed with a baseline vector based on the coordinates of the reference station, the result of resolving the carrier phase observation value or the differential observation value is the coordinate difference of the two observation points, and the accurate position value of the observation station can be obtained by combining the relatively fixed coordinate values of the reference station.

The electric power iron tower lodging monitoring system based on the Beidou 3, disclosed by the invention, adopts a Beidou third-generation positioning measurement technology to monitor the lodging of the electric power iron tower in real time, adopts a 4G or Beidou short message communication technology to send iron tower lodging data to a cloud monitoring platform, and the platform carries out comprehensive evaluation and prediction on the safety state of the iron tower according to the iron tower lodging measurement data and by applying an intelligent information processing technology. The system can discover potential safety hazards of the iron tower as early as possible and inform relevant electric power personnel of timely handling of the potential hazards, so that the occurrence of damage accidents such as iron tower lodging, inclination, collapse, line tripping, line breaking and the like is avoided, the system has great significance for guaranteeing safe and reliable operation of a power transmission network, and direct and indirect economic losses caused by power failure accidents due to faults can be greatly reduced.

Drawings

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

FIG. 1 is a schematic operation flow diagram of an electric power iron tower lodging monitoring system based on Beidou 3 in the invention;

fig. 2 is a block diagram of the content research of the application and test of the test point on the power transmission line in the embodiment of the present invention.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.

The invention provides a Beidou positioning technology-based research and application of a power iron tower lodging monitoring and early warning technology.

More importantly, the final high-precision positioning effect is realized on the low-power-consumption ARM processor of the front end through the programming language of the optimization algorithm. The solar power tower monitoring system is powered by solar energy, monitoring of centimeter-level displacement of the power tower is achieved, and early warning is timely given out on trends such as tower footing settlement and tower inclination.

The details of algorithm design involved in the invention are as follows:

the principle of the high-precision positioning technology is based on a differential technology of carrier phases, and the key point for realizing the technology is to solve the value of the integer ambiguity. At present, the LAMBDA algorithm is one of the most effective methods in the algorithm for solving the ambiguity, but the precision requirement of the floating solution of the integer ambiguity is higher, that is, the LAMBDA algorithm has a higher resolving success rate when the precision of the floating solution is higher, and the resolving success rate cannot achieve a satisfactory effect when the precision of the floating solution is lower.

In the implementation process of the Beidou high-precision positioning system, a resolving main engine of ambiguity is a single epoch baseline constraint CLAMBDA algorithm, and the single epoch algorithm can avoid cycle slip detection and repair of a carrier phase in actual application and is insensitive to satellite change. Although single epoch solution has obvious advantages in practical application, the information in the observation equation is relatively less because only the observed value of the current epoch is used, and when the precision of the floating point solution is low, the single epoch CLAMBDA algorithm is difficult to converge to the correct value, so that the multi-epoch LAMBDA algorithm is added, and the success rate satisfactory for users is achieved through the accumulation of multiple epochs, so the project adopts the following algorithm:

(1) the carrier phase smoothing pseudorange technology can improve the accuracy of pseudorange measurement values, and then a floating solution is calculated by using weighted least squares, so that the accuracy of the floating solution is improved, and the success rate of ambiguity resolution is improved. The precision of a pseudo-range observation value of the Beidou satellite navigation receiver is generally 20cm, and the precision of a carrier phase observation value is generally 2 mm. The pseudo-range observed value has no ambiguity and can be directly used for positioning, and the carrier phase observed value has integer ambiguity and cannot be directly used for positioning. However, the carrier phase smoothing pseudorange technology can be used for combining the ambiguity-free pseudorange and the high precision of the carrier phase to obtain a pseudorange observed value with higher precision, and the positioning precision and the floating ambiguity precision are improved.

(2) On the other hand, the technique of smoothing pseudoranges using carrier phases requires continuity of carrier phase measurement values, but if carrier phase pseudoranges are reused, artificial variations occur due to carrier phase cycle number jumps caused by unexpected satellite signal interruption, reduction in satellite signal-to-noise ratio, and the like. Cycle slip detection of the carrier phase is therefore an important element before the carrier phase smoothes the pseudoranges. There are various methods for detecting cycle slip, including a high-order difference method (a three-difference method), a phase-minus pseudo-range method, a polynomial fitting method, a least square cycle slip detection method, and the like.

