Substation inclination detection method and system based on GNSS (Global Navigation Satellite System)

Abstract

The invention discloses a GNSS (Global Navigation Satellite System)-based substation inclination detection method and system. The method comprises the following steps of: selecting a base station mounting point in an area of a substation to be detected; determining a monitoring station installation point in the to-be-tested transformer substation; respectively establishing a base station and a monitoring station and installing GNSS equipment; the base station receives a satellite signal through GNSS equipment, obtains base station position data through calculation according to the satellite signal, and sends the base station position data to the monitoring station; the monitoring station receives the satellite signal through the GNSS equipment and carries out calculation according to the received satellite signal and the reference station position data to obtain the position data of the to-be-measured transformer substation; according to the obtained position data of the to-be-detected transformer substation, judging whether the to-be-detected transformer substation is deformed, and calculating displacement data when the to-be-detected transformer substation is deformed; fitting the displacement data by adopting a least square method and calculating the displacement data by adopting a second order gradient method, and judging whether the transformer substation is inclined or not; the method can provide reliability of transformer substation inclination detection.

Description

Technical Field

[0001] The present invention relates to the field of geographic information technology, and in particular to a substation tilt detection method and system based on GNSS. Background Art

[0002] During the use of the substation, due to the combined influence of multiple factors such as the engineering geological conditions of the foundation, the foundation treatment method, the load of the substation superstructure, etc., the foundation and the surrounding strata may be deformed. This deformation is acceptable within the prescribed range. If it exceeds a certain limit, it will bring safety hazards to the production and operation of the substation. In serious cases, it will cause uneven settlement of the substation and lead to tilting, or even cause the overall collapse of the substation.

[0003] Patent document CN109186543A discloses a monitoring system for monitoring the settlement and inclination of the foundation of an equipment, including at least one data acquisition unit, a control unit, a storage unit, a communication unit and a monitoring terminal. The data acquisition unit includes an angle sensor and a laser ranging sensor. The control unit is connected to the monitoring terminal through the communication unit, and initializes the data acquisition unit according to the initialization information and alarm threshold sent by the monitoring terminal, and feeds back the initialization result and alarm information to the monitoring terminal. In this scheme, an angle sensor and a laser ranging sensor are used as detection devices for settlement and inclination, which are simple to install and easy to implement, but the detection accuracy is greatly affected by the instrument and the reliability is not high.

[0004] Patent text CN118818533A discloses a GNSS surface displacement monitoring method and system. The method includes obtaining satellite monitoring signals, and using the dual-frequency carrier-to-noise ratio of the satellite monitoring signals as a quality indicator to perform quality assessment; obtaining environmental monitoring data, and dynamically allocating weights to pseudo-range observations, carrier phase observations, and Doppler observations parsed from the satellite monitoring signals according to the quality indicators and environmental monitoring data, to construct an observation weight matrix; constructing an RTK solution analysis equation based on the observation weight matrix; determining the position monitoring value of the GNSS device according to the RTK solution analysis equation, and determining the surface displacement monitoring value of the target monitoring area based on the position monitoring value. This method performs position monitoring based on differential positioning to obtain displacement data, and takes environmental influences into account in the position solution. However, it only uses the monitored position data to determine whether displacement occurs, and the monitored position data may have errors, resulting in low accuracy of the final judgment result. Summary of the invention

[0005] The present invention provides a substation tilt detection method and system based on GNSS, which can improve the accuracy and reliability of substation tilt detection.

[0006] A substation tilt detection method based on GNSS, comprising:

[0007] Select the base station installation point in the area of ​​the substation to be tested according to the preset rules;

[0008] Use RTK technology to determine the installation point of the monitoring station in the substation to be tested;

[0009] Establish a reference station and a monitoring station at the reference station installation point and the monitoring station installation point respectively, and install GNSS equipment at the reference station and the monitoring station;

[0010] The reference station receives satellite signals through the GNSS device and calculates the reference station position data according to the satellite signals, and sends the reference station position data to the monitoring station;

[0011] The monitoring station receives satellite signals through the GNSS device and performs calculations based on the received satellite signals and the reference station location data to obtain location data of the substation to be tested;

[0012] The monitoring station determines whether the substation to be tested has been deformed based on the acquired position data of the substation to be tested, and calculates displacement data when deformation occurs;

[0013] The monitoring station uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted.

