Line galloping monitoring method and system

Abstract

The invention discloses a line galloping monitoring method and system, and the method comprises the steps: a satellite builds an ionosphere model according to ionosphere data, and calculates a difference vector between a current moment and a previous moment according to a spherical harmonic coefficient vector set in the ionosphere model; the satellite compresses a non-zero value in the differential vector and a serial number in the differential vector and then sends the non-zero value and the serial number to the base station, and the base station receives and restores the differential vector; the reference station calculates an ionosphere model spherical harmonic coefficient vector and ionosphere delay at the current moment by using the reduced difference vector; and obtaining time sequence data of the position of the line galloping monitoring device according to the ionosphere delay of the coordinates of the line galloping monitoring device. According to the method, the data transmission quantity is greatly reduced, the real-time performance of data transmission is improved, and the integrity of the data is ensured by constructing the initial restoration vector and utilizing the Data and index arrays to restore the data in a lossless manner.

Description

Technical Field

[0001] The present invention relates to the field of information technology and line galloping detection technology, and in particular to a line galloping monitoring method and system. Background Art

[0002] In GNSS systems, it is crucial to accurately predict and compensate for the impact of the ionosphere on signal propagation. The ionosphere is a charged layer in the Earth's atmosphere, and its density changes affect the speed and path of radio waves passing through it. If this effect is not properly corrected, it will cause errors in positioning information and affect positioning accuracy. At present, using the TEC spherical harmonic function model to describe the global electron content distribution of the ionosphere and perform signal correction based on this is one of the effective methods to solve the above problems.

[0003] However, a typical TEC spherical harmonic function may contain up to 256 coefficients. The existing data transmission format cannot send all the spherical harmonic function coefficients in one transmission. These coefficients are crucial for accurately simulating the ionospheric state. When all these coefficients cannot be sent completely in one transmission, it will bring many negative effects. First, the positioning accuracy will be directly affected, especially in application scenarios that require extremely high accuracy, such as line sway transmission monitoring. In addition, the update and response speed of the positioning system will be reduced, affecting the performance of real-time or near real-time applications. At the same time, in order to handle and compensate for the incompleteness of data transmission, more complex algorithms may need to be developed, which not only increases the computational burden of the system, but may also further reduce the accuracy of positioning. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above existing problems, the present invention is proposed. Therefore, the present invention provides a line galloping monitoring method to solve the problem of how to improve the positioning accuracy and real-time performance in line galloping monitoring by optimizing the transmission mode of ionospheric model spherical harmonic coefficients under limited data transmission.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a line galloping monitoring method, comprising:

[0008] Acquiring ionospheric data, the satellite establishing an ionospheric model according to the ionospheric data, and the satellite calculating a differential vector between a current moment and a previous moment according to a set of spherical harmonic coefficient vectors in the ionospheric model;

[0009] The satellite compresses the non-zero value in the differential vector and the serial number in the differential vector and sends them to the reference station. The reference station receives the compressed data sent by the satellite and restores the differential vector.

[0010] The reference station calculates the ionospheric model spherical harmonic coefficient vector at the current moment by using the restored differential vector, and calculates the ionospheric delay according to the ionospheric model spherical harmonic coefficient vector at the current moment;

[0011] The ionospheric delay and the line galloping monitoring device coordinates are subjected to difference processing to obtain the ionospheric delay of the line galloping monitoring device coordinates, and the time series data of the position of the line galloping monitoring device is obtained according to the ionospheric delay of the line galloping monitoring device coordinates.

[0012] As a preferred solution of the line galloping monitoring method of the present invention, wherein: calculating the difference vector between the current moment and the previous moment includes:

[0013] The satellite first sends the ionospheric model spherical harmonic coefficient vector at the initial time to the base station, and then calculates the differential vector at the current time through the ionospheric model spherical harmonic coefficient vector. The expression for calculating the differential vector is:

[0014] d (k) =a (k) -a (k-1)

[0015] Among them, d (k) is the difference vector, a (k) is the spherical harmonic coefficient vector of the ionospheric model at the current moment, a (k-1) is the spherical harmonic coefficient vector of the ionospheric model at the previous moment, and k is the moment number.

