A method and device for generating power distribution topology based on Beidou ultra-wideband joint positioning

Abstract

The present application relates to the field of power distribution automation technology, and discloses a method and device for generating power distribution topology based on Beidou and ultra-wideband joint positioning. In this method, the positioning information of the distribution unit is first determined by using the Beidou and ultra-wideband joint positioning method. Then, the physical structure of the distribution system is obtained, and the logical topology relationship of the distribution unit is determined. Finally, based on the logical topology relationship of the distribution unit and the positioning information of the distribution unit, a logical topology diagram of the distribution network is generated. The present application uses seamless positioning that combines Beidou positioning technology and ultra-wideband positioning technology to solve the problem that positioning information cannot be obtained indoors due to obstruction by buildings, obstacles, etc. in the distribution network. By making full use of Beidou and ultra-wideband positioning technology, the problem of weak indoor positioning signals can be solved.

Description

Technical Field

[0001] The present application relates to the field of power distribution automation technology, and in particular to a method and device for generating power distribution topology based on Beidou ultra-wideband joint positioning. Background Art

[0002] Topology research is fundamental and crucial to DC distribution system research. Distribution network topology analysis is essential for power flow calculations, fault calculations, fault location, fault recovery, and network reconfiguration. As a crucial component of the power grid, the stable operation of the distribution network directly impacts grid security. Distribution network topology analysis requires obtaining the location information of distribution units.

[0003] Current positioning technology is hindered by buildings and obstacles, making it difficult for distribution units in many indoor areas of the distribution network to accurately obtain location information. Traditional satellite positioning also struggles to cover environments like basements and distribution rooms. Consequently, distribution topology generation often relies on manual input, which is labor-intensive and prone to errors. Location changes are not updated promptly, making accurate positioning difficult. Summary of the Invention

[0004] The present application discloses a method and device for generating power distribution topology based on Beidou ultra-wideband joint positioning, which is used to solve the technical problems in the prior art that power distribution topology generation is mostly done by manual entry, which is labor-intensive and prone to errors, and location changes are not updated in a timely manner, making accurate positioning difficult.

[0005] The first aspect of the present application discloses a method for generating a power distribution topology based on Beidou ultra-wideband joint positioning, comprising:

[0006] The method utilizes a BeiDou and ultra-wideband (UWB) joint positioning method to determine the positioning information of distribution units, including outdoor and indoor distribution units. The positioning information of the outdoor distribution units is obtained through the BeiDou system. The positioning information of the indoor distribution units is obtained through a TOA (Time of Arrival) and DOA (Direction of Arrival) joint estimation technique based on DFT (Discrete Fourier Transform) in ultra-wideband (UWB) positioning technology.

[0007] Obtain the physical structure of the power distribution system and determine the logical topology relationship of the power distribution units;

[0008] A distribution network logical topology diagram is generated based on the logical topology relationship of the distribution units and the positioning information of the distribution units. The nodes in the distribution network logical topology diagram correspond one-to-one to the distribution units, and the node corresponding to any distribution unit stores the positioning information of any distribution unit.

[0009] Optionally, the obtaining the positioning information of the outdoor area power distribution unit through the Beidou system includes:

[0010] The Beidou system includes Beidou navigation satellites and positioning servers;

[0011] receiving source signal data of the outdoor area power distribution unit via the Beidou navigation satellite;

[0012] transmitting the source signal data of the outdoor area power distribution unit to the positioning server via a cellular network;

[0013] The positioning server generates the spatial coordinates of the outdoor area power distribution unit according to the source signal data of the outdoor area power distribution unit, and determines the positioning information of the outdoor area power distribution unit.