[0014] Furthermore, the GNSS device includes a GNSS receiver and a GNSS antenna.

[0015] Furthermore, the preset rules include:

[0016] There are no obstacles within the set angle range at the preset height above the base station installation point, there are no radio transmission sources within the first preset range around the base station installation point, there are no vibration sources within the second preset range around the base station installation point, and the distance between the base station installation point and the monitoring station installation point is less than the preset distance.

[0017] Furthermore, the RTK technology is used to determine the installation point of the monitoring station in the substation to be tested, including:

[0018] Setting up RTK equipment at multiple points of the substation to be tested;

[0019] Each RTK device receives satellite signals in multiple cycles at a preset frequency and determines whether there is a concentrated distribution of satellite signals.

[0020] For points where there is no concentrated distribution of satellite signals, a preset number of points that receive the most satellite signals are selected as monitoring station installation points.

[0021] Furthermore, the monitoring station determines whether the substation to be tested is deformed according to the obtained position data of the substation to be tested, and calculates displacement data when deformation occurs, including:

[0022] Compare the currently acquired position data of the substation to be tested with the initially acquired position data of the substation to be tested. If the difference between the currently acquired position data of the substation to be tested and the initially acquired position data of the substation to be tested exceeds a preset fluctuation range, it is determined that the substation to be tested is deformed.

[0023] The difference between the currently obtained position data of the substation to be tested and the initially obtained position data of the substation to be tested is used as the displacement data.

[0024] Furthermore, the monitoring station uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted, including:

[0025] Acquire a plurality of displacement data within a preset time period;

[0026] Establish a coordinate system with time as the X-axis and displacement change as the Y-axis;

[0027] Traversing the plurality of displacement data in time order, taking the earliest displacement data within a preset time period as the initial value of the first iteration, calculating the displacement difference between the displacement data at the current moment and the displacement data at the previous moment, if the displacement difference is less than the preset difference, stopping the current iteration, and taking the displacement data at the current moment as the initial value of the next iteration, if the displacement difference is greater than or equal to the preset difference, taking the sum of the displacement difference and the displacement data at the current moment as the displacement change amount and marking it in the coordinate system;

[0028] If the number of points marked in the coordinate system is less than or equal to a preset number, it is determined that the substation is not tilted;

[0029] If the number of points marked in the coordinate system is greater than a preset number, the points marked in the coordinate system are fitted using a least square method to obtain a displacement change function;

[0030] The displacement variation function is calculated using a second-order gradient method to obtain a minimum value of the displacement variation;

[0031] The minimum value is compared with a preset maximum value, and if the minimum value is greater than the preset maximum value, it is determined that the substation is tilted.

[0032] Furthermore, the displacement change function is calculated using a second-order gradient method to obtain a minimum value of the displacement change, including:

[0033] Randomly selecting an initial point for second-order gradient calculation according to the displacement change function;

[0034] Draw a quadratic curve tangent to the displacement variation function through the initial point, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement variation function, and obtain an iteration point;

[0035] Iteratively perform the following steps until the number of iterations reaches a preset number: draw a quadratic curve tangent to the displacement change function through the iteration point again, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement change function, and obtain the iteration point again;

[0036] The iteration point obtained when the number of iterations reaches the preset number is the minimum value of the displacement change.

[0037] Furthermore, the displacement data includes displacement in an X direction, displacement in a Y direction, and displacement in a Z direction.

[0038] Furthermore, after determining that the substation is tilted, the method further includes:

[0039] Generate tilt warning information.

[0040] A GNSS-based substation tilt detection system applied to the above method comprises a reference station and a monitoring station, wherein the reference station and the monitoring station are equipped with GNSS equipment;

[0041] The reference station is used to receive satellite signals through the GNSS device and calculate the reference station position data according to the satellite signals, and send the reference station position data to the monitoring station;

[0042] The monitoring station is used to receive satellite signals through the GNSS device and perform calculations based on the received satellite signals and the reference station location data to obtain the location data of the substation to be tested;

[0043] The monitoring station is also used to determine whether the substation to be tested has deformed based on the obtained position data of the substation to be tested, and calculate the displacement data when deformation occurs;

[0044] The monitoring station is also used to fit the displacement data using the least square method and calculate using the second-order gradient method to determine whether the substation is tilted.

[0045] Furthermore, the GNSS device includes a GNSS receiver and a GNSS antenna.