[0016] As a preferred solution of the line galloping monitoring method of the present invention, the differential vector includes:

[0017] The differential vectors at all times are calculated to form a differential vector set. If a differential vector in the differential vector set is smaller than a set threshold, the value of the differential vector smaller than the set threshold is set to 0.

[0018] As a preferred solution of the line galloping monitoring method of the present invention, wherein: the satellite compresses the non-zero value in the differential vector and the sequence number in the differential vector and sends them to the reference station, including:

[0019] The satellite takes out all non-zero values ​​in the differential vector and lists them row by row to form the first array Data;

[0020] The satellite obtains the sequence number j corresponding to all elements in the first array Data in the differential vector, and stores j in the second array index;

[0021] The satellite transmits the data and index to the base station, and the base station restores the differential vector through the data and index.

[0022] As a preferred solution of the line galloping monitoring method of the present invention, wherein: the base station restores the differential vector through Data and index, including:

[0023] The base station constructs a 256-dimensional initial restoration vector with all 0 elements;

[0024] The base station traverses each element Data[i] in the first array Data, searches for index[i] corresponding to Data[i], and obtains the index[i] of Data[i] in the initial restoration vector;

[0025] The base station will index[i] Update to Data[i] to obtain the restored differential vector.

[0026] As a preferred solution of the line galloping monitoring method of the present invention, the spherical harmonic coefficient vector set includes:

[0027] The spherical harmonic coefficients in the ionospheric spherical harmonic function are sequentially combined into a set of ionospheric model spherical harmonic coefficient vectors;

[0028] The ionospheric spherical harmonics are expressed as:

[0029]

[0030] Among them, TEC(α,β) is the total electron content, α is the latitude, β is the longitude, and a mn and b nm is the spherical harmonic coefficient in the ionospheric spherical harmonic function, m and n are the polynomial orders, P mn is the associated Legendre polynomial.

[0031] As a preferred solution of the line galloping monitoring method of the present invention, wherein: the ionospheric model spherical harmonic coefficient vector set is sequentially combined to include:

[0032] Sequential combination of the first stage, with coefficient a mnis the ionospheric model spherical harmonic coefficient vector, the initial values ​​of m and n are 0, m is used as the outer loop variable, n is used as the inner loop variable, n is increased by 1 once the inner loop is repeated, and the outer loop is entered after n reaches the maximum value, and n is reset to 0 each time it jumps into the outer loop, and m is increased by 1 each time it enters the outer loop until the maximum value is reached, and the values ​​taken out each time are used as the ionospheric model spherical harmonic coefficient vector in turn;

[0033] The second stage of sequential combination, with coefficient b nm is the ionospheric model spherical harmonic coefficient vector, the initial values ​​of m and n are 0, m is used as the outer loop variable, n is used as the inner loop variable, n is increased by 1 once the inner loop is repeated, and the outer loop is entered after n reaches the maximum value, and n is reset to 0 each time it jumps into the outer loop, and m is increased by 1 each time it enters the outer loop until the maximum value is reached, and the values ​​taken out each time are used as the ionospheric model spherical harmonic coefficient vector in turn;

[0034] The results of the two stages of sequential combination are combined to form a set of spherical harmonic coefficient vectors of the ionospheric model.

[0035] In a second aspect, the present invention provides a line galloping monitoring system, comprising:

[0036] A differential vector acquisition module, used to acquire ionospheric data, the satellite establishes an ionospheric model according to the ionospheric data, and the satellite calculates the differential vector between the current moment and the previous moment according to the spherical harmonic coefficient vector set in the ionospheric model;

[0037] A differential vector restoration module is used for the satellite to compress the non-zero value and the serial number in the differential vector and send them to the reference station. The reference station receives the compressed data sent by the satellite and restores the differential vector;

[0038] An ionospheric delay acquisition module is used for the reference station to calculate the ionospheric model spherical harmonic coefficient vector at the current moment by using the restored differential vector, and calculate the ionospheric delay according to the ionospheric model spherical harmonic coefficient vector at the current moment;

[0039] The line galloping data acquisition module is used to perform difference processing on the ionospheric delay and the coordinates of the line galloping monitoring device to obtain the ionospheric delay of the line galloping monitoring device coordinates, and obtain the time series data of the position of the line galloping monitoring device according to the ionospheric delay of the line galloping monitoring device coordinates.