[0014] Optionally, the acquiring the positioning information of the indoor area power distribution unit by using a DFT-based TOA and DOA joint estimation technology in ultra-wideband positioning technology includes:

[0015] Two receiving antennas are set in the indoor area to receive the radiation signal of the indoor area power distribution unit and determine the indoor area antenna receiving signal;

[0016] Modeling the indoor area antenna received signal in the frequency domain, determining the frequency domain received signal, and determining the covariance matrix of the frequency domain received signal;

[0017] Performing DFT processing on the first column of the covariance matrix to determine a rough estimation result of the TOA of the indoor area antenna receiving signal arriving at the two receiving antennas;

[0018] Constructing a phase compensation matrix, determining an estimated value of an optimal phase compensation factor, and determining a precise TOA estimation result of the two receiving antennas based on a rough TOA estimation result and the estimated value of the optimal phase compensation factor;

[0019] The TOA estimation values ​​from the two receiving antennas are paired, and the DOA estimation result is determined based on the arrival time difference between the indoor area antenna receiving signal and the two receiving antennas.

[0020] The positioning information of the indoor area power distribution unit is determined according to the DOA estimation result.

[0021] Optionally, the physical structure of the power distribution system includes a connection relationship of the power distribution units and an inclusion relationship of the power distribution units;

[0022] The connection relationship of the power distribution units is a power supply and distribution path between the power distribution units connected by power cables;

[0023] The distribution network logical topology diagram is used to perform a hierarchical layout according to the inclusion relationship of the distribution units.

[0024] Optionally, the nodes in the distribution network logical topology diagram include substations, transformers, distribution stations and distribution cabinets.

[0025] Optionally, the node corresponding to any power distribution unit further stores the device type, device number and device status of any power distribution unit.

[0026] Optionally, after generating the distribution network logical topology diagram, the method further includes:

[0027] According to the distribution network logical topology diagram, a distribution business analysis is performed, wherein the distribution business analysis includes power supply reliability statistical analysis, theoretical line loss analysis and short-term load forecasting.

[0028] The second aspect of the present application discloses a power distribution topology generation device based on Beidou ultra-wideband joint positioning, which is applied to the power distribution topology generation method based on Beidou ultra-wideband joint positioning disclosed in the first aspect of the present application. The power distribution topology generation device based on Beidou ultra-wideband joint positioning includes:

[0029] A positioning information acquisition module is used to determine the positioning information of the distribution unit using a Beidou and ultra-wideband joint positioning method. The distribution unit includes an outdoor area distribution unit and an indoor area distribution unit. The positioning information of the outdoor area distribution unit is obtained through the Beidou system; the positioning information of the indoor area distribution unit is obtained through the DFT-based TOA and DOA joint estimation technology in the ultra-wideband positioning technology.

[0030] A logical topology relationship acquisition module is used to obtain the physical structure of the power distribution system and determine the logical topology relationship of the power distribution unit;

[0031] The distribution network logical topology map generation module is used to generate a distribution network logical topology map based on the logical topology relationship of the distribution units and the positioning information of the distribution units. The nodes in the distribution network logical topology map correspond one-to-one to the distribution units, and the node corresponding to any distribution unit stores the positioning information of any distribution unit.

[0032] Optionally, the positioning information acquisition module includes:

[0033] An outdoor data receiving unit, configured to receive source signal data of the outdoor regional power distribution unit via the Beidou navigation satellite; the Beidou system includes Beidou navigation satellites and a positioning server;

[0034] an outdoor data transmission unit, configured to transmit the source signal data of the outdoor area power distribution unit to the positioning server via a cellular network;

[0035] The outdoor positioning unit is used for the positioning server to generate the spatial coordinates of the outdoor area power distribution unit according to the source signal data of the outdoor area power distribution unit and determine the positioning information of the outdoor area power distribution unit.