(3) A single epoch CLAMBDA algorithm with baseline constraints. The length constraint of the base line is added in the ambiguity searching process, so that the initialization speed of the system and the ambiguity fixing rate can be greatly improved, such as a CLAMBDA algorithm. In addition, the single epoch is adopted, cycle slip detection and repair of the carrier phase can be avoided, satellite exchange is not sensitive, and each epoch can obtain an ambiguity resolution result in real time.

(4) The multi-epoch unconstrained LAMBDA algorithm. The single-epoch Lambda algorithm only uses the observed value of a single epoch, and the noise covariance matrix is too large, so that the correct value cannot be converged for a long time. Therefore, in this case, observation values of a plurality of epochs are used, so that observation noise can be gradually reduced, and the success rate of ambiguity resolution can be improved.

(5) And (5) solving least square ambiguity. In the continuous operation process, the ambiguity can be directly estimated by using the prior knowledge of the previous epoch, the relative positioning can be directly carried out by using the estimated value, and the carrier phase cycle slip is detected by judging the residual error. When no cycle slip occurs between two epochs, fast ambiguity resolution can be achieved.

(6) And (4) a sequential ambiguity confirming algorithm. And collecting ambiguity resolution results and baseline results of a plurality of epochs, and using contrast to confirm whether the ambiguity is correct.

(7) Ratio ambiguity validation algorithm. And when the ambiguity is resolved, two groups of ambiguity combinations are calculated, namely the maximum cost function value and the second maximum cost function value. And calculating the difference value and the ratio of the two cost function values, and comparing the difference value and the ratio with a set threshold so as to determine whether the ambiguity is correct.

(8) Success/failure rate ambiguity validation algorithm. During ambiguity resolution, the success rate and the failure rate of the LAMBDA search result can be estimated according to the error covariance matrix of the ambiguity. The ambiguity can be determined by success rate determination, e.g., when the power reaches above a certain threshold; the ambiguity can also be judged by the failure rate, for example, the ambiguity is confirmed to be correct when the failure rate reaches below a certain threshold; the success rate and the failure rate can be judged simultaneously.

(9) And (5) fixing a failure rate ambiguity confirming algorithm. When the ambiguity is resolved, the success rate of the LAMBDA search result can be estimated according to the error covariance matrix of the ambiguity and the maximum error probability set by the system. The ambiguity is confirmed to be correct only if the measured power reaches above a certain threshold.

(10) A multi-epoch Kalman filtering algorithm. The base line and the position result calculated by a single epoch have larger errors, and a Kalman filter is used for filtering multiple epochs, so that the positioning precision can be improved, and the positioning calculation precision of 1-2mm horizontally and 2-3mm vertically can be realized.

Second, test point application and test on power transmission line

Referring to fig. 2, a plurality of electric power iron towers with potential lodging hazards of a certain power transmission line are selected, a plurality of Beidou lodging monitoring terminals are arranged at tower foundations, lodging information of monitoring points is resolved through a carrier phase differential positioning technology, and the data are transmitted to a remote network server platform through a wireless public network 4G, so that lodging monitoring and visualization of each electric power iron tower foundation are achieved. And when the abnormal condition is detected, informing relevant departments to take measures in time so as to ensure the safe and reliable operation of the power transmission system.

Third, safety measure

(1) APN data private network mode: an APN server is configured in an internal network of a national power grid company, APN data private networks are used by field monitoring equipment, and due to the adoption of the data private networks, the server is isolated from the public network Internet, so that illegal invasion can be effectively avoided.

(2) Uniqueness of the intranet card SIM card: and by adopting the authorization of the internal network card, the card number and the APN are bound at the network side, the range of the system which can be accessed by the user is defined, and only the SIM card belonging to the national grid company can access the special APN network.

(3) Data encryption: the whole data transmission process can be encrypted and protected. And after being packed according to a protocol, the waving monitoring data is further encrypted by a Nanrui or Puhua encryption chip and then is sent to the unified state monitoring master station of the national power grid company in a 4G mode.

(4) A network access security authentication mechanism: and firewall software is adopted, and network authentication and safety precaution functions are set, so that the system safety is guaranteed.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.