[0040] In a third aspect, the present invention provides a computing device, comprising:

[0041] Memory and processor;

[0042] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the line dancing monitoring method are implemented.

[0043] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the line dancing monitoring method.

[0044] Compared with the prior art, the present invention has the following beneficial effects: the present invention significantly reduces the amount of data transmission and improves the real-time performance of data transmission by only transmitting the non-zero elements and their positions in the differential vector of the spherical harmonic coefficients of the ionospheric model, and also ensures the integrity of the data by constructing the initial restoration vector and using the Data and index arrays to restore the data losslessly. In addition, combined with binary coding and transformation structure, the accuracy and reliability of data transmission are enhanced, transmission errors are effectively reduced, the accuracy and efficiency of line vibration monitoring are improved, and a strong guarantee is provided for the stable operation of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0046] Figure 1 The figure is a schematic diagram of the overall process of a line dancing monitoring method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0050] The present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0051] At the same time, in the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "upper, lower, inner and outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the system or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms "install, connect, connect" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection or an integral connection; it can also be a mechanical connection, an electrical connection or a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] Example 1

[0054] Reference Figure 1 , as an embodiment of the present invention, provides a line galloping monitoring method, comprising:

[0055] S100: Acquire ionospheric data, the satellite establishes an ionospheric model according to the ionospheric data, and the satellite calculates the difference vector between the current moment and the previous moment according to the spherical harmonic coefficient vector set in the ionospheric model;

[0056] The specific process of establishing an ionospheric model includes: the ionospheric data collected by satellites usually include key parameters such as electron density and total electron content from different altitudes, longitudes and latitudes, and time points. These data are captured by sensors or receivers carried by satellites and undergo preliminary calibration and verification to ensure their accuracy and reliability; then, the data processing system on the satellite will preprocess these raw data. The preprocessing steps may include noise removal, filling in missing values, data smoothing, and necessary format conversion to reduce data errors and prepare data for subsequent analysis; using the preprocessed ionospheric data, the satellite uses mathematical methods to construct an ionospheric model. At this stage, commonly used modeling techniques include spherical harmonic expansion. Spherical harmonics are widely used because they can better describe the characteristics of the physical fields on the earth's surface and nearby space. By expressing the ionospheric parameters as a linear combination of spherical harmonics, the changes in the ionosphere with factors such as geographic location, time, and solar activity can be captured.

[0057] Preferably, obtaining the spherical harmonic coefficient vector set includes: combining the spherical harmonic coefficients in the ionospheric spherical harmonic function in order into an ionospheric model spherical harmonic coefficient vector set;

[0058] The ionospheric spherical harmonics are expressed as:

[0059]

[0060] Among them, TEC(α,β) is the total electron content, α is the latitude, β is the longitude, and a mn and b nm is the spherical harmonic coefficient in the ionospheric spherical harmonic function, m and n are the polynomial orders, P mn is the associated Legendre polynomial.

[0061] Combining the spherical harmonic coefficients in the ionospheric spherical harmonic function in sequence includes a first sequence combination stage and a second sequence combination stage;

[0062] Preferably, the first stage is combined sequentially with coefficient a mn is the ionospheric model spherical harmonic coefficient vector, and the initial values ​​of m and n are 0. m is used as the outer loop variable, and n is used as the inner loop variable. The inner loop is repeated once, and n is incremented by 1. After n reaches the maximum value, it jumps into the outer loop. Each time it jumps into the outer loop, n is reset to 0. Each time it enters the outer loop, m is incremented by 1 until it reaches the maximum value. The values ​​taken out each time are used as the ionospheric model spherical harmonic coefficient vector in turn. The second stage is sequentially combined, and the coefficient b is used as the coefficient vector. nmis the ionospheric model spherical harmonic coefficient vector, the initial values ​​of m and n are 0, m is used as the outer loop variable, n is used as the inner loop variable, n is increased by 1 once the inner loop is repeated, and the outer loop is entered after n reaches the maximum value, and n is reset to 0 each time it jumps into the outer loop, and m is increased by 1 each time it enters the outer loop until the maximum value is reached, and the values ​​taken out each time are used as the ionospheric model spherical harmonic coefficient vector in turn;

