Power transmission line conductor galloping and windage yaw online monitoring method based on DGPS

Abstract

The invention discloses a DGPS (differential global positioning system)-based online monitoring method for conductor galloping and windage yaw of a power transmission line, and relates to an online monitoring device and method for conductor galloping and windage yaw. Based on the carrier phase difference positioning principle, the three-dimensional position and three-dimensional speed information of the power transmission line during galloping and windage yaw are obtained on line, accurate obtaining of the position information of the power transmission line is the key and core technology for online monitoring of galloping and windage yaw of the power transmission line, common error source errors and errors caused by SA can be eliminated through the DGPS, and the accuracy of galloping and windage yaw monitoring of the power transmission line is improved. Real-time positioning information of the power transmission line can be accurately obtained; after the positioning information obtained by the DGPS is accurately and completely transmitted, stored, processed, reproduced and the like, the galloping and the windage yaw of the power transmission line can be accurately monitored on line.

Description

Technical Field

[0001] The invention relates to an online monitoring device and method for conductor galloping and wind deviation. Background Art

[0002] The swaying and wind deviation of transmission lines pose a great threat to the safe operation of transmission lines. At the very least, the swaying and wind deviation can cause phase-to-phase flashover and tripping. At worst, they can cause damage to metal clamps, broken conductors, loosening and falling of tower bolts, or even pole collapse, leading to major power grid accidents.

[0003] At present, there are many methods for monitoring the galloping and wind deviation of transmission lines, mainly including the online monitoring system of conductor galloping based on displacement sensor and acceleration sensor, the online monitoring system of conductor icing and galloping based on OSM / SMS, the monitoring system of galloping and wind deviation based on GSM / SMS and Zigbee network, the remote monitoring system of line wind deviation based on monitoring instrument and computer network, the detection system of conductor galloping information data through wireless CSM transmission module based on new micro-acceleration sensor, the monitoring system of conductor galloping information data based on camera technology, etc. These methods mainly measure the data of conductor galloping and wind deviation through sensors or detection instruments, but the measured data is not the real-time position data of the line, but indirect data such as vibration frequency, tilt, movement, conductor tension, insulator tilt angle, wind deviation angle, conductor galloping frequency, etc. The monitoring technology of conductor galloping using camera technology has also been applied in practice, mainly to give the qualitative results of conductor galloping on site through camera technology, but this method does not realize the quantitative analysis of conductor galloping and cannot give the accurate information of conductor galloping. Summary of the invention

[0004] The present invention proposes an online monitoring device and method for the dancing and wind deviation of a power line conductor based on a differential global positioning system (DGPS). The precise positioning function of DGPS is used to obtain the position information of the power line conductor in real time, the position information of the conductor is transmitted to a ground data server via a wireless network, and the dancing and wind deviation trajectory of the power line conductor is reproduced via a virtual reality modeling language.

[0005] The DGPS-based online monitoring method for transmission line conductor galloping and wind deviation of the present invention is performed by using an online monitoring device for conductor galloping and wind deviation, and the online monitoring device for conductor galloping and wind deviation comprises:

[0006] A reference station, which can be installed in a substation or on a pole tower near the mobile station, provides a differential signal to the mobile station; the position of the reference station is obtained in advance by precise measurement and stored in a reference station receiver (7); the reference station receiver (7) converts the received satellite signal into the longitude, latitude, altitude and other position information of the reference station; the measured reference station position information is compared with the position information obtained by precise measurement to obtain differential information, which is used as a correction signal for the mobile station positioning information;

[0007] A mobile station is installed on the conductor of the power transmission line; a receiver (1) of the mobile station receives a differential signal from the reference station while receiving a satellite signal, and converts the differential satellite signal into positioning information reflecting the position of the mobile station;

[0008] The base station receiver (7) is connected to the network server (6) via a serial port line to transmit the obtained differential signal to the network server (6). The network server (6) is then connected to the radio station via a network interface. The differential signal obtained by the base station receiver is sent to the radio station at the mobile station end through the radio station via the network signal sending and receiving device (5), thereby realizing the transmission of the differential signal. At the mobile station, the mobile station GPS antenna (8) receives the satellite signal, which is transmitted to the mobile station receiver (1) via a cable. At the same time, the differential signal from the base station is received by the mobile station radio station, and then transmitted to the mobile station receiver (1) via the serial port line through the network signal conversion device (2). In this way, the mobile station receiver has both the satellite signal from the mobile station GPS antenna (8) and the differential signal from the base station;