[0046] Furthermore, the monitoring station determines whether the substation to be tested is deformed according to the obtained position data of the substation to be tested, and calculates displacement data when deformation occurs, including:

[0047] Compare the currently acquired position data of the substation to be tested with the initially acquired position data of the substation to be tested. If the difference between the currently acquired position data of the substation to be tested and the initially acquired position data of the substation to be tested exceeds a preset fluctuation range, it is determined that the substation to be tested is deformed.

[0048] The difference between the currently obtained position data of the substation to be tested and the initially obtained position data of the substation to be tested is used as the displacement data.

[0049] Furthermore, the monitoring station uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted, including:

[0050] Acquire a plurality of displacement data within a preset time period;

[0051] Establish a coordinate system with time as the X-axis and displacement change as the Y-axis;

[0052] Traversing the plurality of displacement data in time order, taking the earliest displacement data within a preset time period as the initial value of the first iteration, calculating the displacement difference between the displacement data at the current moment and the displacement data at the previous moment, if the displacement difference is less than the preset difference, stopping the current iteration, and taking the displacement data at the current moment as the initial value of the next iteration, if the displacement difference is greater than or equal to the preset difference, taking the sum of the displacement difference and the displacement data at the current moment as the displacement change amount and marking it in the coordinate system;

[0053] If the number of points marked in the coordinate system is less than or equal to a preset number, it is determined that the substation is not tilted;

[0054] If the number of points marked in the coordinate system is greater than a preset number, the points marked in the coordinate system are fitted using a least square method to obtain a displacement change function;

[0055] The displacement variation function is calculated using a second-order gradient method to obtain a minimum value of the displacement variation;

[0056] The minimum value is compared with a preset maximum value, and if the minimum value is greater than the preset maximum value, it is determined that the substation is tilted.

[0057] Furthermore, the monitoring station calculates the displacement change function using a second-order gradient method to obtain a minimum value of the displacement change, including:

[0058] Randomly selecting an initial point for second-order gradient calculation according to the displacement change function;

[0059] Draw a quadratic curve tangent to the displacement variation function through the initial point, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement variation function, and obtain an iteration point;

[0060] Iteratively perform the following steps until the number of iterations reaches a preset number: draw a quadratic curve tangent to the displacement change function through the iteration point again, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement change function, and obtain the iteration point again;

[0061] The iteration point obtained when the number of iterations reaches the preset number is the minimum value of the displacement change.

[0062] Furthermore, the displacement data includes displacement in an X direction, displacement in a Y direction, and displacement in a Z direction.

[0063] Furthermore, after the monitoring station determines that the substation is tilted, the monitoring station further includes:

[0064] Generate tilt warning information.

[0065] The GNSS-based substation tilt detection method and system provided by the present invention have at least the following beneficial effects:

[0066] (1) By obtaining multiple displacements within a preset time period, performing least squares fitting and second-order gradient method to obtain the minimum value, the minimum value is used to determine whether the substation is tilted, which can effectively avoid the problem of inaccurate judgment caused by single data errors and effectively improve the accuracy and reliability of substation tilt detection;

[0067] (2) There are no obstacles within the preset angle range at the preset height above the base station area, which can ensure smooth reception of satellite signals and reduce signal attenuation or loss caused by obstacles; there are no radio transmission sources within the first preset range around the base station installation point, which can avoid the impact of electromagnetic interference on satellite signal reception and improve positioning accuracy and stability; there are no vibration sources within the second preset range around the base station installation point, which can reduce the impact of vibration on the stability of the base station and ensure that the base station can maintain high accuracy and stability for a long time; the distance between the base station installation point and the monitoring station installation point is less than the preset distance, which can ensure effective coverage of the monitoring network and real-time transmission of data, thereby improving monitoring efficiency and accuracy;

[0068] (3) By setting a reasonable acquisition frequency, the RTK equipment can be ensured to collect data at a predetermined time interval, thereby obtaining a sufficient amount of satellite signal data for subsequent processing and analysis. By determining whether the satellite signal data received by the mobile RTK equipment is concentrated, the signal coverage and signal quality in the monitoring area can be preliminarily evaluated, which helps to avoid installing monitoring stations in areas with poor signal quality, thereby improving the accuracy of monitoring results. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 The present invention provides a flowchart of an embodiment of a substation tilt detection method based on GNSS.

[0070] Figure 2 The present invention provides a flowchart of an embodiment of determining the installation point of a monitoring station in the GNSS-based substation tilt detection method provided by the present invention.