[0063] Preferably, the results of the two sequential combination stages are combined to form a set of ionospheric model spherical harmonic coefficient vectors;

[0064] Preferably, the satellite first sends the ionospheric model spherical harmonic coefficient vector at the initial time to the reference station, and then calculates the differential vector at the current time through the ionospheric model spherical harmonic coefficient vector. The expression for calculating the differential vector is:

[0065] d (k) =a (k) -a (k-1)

[0066] Among them, d (k) is the difference vector, a (k) is the spherical harmonic coefficient vector of the ionospheric model at the current moment, a (k-1) is the spherical harmonic coefficient vector of the ionospheric model at the previous moment, and k is the time sequence number;

[0067] Preferably, the differential vectors at all times are calculated to form a differential vector set, and if a differential vector in the differential vector set is smaller than a set threshold, the value of the differential vector smaller than the set threshold is set to 0;

[0068] In the embodiment of the present application, the threshold of the differential vector in the differential vector set needs to be set by comprehensively considering the physical characteristics of the ionosphere, the accuracy of satellite observation data, the sensitivity of the modeling method and the actual application requirements. Based on the statistical laws of ionosphere changes and historical data analysis, the threshold range is preliminarily determined; considering the error of satellite observation data, the threshold is appropriately adjusted to eliminate the influence of data noise; at the same time, according to the sensitivity of the selected modeling method to ionosphere changes, the threshold is finely adjusted; combined with the requirements of the actual application scenario for positioning accuracy, the final threshold is determined to ensure that the ionosphere model can accurately capture dynamic changes and meet the needs of specific application scenarios;

[0069] It should be noted that the present invention enables the satellite to efficiently construct an accurate ionospheric model from a wide range of ionospheric data, and quantifies the ionospheric characteristics into a set of spherical harmonic coefficient vectors using the spherical harmonic function expansion method. This process not only improves the automation and accuracy of data processing, but also ensures the comprehensiveness and systematicness of ionospheric model construction by sequentially combining spherical harmonic coefficients in stages; by calculating differential vectors and setting reasonable thresholds, data noise is effectively filtered out, and the real-time and reliability of ionospheric model updates are improved; under the joint action of these technical means, the accuracy of ionospheric delay prediction is enhanced, providing more stable and accurate ionospheric correction for fields such as satellite navigation, positioning and remote sensing.

[0070] S102: The satellite compresses the non-zero value in the differential vector and the serial number in the differential vector and sends them to the reference station. The reference station receives the compressed data sent by the satellite and restores the differential vector.

[0071] Preferably, the satellite takes out all non-zero values ​​in the differential vector and lists them row by row to form a first array Data;

[0072] Preferably, the satellite obtains the sequence number j corresponding to all elements in the first array Data in the differential vector, and stores j in the second array index;

[0073] Preferably, the satellite transmits the Data and the index to the reference station, and the reference station restores the differential vector through the Data and the index;

[0074] In the embodiment of the present application, before the data is sent to the reference station, the binary code BT1 of the Data array and the index array is obtained; the binary code of the maximum serial number of the array index is obtained to obtain the second bit sequence BT2; 0 of the length of BT2 is added to the end of BT1, and the length of BT2 is M; a first transformation structure corresponding to BT2 is set, the first transformation structure is a series structure, and the first transformation structure includes M substructures, the first substructure is a detector, the detector corresponds to the first bit of BT2, and when the detector detects 1, it will send an activation signal, and the substructure after the detector includes an equalizer and an inverter, The position of the equalizer in the first transformation structure corresponds to 0 in BT2. When data flows through the equalizer, the data does not change. The position of the inverter in the first transformation structure corresponds to 1 in BT2. The detector is connected to the inverter. When data flows through the inverter and the inverter receives a signal from the detector, the data flowing through the inverter is inverted, and the value RC in the first transformation structure after BT1 completely flows through the first transformation structure is obtained. 0 is added in front of RC until the length reaches M, and RC after adding 0 is placed at the end of BT1 to obtain the original data binary stream Rs; wherein, the data flows in from the end of the first transformation structure opposite to the detector.