[0009] The mobile station receiver (1) converts the satellite signal from the mobile station GPS antenna (8) into positioning information reflecting the position of the mobile station GPS antenna (8), and the positioning information is accurate after being corrected by differential signals;

[0010] The mobile station receiver (1) transmits the obtained positioning information to the network signal conversion device (2) through the serial port. The network signal conversion device (2) is connected to the radio station, so that the differential positioning information is sent to the base station through the network signal sending and receiving device (3). The base station then transmits the positioning information to the network server (6), and the positioning information is saved in the server of the base station through the network server (6).

[0011] The present invention is based on the carrier phase differential positioning principle, and obtains online the three-dimensional position and three-dimensional speed information of the transmission line when it is waving and wind deflecting. Accurate acquisition of the transmission line position information is the key and core technology for online monitoring of the transmission line waving and wind deflection. The use of DGPS can eliminate the common error source error and the error caused by SA, and can accurately obtain the real-time positioning information of the transmission line; after the positioning information obtained by DGPS is accurately and completely transmitted, stored, processed, reproduced, etc., the transmission line waving and wind deflection can be accurately monitored online. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the structure of an online monitoring device for conductor galloping and wind deviation of a transmission line based on DGPS. DETAILED DESCRIPTION

[0013] The technical solution of the present invention is not limited to the specific implementation modes listed below, but also includes any reasonable combination of the specific implementation modes.

[0014] Specific implementation method 1: In this implementation method, the DGPS-based transmission line conductor galloping and wind deviation online monitoring method is performed using a conductor galloping and wind deviation online monitoring device, and the conductor galloping and wind deviation online monitoring device includes:

[0015] A reference station, which can be installed in a substation or on a pole tower near the mobile station, provides a differential signal to the mobile station; the position of the reference station is obtained in advance by precise measurement and stored in a reference station receiver (7); the reference station receiver (7) converts the received satellite signal into the longitude, latitude, altitude and other position information of the reference station; the measured reference station position information is compared with the position information obtained by precise measurement to obtain differential information, which is used as a correction signal for the mobile station positioning information;

[0016] A mobile station is installed on the conductor of the power transmission line; a receiver (1) of the mobile station receives a differential signal from the reference station while receiving a satellite signal, and converts the differential satellite signal into positioning information reflecting the position of the mobile station;

[0017] The base station receiver (7) is connected to the network server (6) via a serial port line to transmit the obtained differential signal to the network server (6). The network server (6) is then connected to the radio station via a network interface. The differential signal obtained by the base station receiver is sent to the radio station at the mobile station end through the radio station via the network signal sending and receiving device (5), thereby realizing the transmission of the differential signal. At the mobile station, the mobile station GPS antenna (8) receives the satellite signal, which is transmitted to the mobile station receiver (1) via a cable. At the same time, the differential signal from the base station is received by the mobile station radio station, and then transmitted to the mobile station receiver (1) via the serial port line through the network signal conversion device (2). In this way, the mobile station receiver has both the satellite signal from the mobile station GPS antenna (8) and the differential signal from the base station;

[0018] The mobile station receiver (1) converts the satellite signal from the mobile station GPS antenna (8) into positioning information reflecting the position of the mobile station GPS antenna (8), and the positioning information is accurate after being corrected by differential signals;

[0019] The mobile station receiver (1) transmits the obtained positioning information to the network signal conversion device (2) through the serial port. The network signal conversion device (2) is connected to the radio station, so that the differential positioning information is sent to the base station through the network signal sending and receiving device (3). The base station then transmits the positioning information to the network server (6), and the positioning information is saved in the server of the base station through the network server (6).