[0071] Figure 3 The present invention provides a flowchart of an embodiment of determining the deformation of a substation in the substation tilt detection method based on GNSS.

[0072] Figure 4 The present invention provides a flowchart of an embodiment of determining the tilt of a substation in the GNSS-based substation tilt detection method provided by the present invention.

[0073] Figure 5 The present invention provides a flowchart of an embodiment of calculating a minimum value in a substation tilt detection method based on GNSS.

[0074] Figure 6 A structural schematic diagram of an embodiment of a substation tilt detection system based on GNSS provided by the present invention. DETAILED DESCRIPTION

[0075] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0076] refer to Figure 1 In some embodiments, a GNSS-based substation tilt detection method is provided, comprising:

[0077] S1. Select the base station installation point in the area of ​​the substation to be tested according to the preset rules;

[0078] S2. Using RTK technology to determine the installation point of the monitoring station in the substation to be tested;

[0079] S3, establishing a reference station and a monitoring station at the reference station installation point and the monitoring station installation point respectively, and installing GNSS equipment at the reference station and the monitoring station;

[0080] S4, the reference station receives satellite signals through the GNSS device and calculates the reference station position data according to the satellite signals, and sends the reference station position data to the monitoring station;

[0081] S5, the monitoring station receives satellite signals through the GNSS device and performs calculations based on the received satellite signals and the reference station location data to obtain location data of the substation to be tested;

[0082] S6, the monitoring station determines whether the substation to be tested is deformed according to the obtained position data of the substation to be tested, and calculates the displacement data when deformation occurs;

[0083] S7. The monitoring station uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted.

[0084] Specifically, in step S1, the preset rules include:

[0085] There are no obstacles within the set angle range at the preset height above the base station installation point, there are no radio transmission sources within the first preset range around the base station installation point, there are no vibration sources within the second preset range around the base station installation point, and the distance between the base station installation point and the monitoring station installation point is less than the preset distance.

[0086] Among them, the preset height, the set angle range, the first preset range, the second preset range, and the preset distance are determined based on actual experience.

[0087] By ensuring that there are no obstacles within the set angle range at the preset height above the base station area, smooth reception of satellite signals can be ensured, reducing signal attenuation or loss caused by obstacles; there are no radio transmission sources within the first preset range around the base station installation point, which can avoid the impact of electromagnetic interference on satellite signal reception and improve positioning accuracy and stability; there are no vibration sources within the second preset range around the base station installation point, which can reduce the impact of vibration on the stability of the base station and ensure that the base station can maintain high accuracy and stability for a long time; the distance between the base station installation point and the monitoring station installation point is less than the preset distance, which can ensure effective coverage of the monitoring network and real-time transmission of data, thereby improving monitoring efficiency and accuracy.

[0088] For example, an existing outdoor substation needs to be monitored for tilt online; the current rules are: there are no obstacles above 10° at 30 meters above the base station area, the distance to the radio transmission source is not less than 200m, the distance to the vibration source is greater than 50m, and the base station is within 3 kilometers from the monitoring station.

[0089] Further, refer to Figure 2In step S2, the RTK technology is used to determine the installation point of the monitoring station in the substation to be tested, including:

[0090] S21, setting up RTK equipment at multiple points of the substation to be tested;

[0091] S22, each RTK device receives satellite signals in multiple cycles according to a preset frequency, and determines whether a concentrated distribution phenomenon of satellite signals occurs;

[0092] S23. For the points where there is no concentrated distribution of satellite signals, a preset number of points that receive the most satellite signals are selected as monitoring station installation points.

[0093] Specifically, by setting a reasonable collection frequency, it is ensured that the RTK equipment collects data at a predetermined time interval, so as to obtain a sufficient amount of satellite signal data for subsequent processing and analysis; by judging whether the satellite signal data received by the mobile RTK equipment has a concentrated distribution phenomenon, the signal coverage and signal quality in the monitoring area can be preliminarily evaluated, which helps to avoid installing monitoring stations in areas with poor signal quality, thereby improving the accuracy of the monitoring results.