[0075] Preferably, the base station restores the differential vector through Data and index, including: the base station constructs a 256-dimensional initial restoration vector with all 0 elements; the base station traverses each element Data[i] in the first array Data, searches for index[i] corresponding to Data[i] to obtain the sequence number index[i] of Data[i] in the initial restoration vector; the base station converts t index[i] Update to Data[i] to obtain the restored differential vector;

[0076] In an embodiment of the present application, after receiving the data Rs, the base station takes out the array index, and obtains the binary code of the maximum serial number of the array index to obtain a second bit sequence BT2, and the length of BT2 is M; a second transformation structure corresponding to BT2 is set, the second transformation structure is a serial structure, and the second transformation structure includes M substructures. The first substructure is a detector, and the detector corresponds to the first bit of BT2. When the detector detects 1, it will send an activation signal. The substructure after the detector includes an equalizer and an inverter. The position of the equalizer in the second transformation structure corresponds to 0 in BT2. When data flows through the equalizer, the data does not change. The position of the inverter in the second transformation structure corresponds to 1 in BT2. The detector is connected to the inverter. When data flows through the inverter and the inverter receives the signal of the detector, the data flowing through the inverter is inverted, and the value EC in the second transformation structure after BT1 completely flows through the second transformation structure is obtained. If EC is 0, it proves that there is no transmission error in the data, otherwise it proves that there is a transmission error in the data, and the spherical harmonic coefficient signal is sent to the satellite to retransmit.

[0077] It should be noted that the present invention realizes the efficient compression transmission and accurate restoration of the differential vector between the satellite and the reference station, and integrates the error detection mechanism. The satellite extracts the non-zero value and the corresponding serial number of the differential vector, compresses it into Data and index arrays, and further processes it through innovative binary coding and transformation structure. It not only greatly reduces the data transmission volume, but also ensures the integrity and correctness of the data through the error detection logic embedded in the second transformation structure, so that the reference station can accurately receive and restore the differential vector. At the same time, it automatically checks after the data is received, and promptly discovers and requests retransmission of erroneous data, thereby improving the reliability of data transmission and the overall performance of the system.

[0078] S104: The reference station calculates the ionospheric model spherical harmonic coefficient vector at the current moment using the restored differential vector, and calculates the ionospheric delay according to the ionospheric model spherical harmonic coefficient vector at the current moment;

[0079] In the embodiment of the present application, the reference station calculates the ionospheric model spherical harmonic coefficient vector a at time k by the following method: (k) , the calculation formula is:

[0080] a (k) =a (k-1) -d (k) ;

[0081] The base stations are arranged in the order agreed from a (k) Take out the spherical harmonic coefficients of the ionospheric model at time k to calculate the ionospheric delay at the current position;

[0082] In the embodiment of the present application, the agreed arrangement order refers to the ionospheric model spherical harmonic coefficients in vector a (k) The storage and retrieval rules in the spherical harmonic coefficient vector ensure that the coefficients of each order and degree can be accurately extracted as expected from the updated spherical harmonic coefficient vector to calculate the ionospheric delay at the current position; specifically, this agreed arrangement order is usually determined by the definition of the spherical harmonic function and the complexity of the ionospheric model, such as arranging from low to high according to the order n (or degree), and then for each order n, arranging from 0 to n according to the order m (or serial number). Through this arrangement order, the base station can quickly access all the spherical harmonic coefficients required by the ionospheric model at a specific location, thereby efficiently calculating the ionospheric delay;

[0083] It should be noted that the base station can use the restored differential vector to update the ionospheric model spherical harmonic coefficient vector in real time, and use the agreed arrangement order to accurately extract the coefficients of each order and degree. This arrangement order not only conforms to the definition of spherical harmonic function, but also fully considers the complexity of the ionospheric model, ensuring efficient data access and accuracy of ionospheric delay calculation.