[0036] Optionally, the positioning information acquisition module includes:

[0037] An indoor signal acquisition unit is configured to set two receiving antennas in the indoor area to receive the radiation signal of the indoor area power distribution unit and determine the indoor area antenna receiving signal;

[0038] A covariance matrix determination unit, configured to model the indoor area antenna received signal in the frequency domain, determine the frequency domain received signal, and determine the covariance matrix of the frequency domain received signal;

[0039] a coarse estimation unit, configured to perform DFT processing on the first column of the covariance matrix to determine a coarse estimation result of TOA of the indoor area antenna receiving signal arriving at the two receiving antennas;

[0040] A fine estimation unit, configured to construct a phase compensation matrix, determine an estimated value of an optimal phase compensation factor, and determine a fine TOA estimation result of the two receiving antennas based on a rough TOA estimation result and the estimated value of the optimal phase compensation factor;

[0041] An estimation result determination unit is used to pair the TOA estimation values ​​in the TOA precise estimation results of the two receiving antennas and determine the DOA estimation result based on the arrival time difference of the signal received by the indoor area antenna to the two receiving antennas;

[0042] An indoor positioning unit is used to determine the positioning information of the indoor regional power distribution unit according to the DOA estimation result.

[0043] The present application relates to the field of power distribution automation technology, and discloses a method and device for generating power distribution topology based on Beidou and ultra-wideband joint positioning. In this method, the positioning information of the distribution unit is first determined by using the Beidou and ultra-wideband joint positioning method. Then, the physical structure of the distribution system is obtained, and the logical topology relationship of the distribution unit is determined. Finally, based on the logical topology relationship of the distribution unit and the positioning information of the distribution unit, a logical topology diagram of the distribution network is generated. The present application uses seamless positioning that combines Beidou positioning technology and ultra-wideband positioning technology to solve the problem that positioning information cannot be obtained indoors due to obstruction by buildings, obstacles, etc. in the distribution network. By making full use of Beidou and ultra-wideband positioning technology, the problem of weak indoor positioning signals can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 A schematic diagram of the workflow of a method for generating a power distribution topology based on Beidou ultra-wideband joint positioning disclosed in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of a workflow for obtaining positioning information of an outdoor area distribution unit in a distribution topology generation method based on Beidou ultra-wideband joint positioning disclosed in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a workflow for obtaining positioning information of indoor regional distribution units in a distribution topology generation method based on Beidou ultra-wideband joint positioning disclosed in an embodiment of the present application;

[0048] Figure 4 This is a comparison chart of TOA estimation performance under different signal-to-noise ratios disclosed in the embodiments of this application;

[0049] Figure 5 This is a comparison chart of DOA estimation performance under different signal-to-noise ratios disclosed in the embodiments of this application;

[0050] Figure 6 This is a comparison chart of TOA estimation performance under different multipath numbers L disclosed in the embodiment of this application;

[0051] Figure 7 This is a structural schematic diagram of a power distribution topology generation device based on Beidou ultra-wideband joint positioning disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to solve the technical problems in the existing technology that distribution topology generation is mostly done by manual entry, which is labor-intensive and prone to errors, location changes are not updated in a timely manner, and accurate positioning is difficult, this application discloses a distribution topology generation method and device based on Beidou ultra-wideband joint positioning through the following two embodiments.

[0053] The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: The following symbols represent: [·] T represents transpose; [·] H represents conjugate transpose; diag(·) is the diagonalization operator; angle(·) represents the phase angle; [·] -1 Indicates matrix inversion; [x] prepresents the p-th element of vector x; [X] p Represents the p-th row of matrix X; * represents convolution; represents an estimate of the exact value of x; E{·} represents the expectation; || || F represents the F norm; lowercase bold represents vectors, and uppercase bold represents matrices.

[0054] The first embodiment of this application discloses a method for generating a power distribution topology based on BeiDou ultra-wideband joint positioning. Figure 1 As shown in the workflow diagram, the power distribution topology generation method based on Beidou ultra-wideband joint positioning includes:

[0055] Step S1: Determine the location information of power distribution units (PDUs) using a combined BeiDou and ultra-wideband positioning method. The PDUs include outdoor and indoor PDUs. The outdoor PDUs are located using the BeiDou system. The indoor PDUs are located using a combined TOA and DOA estimation technique based on DFT within ultra-wideband positioning technology.