[0094] For example, the acquisition frequency is set to 2 hours each time, and the carrier phase observations of two measuring points are processed in real time through RTK technology; five mobile RTK devices are set up at multiple points in the substation and marked as A, B, C, D, and E respectively, and satellite signal data of 5 cycles are acquired according to the acquisition frequency; and there is no concentrated distribution phenomenon in the satellite signal data received by the five mobile RTK devices; among them, the number of GPS satellite signals received by RTK device A is 28, the number of GPS satellite signals received by RTK device A is 28, the number of GPS satellite signals received by RTK device B is 20, the number of GPS satellite signals received by RTK device C is 21, the number of GPS satellite signals received by RTK device D is 27, and the number of GPS satellite signals received by RTK device E is 28; the number of GPS satellite signals received by the five RTK devices is sorted as: A and E, D, C, B; because the number of GPS satellite signals received by the three RTK devices A, E, and D is the first and second; finally, the positions corresponding to the three RTK devices A, E, and D are selected as the installation points of the monitoring station.

[0095] Furthermore, in step S3, a reference station and a monitoring station are respectively established at the reference station installation point and the monitoring station installation point, and GNSS equipment is installed at the reference station and the monitoring station, wherein the GNSS equipment includes a GNSS receiver and a GNSS antenna.

[0096] In addition, IP planning is performed for each monitoring point before installation, and the host IP number and corresponding port number are recorded to complete the installation of the GNSS equipment.

[0097] Specifically, in step S4, the base station receives satellite signals through the GNSS device and calculates the base station position data based on the satellite signals, and sends the base station position data to the monitoring station. The base station position data includes the position coordinates calculated based on the satellite signals and the actual position coordinates, that is, it is sent to the monitoring station as differential data.

[0098] In step S5, the monitoring station receives satellite signals through the GNSS device and calculates position coordinates according to the received satellite signals, and corrects the calculated position coordinates according to the reference station position data to obtain the position data of the substation to be measured.

[0099] Further, refer to Figure 3 In step S6, the monitoring station determines whether the substation to be tested is deformed according to the obtained position data of the substation to be tested, and calculates the displacement data when deformation occurs, including:

[0100] S61, comparing the currently obtained position data of the substation to be tested with the initially obtained position data of the substation to be tested, if the difference between the currently obtained position data of the substation to be tested and the initially obtained position data of the substation to be tested exceeds a preset fluctuation range, it is determined that the substation to be tested is deformed;

[0101] S62: taking the difference between the currently obtained position data of the substation to be measured and the initially obtained position data of the substation to be measured as displacement data.

[0102] Specifically, in practical applications, due to the combined influence of multiple factors such as the engineering geological conditions of the foundation, the foundation treatment method, and the load of the substation superstructure, the foundation and the surrounding strata may be deformed. This deformation is acceptable within the specified range. In addition, the difference within a small range may also be a detection error. Therefore, in this embodiment, if the difference between the currently obtained position data of the substation to be tested and the initially obtained position data of the substation to be tested exceeds the preset fluctuation range, it is determined that the substation to be tested has been deformed. Otherwise, if it is determined that the substation to be tested has been deformed, the difference between the currently obtained position data of the substation to be tested and the initially obtained position data of the substation to be tested is used as displacement data.

[0103] Further, refer to Figure 4 In step S7, the monitoring station uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted, including:

[0104] S71, acquiring a plurality of displacement data within a preset time period;

[0105] S72, establishing a coordinate system with time as the X-axis and displacement change as the Y-axis;

[0106] S73, traversing the plurality of displacement data in chronological order, taking the earliest displacement data within a preset time period as the initial value of the first iteration, calculating the displacement difference between the displacement data at the current moment and the displacement data at the previous moment, if the displacement difference is less than the preset difference, stopping the current iteration, and taking the displacement data at the current moment as the initial value of the next iteration, if the displacement difference is greater than or equal to the preset difference, taking the sum of the displacement difference and the displacement data at the current moment as the displacement change amount and marking it in the coordinate system;

[0107] S74. If the number of points marked by the coordinate system is less than or equal to a preset number, it is determined that the substation is not tilted;

[0108] S75, if the number of points marked in the coordinate system is greater than a preset number, fitting the points marked in the coordinate system using a least squares method to obtain a displacement change function;

[0109] S76, calculating the displacement change function using a second-order gradient method to obtain a minimum value of the displacement change;

[0110] S77. Compare the minimum value with a preset maximum value. If the minimum value is greater than the preset maximum value, it is determined that the substation is tilted.