[0084] S106: performing difference processing on the ionospheric delay and the coordinates of the line galloping monitoring device to obtain the ionospheric delay of the coordinates of the line galloping monitoring device, and obtaining time series data of the position of the line galloping monitoring device according to the ionospheric delay of the coordinates of the line galloping monitoring device;

[0085] In the embodiment of the present application, the position measurement of the line galloping monitoring device includes an IMU sensor, and the time series data of the position of the line galloping monitoring device is obtained by fusing the IMU sensor and the GNSS observation data with the Kalman filter;

[0086] Specifically, the approximate coordinates of the line galloping monitoring device are obtained by known means. These coordinates are usually obtained based on preliminary measurements or estimates and are used as the starting point for subsequent calculations. The calculated ionospheric delay data is used to estimate the ionospheric delay at the approximate coordinate position based on the known ionospheric delay points and the approximate coordinates of the line galloping monitoring device. This step is crucial to improving the accuracy of subsequent position solution, because ionospheric delay is one of the important factors affecting the accuracy of satellite navigation positioning.

[0087] After completing the interpolation calculation of the ionospheric delay, the corresponding observation equation is established according to the obtained ionospheric delay and the approximate coordinates of the line galloping monitoring device. The observation equation integrates various information such as the Doppler frequency shift, pseudorange observation, and carrier phase observation of the satellite navigation signal, and fully considers the correction of the ionospheric delay; by solving these observation equations, the precise position information of the line galloping monitoring device at different time points is obtained to form time series data of the position; the time series data not only reflects the spatial position change of the monitoring device, but also provides important data support for subsequent line galloping analysis, early warning and response. The processing process of the present invention forms a closed-loop system from data acquisition to position solution, which ensures the accuracy and timeliness of the monitoring results.

[0088] The above is a schematic scheme of a line galloping monitoring method of this embodiment. It should be noted that the technical scheme of the line galloping monitoring system and the technical scheme of the above line galloping monitoring method belong to the same concept, and the details of the technical scheme of the line galloping monitoring system in this embodiment that are not described in detail can all be referred to the description of the technical scheme of the above line galloping monitoring method.

[0089] The line dancing monitoring system in this embodiment includes:

[0090] The differential vector acquisition module is used to acquire ionospheric data. The satellite establishes an ionospheric model based on the ionospheric data. The satellite calculates the differential vector between the current moment and the previous moment based on the spherical harmonic coefficient vector set in the ionospheric model.

[0091] The differential vector restoration module is used for the satellite to compress the non-zero value and the serial number in the differential vector and send them to the reference station. The reference station receives the compressed data sent by the satellite and restores the differential vector.

[0092] The ionospheric delay acquisition module is used for the base station to calculate the ionospheric model spherical harmonic coefficient vector at the current moment by using the restored differential vector, and calculate the ionospheric delay according to the ionospheric model spherical harmonic coefficient vector at the current moment;

[0093] The line galloping data acquisition module is used to perform difference processing on the ionospheric delay and the coordinates of the line galloping monitoring device to obtain the ionospheric delay of the line galloping monitoring device coordinates, and obtain the time series data of the line galloping monitoring device position according to the ionospheric delay of the line galloping monitoring device coordinates.

[0094] This embodiment further provides a computing device, which is applicable to line galloping monitoring, and includes:

[0095] Memory and processor; the memory is used to store computer executable instructions, and the processor is used to execute computer executable instructions to implement the line dancing monitoring method proposed in the above embodiment.

[0096] This embodiment further provides a storage medium on which a computer program is stored. When the program is executed by a processor, the line galloping monitoring method proposed in the above embodiment is implemented.

[0097] The storage medium proposed in this embodiment and the line dancing monitoring method proposed in the above embodiment belong to the same inventive concept. The technical details not fully described in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0098] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ReadOnly, Memory, ROM), random access memory (RandomAccess Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform the methods of various embodiments of the present invention.

[0099] Example 2

[0100] Referring to Table 1, an embodiment of the present invention provides a line galloping monitoring method, and in order to verify its beneficial effects, experimental verification data results are provided.