[0056] Ultra-wideband positioning technology is a wireless communication technology that uses nanosecond or even sub-nanosecond pulses to transmit information. Characterized by extremely short-duration pulses, it offers strong resistance to multipath interference, making it an excellent choice for high-capacity, high-precision indoor positioning. The high temporal resolution of ultra-wideband signals makes time-of-arrival (TOA) parameter estimation a promising method for position estimation within ultra-wideband positioning. However, since TOA parameters only provide distance information, positioning using TOA parameters alone requires a large number of observation nodes, increasing the cost of ultra-wideband positioning technology. Positioning techniques based on direct-of-arrival (DOA) estimation help reduce the number of nodes required for position estimation. By combining the distance information provided by TOA parameters with the direction information provided by DOA parameters, the target source's position can be estimated with a single observation node, effectively reducing system complexity. Furthermore, high accuracy in the estimation of both TOA and DOA parameters can lead to even higher positioning accuracy.

[0057] In some examples of this application, see Figure 2 , the obtaining of the positioning information of the outdoor area distribution unit through the BeiDou system includes:

[0058] The Beidou system includes Beidou navigation satellites and positioning servers.

[0059] Step S121: receiving source signal data of the outdoor area power distribution unit via the Beidou navigation satellite.

[0060] Step S122: Transmitting the source signal data of the outdoor area power distribution unit to the positioning server via a cellular network.

[0061] Step S123: The positioning server generates the spatial coordinates of the outdoor area power distribution unit according to the source signal data of the outdoor area power distribution unit, and determines the positioning information of the outdoor area power distribution unit.

[0062] In some examples of this application, see Figure 3 The method of obtaining the positioning information of the indoor area power distribution unit by using the DFT-based TOA and DOA joint estimation technology in the ultra-wideband positioning technology includes:

[0063] Step S131: two receiving antennas are set in the indoor area to receive the radiation signal of the indoor area power distribution unit, and determine the indoor area antenna receiving signal.

[0064] Specifically, assume that the number of signal clusters transmitted through the ultra-wideband channel is K, the number of multipaths in each cluster is L, and without loss of generality, assume that the transmission delay of each multipath component is independent of the number of clusters. Figure 4 , set up two receiving antennas with a distance d: antenna 1 and antenna 2, and the signal source is in the far field of the array antenna. Then the indoor area antenna receiving signal can be expressed as:

[0065]

[0066] Among them, y (k) (t) represents the received signal after the kth cluster radiation signal is transmitted through the ultra-wideband channel; t represents the time point of time domain upsampling; s(t) represents the radiation signal of the indoor area distribution unit; h (k) (t) represents the matched filter coefficient; w (k) (t) represents additive white Gaussian noise; l represents the lth multipath component, and 1≤l≤L; b m is the modulated binary data symbol sequence, c n is a pseudo-random sequence used to implement multi-address communication, and b m ,c n ∈{-1,+1}, m and n represent the discrete integration range, and m∈(-∞,+∞), 1≤n≤N C -1;N c Represents the number of pulse repetitions for a single binary data symbol; N f Indicates the number of repetitions of the binary data symbol pulse; T s Represents the period of binary data symbols; T c represents the pulse repetition period; p(t) is the second-order derivative of the Gaussian pulse, and Γ represents the pulse forming factor related to the pulse width; τ l and β l (k)They represent the transmission delay and fading amplitude of the lth multipath component of the kth cluster during the channel transmission process, j is a plural unit, j 2 =-1,α l (k) represents the channel attenuation coefficient that obeys the Rayleigh distribution, θ l (k) ∈[0,2π] represents a random variable that obeys a uniform distribution.

[0067] Step S132: Modeling the indoor area antenna received signal in the frequency domain to determine the frequency domain received signal and determine the covariance matrix of the frequency domain received signal.

[0068] The expression of the indoor area antenna receiving signal is converted to the frequency domain and sampled at N (N>L) points at equal intervals. The form of the discrete frequency domain receiving signal is obtained as follows:

[0069]

[0070] Among them, ω n =n△ω, n=0,1,…,N-1, △ω=2π / N is the frequency domain sampling interval.