[0111] Specifically, the location information of the substation is obtained through navigation positioning to confirm whether the substation has been displaced or tilted. Due to the accuracy and error of positioning, if only a single or a small amount of location data is used to determine whether displacement or tilt has occurred, the reliability is not high. Therefore, in this embodiment, multiple measured data are used for fitting to determine whether the substation has tilted. Specifically, multiple displacement data within a preset time period are obtained. The preset time period can be several months. The displacement data can be obtained multiple times every day, and a coordinate system with time as the X-axis and displacement change as the Y-axis is established. The earliest displacement data within the preset time period is used as the initial value of the first iteration, and the displacement difference between the displacement data at the current moment and the displacement data at the previous moment is calculated. If the displacement difference is less than the preset difference, stop. The current iteration is performed, and the displacement data at the current moment is used as the initial value of the next iteration. If the displacement difference is greater than or equal to the preset difference, the sum of the displacement difference and the displacement data at the current moment is used as the displacement change to be marked in the coordinate system. After traversing all the displacement data, a plurality of discrete points are formed in the coordinate system. If the discrete points in the coordinate system are less than or equal to the preset number, the displacement change of the substation is very small and is within the normal range of deformation. Therefore, it is determined that the substation has not tilted. If the discrete points in the coordinate system are more than the preset number, the least squares method is used to fit the marked points in the coordinate system to obtain the displacement change function. If it is a nonlinear curve in the coordinate system, the second-order gradient method is further used for calculation.

[0112] Further, refer to Figure 5 In step S76, the displacement change function is calculated using a second-order gradient method to obtain a minimum value of the displacement change, including:

[0113] S761, randomly selecting an initial point for second-order gradient calculation according to the displacement change function;

[0114] S762, draw a quadratic curve tangent to the displacement variation function through the initial point, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement variation function, and obtain an iteration point;

[0115] S763, iteratively perform the following steps until the number of iterations reaches a preset number: draw a quadratic curve tangent to the displacement variation function through the iteration point again, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement variation function, and obtain the iteration point again;

[0116] S764. When the number of iterations reaches a preset number, the iteration point obtained is the minimum value of the displacement change.

[0117] The second-order gradient method can quickly converge to obtain the minimum value of the displacement change function, and then compare the minimum value with the preset extreme value. If the minimum value is equal to the preset extreme value, it is determined that the substation is tilted.

[0118] Furthermore, the displacement data includes displacement in the X direction, displacement in the Y direction and displacement in the Z direction, that is, if the minimum displacement change amount obtained by calculating the displacement data in any direction is less than a preset maximum value, it can be determined that the substation is tilted.

[0119] Furthermore, in some embodiments, after determining that the substation is tilted, the method further includes:

[0120] Generate tilt warning information.

[0121] The generated warning information can be displayed through a display device.

[0122] refer to Figure 6 , in some embodiments, a GNSS-based substation tilt detection system applied to the above method is provided, comprising a reference station 1 and a monitoring station 2, wherein the reference station 1 and the monitoring station 2 are equipped with GNSS equipment;

[0123] The reference station 1 is used to receive satellite signals through the GNSS device and calculate the reference station position data according to the satellite signals, and send the reference station position data to the monitoring station 2;

[0124] Monitoring station 2 is used to receive satellite signals through the GNSS device and perform calculations based on the received satellite signals and the reference station location data to obtain the location data of the substation to be tested;

[0125] The monitoring station 2 is also used to determine whether the substation to be tested has been deformed based on the obtained position data of the substation to be tested, and calculate the displacement data when deformation occurs;

[0126] The monitoring station 2 is also used to fit the displacement data using the least square method and the second-order gradient method to calculate and determine whether the substation is tilted.

[0127] Furthermore, the GNSS device includes a GNSS receiver and a GNSS antenna.

[0128] Furthermore, the monitoring station 2 determines whether the substation to be tested is deformed according to the obtained position data of the substation to be tested, and calculates displacement data when deformation occurs, including:

[0129] Compare the currently acquired position data of the substation to be tested with the initially acquired position data of the substation to be tested. If the difference between the currently acquired position data of the substation to be tested and the initially acquired position data of the substation to be tested exceeds a preset fluctuation range, it is determined that the substation to be tested is deformed.

[0130] The difference between the currently obtained position data of the substation to be tested and the initially obtained position data of the substation to be tested is used as the displacement data.