[0101] This embodiment selects a transmission line in a certain area for detection. The area is frequently affected by severe weather such as strong winds, which causes serious line galloping and increases the risk of failure. In order to improve monitoring efficiency and accuracy, the method of the present invention is used for detection;

[0102] Install line gallop monitoring devices at key nodes of transmission lines. These devices integrate GNSS receivers and INS sensors. The BeiDou satellite system serves as an external data source, continuously sending ionospheric data to the monitoring devices.

[0103] The base station is set at a stable geographical location to receive and process the ionospheric differential vector data sent by the satellite. The satellite calculates the differential vector of the ionospheric model spherical harmonic coefficients at the current time and the previous time at regular intervals, and compresses the non-zero value and its sequence number and sends it to the base station. After receiving the data, the base station immediately restores the differential vector, updates the ionospheric model based on it, and calculates the ionospheric delay at the current time.

[0104] At the same time, the line dancing monitoring device obtains real-time position information through GNSS and INS, and combines these data with ionospheric delay to perform accurate position calculation. The system monitors the position changes of the transmission lines in real time and analyzes whether there are signs of dancing through the built-in algorithm. Whenever abnormal dancing is detected, the system immediately triggers an alarm and sends relevant information to the monitoring center.

[0105] During the ongoing monitoring activities, 10 points of key data were systematically collected and collated, as shown in Table 1;

[0106] Table 1 Data related to line galloping monitoring process

[0107]

[0108] As shown in Table 1, the method of the present invention continuously monitors and records key data such as ionospheric delay, latitude and longitude of the monitoring device, and dancing amplitude, so that the system can reflect the dynamic state of the transmission line under severe weather conditions in real time; as the dancing amplitude gradually increases, the system can accurately identify potential risks and timely change from the "none" state to the "warning" or "alarm" state when the preset threshold is reached. This function greatly improves the accuracy and timeliness of fault warning;

[0109] The continuous change of ionospheric delay and the stable record of longitude and latitude of the monitoring device in Table 1 also reflect the high precision and reliability of the present invention in data processing and position solution. The system can make full use of the ionospheric data provided by the Beidou satellite system and combine the real-time information of GNSS and INS sensors to perform accurate position solution, thereby ensuring the accuracy and credibility of the monitoring results.

[0110] In summary, the line dancing monitoring system of the present invention effectively reduces the risk of failure caused by the dancing phenomenon of the transmission line through its high precision, real-time and intelligent characteristics, and provides a strong guarantee for the safe and stable operation of the power system.

[0111] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A line galloping monitoring method, characterized in that: include: Acquiring ionospheric data, the satellite establishing an ionospheric model according to the ionospheric data, and the satellite calculating a differential vector between a current moment and a previous moment according to a set of spherical harmonic coefficient vectors in the ionospheric model; The satellite compresses the non-zero value in the differential vector and the serial number in the differential vector and sends them to the reference station. The reference station receives the compressed data sent by the satellite and restores the differential vector. The reference station calculates the ionospheric model spherical harmonic coefficient vector at the current moment by using the restored differential vector, and calculates the ionospheric delay according to the ionospheric model spherical harmonic coefficient vector at the current moment; The ionospheric delay and the line galloping monitoring device coordinates are subjected to difference processing to obtain the ionospheric delay of the line galloping monitoring device coordinates, and the time series data of the position of the line galloping monitoring device is obtained according to the ionospheric delay of the line galloping monitoring device coordinates.

2. The line dancing monitoring method according to claim 1, characterized in that: Calculating the difference vector between the current moment and the previous moment includes, The satellite first sends the ionospheric model spherical harmonic coefficient vector at the initial time to the base station, and then calculates the differential vector at the current time through the ionospheric model spherical harmonic coefficient vector. The expression for calculating the differential vector is: d (k) =a (k) -a (k-1) Among them, d (k) is the difference vector, a (k) is the spherical harmonic coefficient vector of the ionospheric model at the current moment, a (k-1) is the spherical harmonic coefficient vector of the ionospheric model at the previous moment, and k is the moment number.