[0071] Arrange the sampled discrete data into an N×1 dimensional column vector [Y (k) (ω0),…,Y (k) (ω N-1 )] T , collecting K clusters of indoor area antenna receiving signals, the matrix forms of the frequency domain receiving signals of antenna 1 and antenna 2 can be obtained, which are expressed as:

[0072] Y1=SE τ B+V1;

[0073]

[0074] Among them, S=diag([S(ω0),…,S(ω N-1 )]), S(ω i-1 ) is the frequency domain sampling value of the i-th point of s(t), B=[β1,…,β k ,…,β K ] is the complex fading amplitude matrix of the channel, V1 and V2 are N×K dimensional matrices composed of the frequency domain noise vectors of antenna 1 and antenna 2 respectively, E τ and are the delay matrices of antenna 1 and antenna 2, respectively, expressed as:

[0075]

[0076]

[0077] Divide both Y1 and Y2 by the matrix S, and get the new matrices as and Then the new received signal matrix is:

[0078]

[0079] Where W1 = S -1 V1, W2 = S -1 V2. Considering that S is a diagonal matrix, we only need to calculate the diagonal matrix composed of the reciprocals of the N diagonal elements of S to obtain S -1 Without considering the noise, the sampling covariance matrix of the received signal can be calculated as:

[0080]

[0081] Among them, R B =E[BB H ].

[0082] Step S133: Perform DFT processing on the first column of the covariance matrix to determine a rough estimation result of the TOA of the indoor area antenna receiving signal arriving at the two receiving antennas.

[0083] Specifically, take the covariance matrix and The first column of , we can get:

[0084]

[0085] in, I L×1 is an L-dimensional unit vector. Since the matrix E τ and All of them have the Vandermonde property. Obviously, the above formula can be regarded as a single snapshot data R B I L×1 and R B I L×1 The generated receive signal.

[0086] Define the N×N dimensional normalized DFT matrix:

[0087]

[0088] For simplicity, remember q τ =R B I L×1 / K, Perform DFT processing on the constructed single snapshot received signals r1 and r2 respectively, and obtain the data form after DFT:

[0089]

[0090] Where [x] i represents the i-th element of vector x, and They represent the results of DFT processing of single snapshot received signal vectors r1 and r2 respectively. and The delay matrix E is τ and The column vector consisting of the lth column of .

[0091] Substitute the expression of matrix F into and We can get:

[0092]

[0093] in, and:

[0094]

[0095] When the number of frequency domain sampling points N tends to infinity, there is always p l,1 =τ l and Make In other locations That is, all the energy is concentrated at the TOA sampling points where the signal reaches the two antennas. Therefore, the TOA rough estimation results of the signal reaching antenna 1 and antenna 2 are:

[0096]

[0097] Step S134 : constructing a phase compensation matrix, determining an estimated value of an optimal phase compensation factor, and determining TOA fine estimation results of the two receiving antennas based on the TOA coarse estimation result and the estimated value of the optimal phase compensation factor.

[0098] Specifically, the phase compensation matrix Τ(μ) is constructed to calculate the phase-compensated data. Perform DFT processing again to search for the estimated value of the optimal phase compensation factor and the TOA precise estimation result:

[0099] Define the interval of the phase compensation factor as ξ, the number of searches as J+1, and the phase compensation factor μ∈[-Jξ / 2,Jξ / 2], then the N×N dimensional phase compensation matrix can be expressed as follows;

[0100] Τ(μ)=diag([1,e -jμ ,…,e -j(N-1)μ ]);

[0101] Performing DFT processing on the phase-compensated data again yields a form similar to the previous one:

[0102]

[0103] remember Substituting the phase compensation matrix into the above two equations, we can get:

[0104]

[0105] When the search interval ξ and τ l and When they have the same order of magnitude, there is always an optimal phase compensation factor that makes the energy just concentrated on the sampling point so that the above two equations produce a maximum value at the sampling point, that is, and The estimated value of the optimal phase compensation factor is as follows:

[0106]

[0107] The final TOA estimation result can be expressed as:

[0108]

[0109] Step S135 : Pair the TOA estimation values ​​in the TOA precise estimation results of the two receiving antennas, and determine the DOA estimation result based on the arrival time difference of the indoor area antenna receiving signal reaching the two receiving antennas.