[0131] Furthermore, the monitoring station 2 uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted, including:

[0132] Acquire a plurality of displacement data within a preset time period;

[0133] Establish a coordinate system with time as the X-axis and displacement change as the Y-axis;

[0134] Traversing the plurality of displacement data in time order, taking the earliest displacement data within a preset time period as the initial value of the first iteration, calculating the displacement difference between the displacement data at the current moment and the displacement data at the previous moment, if the displacement difference is less than the preset difference, stopping the current iteration, and taking the displacement data at the current moment as the initial value of the next iteration, if the displacement difference is greater than or equal to the preset difference, taking the sum of the displacement difference and the displacement data at the current moment as the displacement change amount and marking it in the coordinate system;

[0135] If the number of points marked in the coordinate system is less than or equal to a preset number, it is determined that the substation is not tilted;

[0136] If the number of points marked in the coordinate system is greater than a preset number, the points marked in the coordinate system are fitted using a least square method to obtain a displacement change function;

[0137] The displacement variation function is calculated using a second-order gradient method to obtain a minimum value of the displacement variation;

[0138] The minimum value is compared with a preset maximum value, and if the minimum value is greater than the preset maximum value, it is determined that the substation is tilted.

[0139] Furthermore, the monitoring station 2 calculates the displacement change function using a second-order gradient method to obtain a minimum value of the displacement change, including:

[0140] Randomly selecting an initial point for second-order gradient calculation according to the displacement change function;

[0141] Draw a quadratic curve tangent to the displacement variation function through the initial point, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement variation function, and obtain an iteration point;

[0142] Iteratively perform the following steps until the number of iterations reaches a preset number: draw a quadratic curve tangent to the displacement variation function through the iteration point again, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement variation function, and obtain the iteration point again;

[0143] The iteration point obtained when the number of iterations reaches the preset number is the minimum value of the displacement change.

[0144] Furthermore, the displacement data includes displacement in an X direction, displacement in a Y direction, and displacement in a Z direction.

[0145] Furthermore, after the monitoring station determines that the substation is tilted, the monitoring station further includes:

[0146] Generate tilt warning information.

[0147] The GNSS-based substation tilt detection method and system provided in the above embodiment have at least the following beneficial effects:

[0148] (1) By obtaining multiple displacements within a preset time period, performing least squares fitting and second-order gradient method to obtain the minimum value, the minimum value is used to determine whether the substation is tilted, which can effectively avoid the problem of inaccurate judgment caused by single data errors and effectively improve the accuracy and reliability of substation tilt detection;

[0149] (2) There are no obstacles within the preset angle range at the preset height above the base station area, which can ensure smooth reception of satellite signals and reduce signal attenuation or loss caused by obstacles; there are no radio transmission sources within the first preset range around the base station installation point, which can avoid the impact of electromagnetic interference on satellite signal reception and improve positioning accuracy and stability; there are no vibration sources within the second preset range around the base station installation point, which can reduce the impact of vibration on the stability of the base station and ensure that the base station can maintain high accuracy and stability for a long time; the distance between the base station installation point and the monitoring station installation point is less than the preset distance, which can ensure effective coverage of the monitoring network and real-time transmission of data, thereby improving monitoring efficiency and accuracy;

[0150] (3) By setting a reasonable acquisition frequency, the RTK equipment can be ensured to collect data at a predetermined time interval, thereby obtaining a sufficient amount of satellite signal data for subsequent processing and analysis. By determining whether the satellite signal data received by the mobile RTK equipment is concentrated, the signal coverage and signal quality in the monitoring area can be preliminarily evaluated, which helps to avoid installing monitoring stations in areas with poor signal quality, thereby improving the accuracy of monitoring results.

[0151] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A substation tilt detection method based on GNSS, characterized in that: include: Select the base station installation point in the area of ​​the substation to be tested according to the preset rules; Using RTK technology to determine the installation point of the monitoring station in the substation to be tested; Establish a reference station and a monitoring station at the reference station installation point and the monitoring station installation point respectively, and install GNSS equipment at the reference station and the monitoring station; The reference station receives satellite signals through the GNSS device and calculates the reference station position data according to the satellite signals, and sends the reference station position data to the monitoring station; The monitoring station receives satellite signals through the GNSS device and performs calculations based on the received satellite signals and the reference station location data to obtain location data of the substation to be tested; The monitoring station determines whether the substation to be tested has been deformed based on the acquired position data of the substation to be tested, and calculates displacement data when deformation occurs; The monitoring station uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted.