[0020] This implementation method is based on the carrier phase differential positioning principle, and obtains online the three-dimensional position and three-dimensional speed information of the transmission line when it is dancing and windy. The accurate acquisition of the transmission line position information is the key and core technology for online monitoring of the transmission line dancing and windy deviation. The use of DGPS can eliminate the common error source error and the error caused by SA, and can accurately obtain the real-time positioning information of the transmission line; after the positioning information obtained by DGPS is accurately and completely transmitted, stored, processed, and reproduced, the transmission line dancing and windy deviation can be accurately monitored online.

[0021] Specific implementation method 2: This implementation method is different from specific implementation method 1 in that when the mobile station dances with the conductor, the positioning information sent by the mobile station will change with the change of the conductor position, so that the real-time position information of the conductor dance and wind deviation is obtained. The mobile station sends the obtained position information of the conductor movement to the base station through the network signal sending and receiving device (5), and the base station stores this information in the base station server (9).

[0022] Specific implementation method three: This implementation method is different from specific implementation methods one or two in that the power supply of the reference station is provided by solar cells or batteries.

[0023] Specific implementation method 4: This implementation method is different from any one of specific implementation methods 1 to 3 in that: the power supply (4) of the mobile station comes from the power transmission line itself, and can be provided by induction power supply.

[0024] Specific implementation method 5: This implementation method is different from the specific implementation methods 1 to 4 in that the precise positioning function of DGPS is used to obtain the location information of the transmission line conductor in real time, that is, the method for solving the coordinates is:

[0025] 1. Position difference

[0026] Assume that the precise coordinates of the base station are (X0%), and the coordinates measured by GPS at the base station are (X0, Y0, Z0), then the correction coefficient is:

[0027] ΔX=X0-X (1)

[0028] ΔY=Y0-Y (2)

[0029] ΔZ=Z0-Z (3)

[0030] The coordinates of the point p to be measured observed by the mobile station receiver (1) are (Xp', Yp', Zp); after the receiver receives the correction information, taking into account the instantaneous change of the receiver correction, the actual coordinates of the point to be measured are:

[0031] X p =X′ p +ΔX+d(ΔX) / dt(t-t0) (4)

[0032] Y p =Y′ p +ΔY+d(ΔY) / dt(t-t0) (5)

[0033] Z p =Z′ p +ΔZ+d(ΔZ) / dt(t-t0) (6)

[0034] 2. Pseudorange Difference

[0035] The correction number sent by the reference station in the pseudorange difference is the pseudorange correction number between the reference station and each satellite;

[0036] Δρ j =R j -ρ j (7)

[0037] In formula 7, R j is the true distance from each satellite to the reference station, ρ j is the pseudorange from each satellite to the reference station, and its rate of change is:

[0038] dρ j =Δρ j / Δt (8)

[0039] Then the corrected pseudo-range from the user's measured point to each satellite is:

[0040]

[0041] Calculate the coordinates of point p:

[0042]

[0043] In formulas 8 to 9, (x j ,y j , z j ) is the satellite coordinate, δt is the clock error, c is the constant coefficient, and v1 is the receiver noise;

[0044] 3. Use the differential method to perform carrier phase differential, send the carrier phase collected by the base station to the mobile station, and then solve the coordinates; the solution equation formed by the carrier phase observation is:

[0045]

[0046] In formula 11, is the initial phase ambiguity of the mobile station receiver (1), is the initial phase ambiguity of the base station receiver (7), N is the number of whole cycles from the starting epoch to the observed epoch of the mobile station receiver (1), j is the number of integral cycles of the phase from the starting epoch to the observed epoch of the base station receiver (7), is the fractional part of the phase measured by the mobile station receiver (1), is the fractional part of the phase measured by the base station receiver (7), Δd ρ are the residuals of the same observation epoch;

[0047] Example 1

[0048] The DGPS-based online monitoring method for transmission line conductor galloping and wind deviation in this embodiment is performed using an online monitoring device for conductor galloping and wind deviation, and the online monitoring device for conductor galloping and wind deviation includes:

[0049] A reference station, which can be installed in a substation or on a pole tower near the mobile station, provides a differential signal to the mobile station; the position of the reference station is obtained in advance by precise measurement and stored in a reference station receiver (7); the reference station receiver (7) converts the received satellite signal into the longitude, latitude, altitude and other position information of the reference station; the measured reference station position information is compared with the position information obtained by precise measurement to obtain differential information, which is used as a correction signal for the mobile station positioning information;

[0050] A mobile station is installed on the conductor of the power transmission line; a receiver (1) of the mobile station receives a differential signal from the reference station while receiving a satellite signal, and converts the differential satellite signal into positioning information reflecting the position of the mobile station;

[0051] The base station receiver (7) is connected to the network server (6) via a serial port line to transmit the obtained differential signal to the network server (6). The network server (6) is then connected to the radio station via a network interface. The differential signal obtained by the base station receiver is sent to the radio station at the mobile station end through the radio station via the network signal sending and receiving device (5), thereby realizing the transmission of the differential signal. At the mobile station, the mobile station GPS antenna (8) receives the satellite signal, which is transmitted to the mobile station receiver (1) via a cable. At the same time, the differential signal from the base station is received by the mobile station radio station, and then transmitted to the mobile station receiver (1) via the serial port line through the network signal conversion device (2). In this way, the mobile station receiver has both the satellite signal from the mobile station GPS antenna (8) and the differential signal from the base station;

[0052] The mobile station receiver (1) converts the satellite signal from the mobile station GPS antenna (8) into positioning information reflecting the position of the mobile station GPS antenna (8), and the positioning information is accurate after being corrected by differential signals;

[0053] The mobile station receiver (1) transmits the obtained positioning information to the network signal conversion device (2) through the serial port. The network signal conversion device (2) is connected to the radio station, so that the differential positioning information is sent to the base station through the network signal sending and receiving device (3). The base station then transmits the positioning information to the network server (6), and the positioning information is saved in the server of the base station through the network server (6).

[0054] When the mobile station dances with the conductor, the positioning information sent by the mobile station will change with the change of the conductor position, so that the real-time position information of the conductor dance and wind deviation is obtained. The mobile station sends the obtained conductor movement position information to the base station through the network signal sending and receiving device (5), and the base station stores this information in the base station server (9).

[0055] The power supply of the base station is provided by solar cells or batteries.

[0056] The power supply (4) of the mobile station comes from the power transmission line itself, and can be provided by induction power extraction.

[0057] The precise positioning function of DGPS is used to obtain the location information of the transmission line conductor in real time, that is, the method for solving the coordinates is:

[0058] 1. Position difference

[0059] Assume that the precise coordinates of the base station are (X0%), and the coordinates measured by GPS at the base station are (X0, Y0, Z0), then the correction coefficient is:

[0060] ΔX=X0-X (1)

[0061] ΔY=Y0-Y (2)

[0062] ΔZ=Z0-Z (3)

[0063] The coordinates of the point p observed by the mobile station receiver (1) are (X p ', Y p ', Z p ); After the receiver receives the correction information, considering the instantaneous change of the receiver correction, the actual coordinates of the point to be measured are:

[0064] X p =X′ p +ΔX+d(ΔX) / dt(t-t0) (4)

[0065] Y p =Y′ p +ΔY+d(ΔY) / dt(t-t0) (5)

[0066] Z p =Z′ p +ΔZ+d(ΔZ) / dt(t-t0) (6)

[0067] 2. Pseudorange Difference

[0068] The correction number sent by the reference station in the pseudorange difference is the pseudorange correction number between the reference station and each satellite;

[0069] Δρ j =R j -ρ j (7)

[0070] In formula 7, R j is the true distance from each satellite to the reference station, ρ j is the pseudorange from each satellite to the reference station, and its rate of change is:

[0071] dρ j =Δρ j / Δt (8)

[0072] Then the corrected pseudo-range from the user's measured point to each satellite is:

[0073]

[0074] Calculate the coordinates of point p:

[0075]

[0076] In formulas 8 to 9, (x j ,y j , z j ) is the satellite coordinate, δt is the clock error, c is the constant coefficient, and v1 is the receiver noise;

[0077] 3. Use the differential method to perform carrier phase differential, send the carrier phase collected by the base station to the mobile station, and then solve the coordinates; the solution equation formed by the carrier phase observation is:

[0078]

[0079] In formula 11, is the initial phase ambiguity of the mobile station receiver (1), is the initial phase ambiguity of the base station receiver (7), N is the number of whole cycles from the starting epoch to the observed epoch of the mobile station receiver (1), j is the number of integral cycles of the phase from the starting epoch to the observed epoch of the base station receiver (7), is the fractional part of the phase measured by the mobile station receiver (1), is the fractional part of the phase measured by the base station receiver (7), Δd p are the residuals of the same observation epoch;

[0080] The base station can be installed in a substation or on a pole tower near the mobile station. The base station provides a differential signal to the mobile station. The position of the base station is obtained in advance by precise measurement and stored in the base station receiver (7). The base station receiver (7) converts the received satellite signal into the longitude, latitude, altitude and other position information of the base station. The measured base station position information is compared with the position information obtained by precise measurement to obtain differential information, which is used as a correction signal for the mobile station positioning information.

[0081] The mobile station is installed on the conductor of the power transmission line; the mobile station receiver (1) receives the satellite signal and the differential signal from the reference station at the same time, and converts the differential satellite signal into positioning information reflecting the position of the mobile station.

[0082] The base station receiver (7) is connected to the network server (6) via a serial port line to transmit the obtained differential signal to the network server (6). The network server (6) is then connected to the radio station via a network interface. The differential signal obtained by the base station receiver is sent to the radio station at the mobile station end through the network signal sending and receiving device (5) through the radio station, thereby realizing the transmission of the differential signal. At the mobile station, the mobile station antenna receives the satellite signal, which is transmitted to the mobile station receiver (1) via a cable. At the same time, the differential signal from the base station is received by the mobile station radio station, and then transmitted to the mobile station receiver (1) via the serial port line through the network signal conversion device (2). In this way, the mobile station receiver has both the satellite signal from the mobile station antenna and the differential signal from the base station.

[0083] The mobile station receiver (1) converts the satellite signal from the mobile station antenna into positioning information reflecting the position of the mobile station antenna. After the differential signal correction, the positioning information is accurate.

[0084] The mobile station receiver (1) transmits the obtained positioning information to the network signal conversion device (2) through the serial port. The network signal conversion device (2) is connected to the radio station, so that the differential positioning information is sent to the base station through the network signal sending and receiving device (3). The base station then transmits the positioning information to the network server (6), and the positioning information is saved in the server of the base station through the network server (6).

[0085] This embodiment is based on the carrier phase differential positioning principle, and obtains online the three-dimensional position and three-dimensional speed information of the transmission line when it is dancing and windy. Accurate acquisition of the transmission line position information is the key and core technology for online monitoring of the transmission line dancing and windy. The use of DGPS can eliminate the common error source error and the error caused by SA, and can accurately obtain the real-time positioning information of the transmission line; after the positioning information obtained by DGPS is accurately and completely transmitted, stored, processed, reproduced, etc., the transmission line dancing and windy deviation can be accurately monitored online.

Claims

1. A DGPS-based online monitoring method for conductor galloping and windage of power transmission lines, characterized by: The DGPS-based online monitoring method for conductor galloping and wind deviation of a transmission line is performed using an online monitoring device for conductor galloping and wind deviation, and the online monitoring device for conductor galloping and wind deviation includes: A reference station, which can be installed in a substation or on a pole tower near the mobile station, provides a differential signal to the mobile station; the position of the reference station is obtained in advance by precise measurement and stored in a reference station receiver (7); the reference station receiver (7) converts the received satellite signal into the longitude, latitude, altitude and other position information of the reference station; the measured reference station position information is compared with the position information obtained by precise measurement to obtain differential information, which is used as a correction signal for the mobile station positioning information; A mobile station is installed on the conductor of the power transmission line; a receiver (1) of the mobile station receives a differential signal from the reference station while receiving a satellite signal, and converts the differential satellite signal into positioning information reflecting the position of the mobile station; The base station receiver (7) is connected to the network server (6) via a serial port line to transmit the obtained differential signal to the network server (6). The network server (6) is then connected to the radio station via a network interface. The differential signal obtained by the base station receiver is sent to the radio station at the mobile station end via the radio station through the network signal sending and receiving device (5), thereby realizing the transmission of the differential signal. At the mobile station, the mobile station GPS antenna (8) receives the satellite signal, which is transmitted to the mobile station receiver (1) via a cable. At the same time, the differential signal from the base station is received by the mobile station radio station and then transmitted to the mobile station receiver (1) via the serial port line through the network signal conversion device (2). In this way, the mobile station receiver has both the satellite signal from the mobile station GPS antenna (8) and the differential signal from the base station. The mobile station receiver (1) converts the satellite signal from the mobile station GPS antenna (8) into positioning information reflecting the position of the mobile station GPS antenna (8), and the positioning information is accurate after being corrected by differential signals; The mobile station receiver (1) transmits the obtained positioning information to the network signal conversion device (2) through the serial port. The network signal conversion device (2) is connected to the radio station, so that the differential positioning information is sent to the base station through the network signal sending and receiving device (3). The base station then transmits the positioning information to the network server (6), and the positioning information is saved in the server of the base station through the network server (6).