3. The line dancing monitoring method according to claim 2, characterized in that: The difference vector includes, The differential vectors at all times are calculated to form a differential vector set. If a differential vector in the differential vector set is smaller than a set threshold, the value of the differential vector smaller than the set threshold is set to 0.

4. The line dancing monitoring method according to claim 3, characterized in that: The satellite compresses the non-zero value in the differential vector and the serial number in the differential vector and sends them to the reference station, including: The satellite takes out all non-zero values ​​in the differential vector and lists them row by row to form the first array Data; The satellite obtains the sequence number j corresponding to all elements in the first array Data in the differential vector, and stores j in the second array index; The satellite transmits the data and index to the base station, and the base station restores the differential vector through the data and index.

5. The line dancing monitoring method according to claim 4, characterized in that: The base station restores the differential vector through Data and index, including: The base station constructs a 256-dimensional initial restoration vector with all 0 elements; The base station traverses each element Data[i] in the first array Data, searches for index[i] corresponding to Data[i], and obtains the index[i] of Data[i] in the initial restoration vector; The base station will index[i] Update to Data[i] to obtain the restored differential vector.

6. The line dancing monitoring method according to claim 1, characterized in that: The set of spherical harmonic coefficient vectors includes, The spherical harmonic coefficients in the ionospheric spherical harmonic function are sequentially combined into a set of ionospheric model spherical harmonic coefficient vectors; The ionospheric spherical harmonics are expressed as: Among them, TEC(α,β) is the total electron content, α is the latitude, β is the longitude, and a mn and b nm is the spherical harmonic coefficient in the ionospheric spherical harmonic function, m and n are the polynomial orders, P mn is the associated Legendre polynomial.

7. The line dancing monitoring method according to claim 6, characterized in that: The spherical harmonic coefficient vector set of the ionospheric model is composed of: Sequential combination of the first stage, with coefficient a mn is the ionospheric model spherical harmonic coefficient vector, the initial values ​​of m and n are 0, m is used as the outer loop variable, n is used as the inner loop variable, n is increased by 1 once the inner loop is repeated, and the outer loop is entered after n reaches the maximum value, and n is reset to 0 each time it jumps into the outer loop, and m is increased by 1 each time it enters the outer loop until the maximum value is reached, and the values ​​taken out each time are used as the ionospheric model spherical harmonic coefficient vector in turn; The second stage of sequential combination, with coefficient b nm is the ionospheric model spherical harmonic coefficient vector, the initial values ​​of m and n are 0, m is used as the outer loop variable, n is used as the inner loop variable, n is increased by 1 once the inner loop is repeated, and the outer loop is entered after n reaches the maximum value, and n is reset to 0 each time it jumps into the outer loop, and m is increased by 1 each time it enters the outer loop until the maximum value is reached, and the values ​​taken out each time are used as the ionospheric model spherical harmonic coefficient vector in turn; The results of the two stages of sequential combination are combined to form a set of spherical harmonic coefficient vectors of the ionospheric model.

8. A line galloping monitoring system, characterized in that: include, A differential vector acquisition module, used to acquire ionospheric data, the satellite establishes an ionospheric model according to the ionospheric data, and the satellite calculates the differential vector between the current moment and the previous moment according to the spherical harmonic coefficient vector set in the ionospheric model; A differential vector restoration module is used for the satellite to compress the non-zero value and the serial number in the differential vector and send them to the reference station. The reference station receives the compressed data sent by the satellite and restores the differential vector; An ionospheric delay acquisition module is used for the reference station to calculate the ionospheric model spherical harmonic coefficient vector at the current moment by using the restored differential vector, and calculate the ionospheric delay according to the ionospheric model spherical harmonic coefficient vector at the current moment; The line galloping data acquisition module is used to perform difference processing on the ionospheric delay and the coordinates of the line galloping monitoring device to obtain the ionospheric delay of the line galloping monitoring device coordinates, and obtain the time series data of the position of the line galloping monitoring device according to the ionospheric delay of the line galloping monitoring device coordinates.

9. An electronic device, comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the line dancing monitoring method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the steps of the line galloping monitoring method according to any one of claims 1 to 7.

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