2. The method according to claim 1, characterized in that The GNSS device includes a GNSS receiver and a GNSS antenna.

3. The method according to claim 1, characterized in that The preset rules include: There are no obstacles within the set angle range at the preset height above the base station installation point, there are no radio transmission sources within the first preset range around the base station installation point, there are no vibration sources within the second preset range around the base station installation point, and the distance between the base station installation point and the monitoring station installation point is less than the preset distance.

4. The method according to claim 1, characterized in that: The RTK technology is used to determine the installation point of the monitoring station in the substation to be tested, including: Setting up RTK equipment at multiple points of the substation to be tested; Each RTK device receives satellite signals in multiple cycles at a preset frequency and determines whether there is a concentrated distribution of satellite signals. For points where there is no concentrated distribution of satellite signals, a preset number of points that receive the most satellite signals are selected as monitoring station installation points.

5. The method according to claim 1, characterized in that: The monitoring station determines whether the substation to be tested is deformed according to the obtained position data of the substation to be tested, and calculates displacement data when deformation occurs, including: Compare the currently acquired position data of the substation to be tested with the initially acquired position data of the substation to be tested. If the difference between the currently acquired position data of the substation to be tested and the initially acquired position data of the substation to be tested exceeds a preset fluctuation range, it is determined that the substation to be tested is deformed. The difference between the currently obtained position data of the substation to be tested and the initially obtained position data of the substation to be tested is used as the displacement data.

6. The method according to claim 1 or 5, characterized in that: The monitoring station uses the least square method to fit the displacement data and the second-order gradient method to calculate to determine whether the substation is tilted, including: Acquire a plurality of displacement data within a preset time period; Establish a coordinate system with time as the X-axis and displacement change as the Y-axis; Traversing the plurality of displacement data in time order, taking the earliest displacement data within a preset time period as the initial value of the first iteration, calculating the displacement difference between the displacement data at the current moment and the displacement data at the previous moment, if the displacement difference is less than the preset difference, stopping the current iteration, and taking the displacement data at the current moment as the initial value of the next iteration, if the displacement difference is greater than or equal to the preset difference, taking the sum of the displacement difference and the displacement data at the current moment as the displacement change amount and marking it in the coordinate system; If the number of points marked in the coordinate system is less than or equal to a preset number, it is determined that the substation is not tilted; If the number of points marked in the coordinate system is greater than a preset number, the points marked in the coordinate system are fitted using a least square method to obtain a displacement change function; The displacement variation function is calculated using a second-order gradient method to obtain a minimum value of the displacement variation; The minimum value is compared with a preset maximum value, and if the minimum value is greater than the preset maximum value, it is determined that the substation is tilted.

7. The method according to claim 6, characterized in that The displacement variation function is calculated using a second-order gradient method to obtain a minimum value of the displacement variation, including: Randomly selecting an initial point for second-order gradient calculation according to the displacement change function; Draw a quadratic curve tangent to the displacement variation function through the initial point, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement variation function, and obtain an iteration point; Iteratively perform the following steps until the number of iterations reaches a preset number: draw a quadratic curve tangent to the displacement change function through the iteration point again, solve the coordinates of the minimum point of the quadratic curve, substitute the coordinates of the minimum point into the displacement change function, and obtain the iteration point again; The iteration point obtained when the number of iterations reaches the preset number is the minimum value of the displacement change.

8. The method according to claim 6, characterized in that The displacement data includes displacement in the X direction, displacement in the Y direction, and displacement in the Z direction.

9. The method according to claim 1, characterized in that: After determining that the substation is tilted, it also includes: Generate tilt warning information.

10. A GNSS-based substation tilt detection system applied to the method according to any one of claims 1 to 9, characterized in that: It includes a reference station and a monitoring station, wherein the reference station and the monitoring station are equipped with GNSS equipment; The reference station is used to receive satellite signals through the GNSS device and calculate the reference station position data according to the satellite signals, and send the reference station position data to the monitoring station; The monitoring station is used to receive satellite signals through the GNSS device and perform calculations based on the received satellite signals and the reference station location data to obtain the location data of the substation to be tested; The monitoring station is also used to determine whether the substation to be tested has been deformed based on the obtained position data of the substation to be tested, and calculate the displacement data when deformation occurs; The monitoring station is also used to fit the displacement data using the least square method and calculate using the second-order gradient method to determine whether the substation is tilted.

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