2. The method for online monitoring of conductor galloping and windage of power transmission lines based on DGPS according to claim 1, characterized in that: When the mobile station dances with the conductor, the positioning information sent by the mobile station will change with the change of the conductor position, so that the real-time position information of the conductor dance and wind deviation is obtained. The mobile station sends the obtained conductor movement position information to the base station through the network signal sending and receiving device (5), and the base station stores this information in the base station server (9).

3. The method for online monitoring of conductor galloping and windage of power transmission lines based on DGPS according to claim 1, characterized in that: The power supply of the base station is provided by solar cells or batteries.

4. The method for online monitoring of conductor galloping and windage of power transmission lines based on DGPS according to claim 1, characterized in that: The power supply (4) of the mobile station comes from the power transmission line itself, and can be provided by induction power extraction.

5. The method for online monitoring of conductor galloping and windage of power transmission lines based on DGPS according to claim 1, characterized in that: The precise positioning function of DGPS is used to obtain the location information of the transmission line conductor in real time, that is, the method for solving the coordinates is:

1. Position difference Assume that the precise coordinates of the base station are (X0%), and the coordinates measured by GPS at the base station are (X0, Y0, Z0), then the correction coefficient is: ΔX=X0-X (1) ΔY=Y0-Y (2) ΔZ=Z0-Z (3) The coordinates of the point p observed by the mobile station receiver (1) are (X p ', Y p ', Z p ); After the receiver receives the correction information, considering the instantaneous change of the receiver correction, the actual coordinates of the point to be measured are: X p =X′ p +ΔX+d(ΔX) / dt(t-t0) (4) Y p =Y′ p +ΔY+d(ΔY) / dt(t-t0) (5) Z p =Z′ p +ΔZ+d(ΔZ) / dt(t-t0) (6) 2. Pseudorange Difference The correction number sent by the reference station in the pseudorange difference is the pseudorange correction number between the reference station and each satellite; Dr. j =R j -r j (7) In formula 7, R j is the true distance from each satellite to the reference station, ρ j is the pseudorange from each satellite to the reference station, and its rate of change is: dr j =Dr. j / Δt (8) Then the corrected pseudo-range from the user's measured point to each satellite is: Calculate the coordinates of point p: In formulas 8 to 9, (x j ,y j , z j ) is the satellite coordinate, δt is the clock error, c is the constant coefficient, and v1 is the receiver noise; 3. Use the differential method to perform carrier phase differential, send the carrier phase collected by the base station to the mobile station, and then solve the coordinates; The solution equation for the carrier phase observation is: In formula 11, is the initial phase ambiguity of the mobile station receiver (1), is the initial phase ambiguity of the base station receiver (7), N is the number of whole cycles from the starting epoch to the observed epoch of the mobile station receiver (1), j is the number of integral cycles of the phase from the starting epoch to the observed epoch of the base station receiver (7), is the fractional part of the phase measured by the mobile station receiver (1), is the fractional part of the phase measured by the base station receiver (7), Δd ρ are the residuals of the same observation epoch.

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