[0110] Specifically, the TOA estimation values ​​corresponding to the same multipath component in the estimation results of the two antennas are paired, and the DOA estimation result is obtained based on the arrival time difference of the signal reaching the two antennas:

[0111] The TOA estimation results obtained by antenna 1 are: A set of TOA estimation results obtained by antenna 2 is: Let r1=E τ R B I L×1 Multiply both sides of / K by Available If the TOA estimation results of the two antennas come from the same multipath, then r1=E τ R B I L×1 / K and With the same component R B I L×1 , so the pairing of TOA estimates of antenna 1 and antenna 2 can be achieved by solving the minimum value of the following loss function:

[0112]

[0113] in, and Substitute any The delay matrix is ​​estimated. After obtaining the paired TOA estimation result according to the above formula, the DOA estimation result of the lth multipath can be obtained as:

[0114]

[0115] Here, c represents the speed of light constant.

[0116] Step S136: Determine the positioning information of the indoor area power distribution unit according to the DOA estimation result.

[0117] The distribution network unit positioning adopts the indoor and outdoor seamless positioning technology that combines Beidou positioning technology and ultra-wideband positioning technology. It uses the Beidou navigation system to provide outdoor ranging positioning, and uses the DFT-based TOA and DOA joint estimation technology in the ultra-wideband system to provide indoor positioning. It solves the problem that the terminals indoors in the distribution network cannot obtain positioning information due to the obstruction of Beidou satellite positioning technology by buildings, obstacles, etc. By making full use of Beidou and ultra-wideband positioning technologies, the problem of weak indoor positioning signals in the distribution network can be solved.

[0118] Step S2: Acquire the physical structure of the power distribution system and determine the logical topology relationship of the power distribution units.

[0119] In some embodiments of the present application, the physical structure of the power distribution system includes a connection relationship of power distribution units and an inclusion relationship of power distribution units.

[0120] The connection relationship between the distribution units is a power supply and distribution path between the distribution units connected by power cables.

[0121] The distribution network logical topology diagram is used to perform a hierarchical layout according to the inclusion relationship of the distribution units.

[0122] Step S3: Generate a distribution network logical topology diagram based on the logical topology relationship of the distribution units and the positioning information of the distribution units. The nodes in the distribution network logical topology diagram correspond one-to-one to the distribution units, and the node corresponding to any distribution unit stores the positioning information of any distribution unit.

[0123] In some embodiments of the present application, the nodes in the distribution network logical topology diagram include substations, transformers, distribution stations and distribution cabinets.

[0124] In some embodiments of the present application, the node corresponding to any power distribution unit further stores the device type, device number, and device status of any power distribution unit.

[0125] Specifically, using a combined BeiDou and ultra-wideband positioning method, component connection points are constructed for each type of electrical element, generating distribution connection relationships and topology maps. This enables a direct mapping of device space, geographic space, and topological space. This embodiment, based on high-precision seamless indoor and outdoor positioning, can achieve precise matching of distribution network topology and geographic location.

[0126] The above embodiment of the present application discloses a method for generating a distribution topology based on Beidou and ultra-wideband joint positioning. First, the positioning information of the distribution unit is determined by using the Beidou and ultra-wideband joint positioning method. Then, the physical structure of the distribution system is obtained, and the logical topology relationship of the distribution unit is determined. Finally, based on the logical topology relationship of the distribution unit and the positioning information of the distribution unit, a logical topology diagram of the distribution network is generated. The present application uses seamless positioning that combines Beidou positioning technology and ultra-wideband positioning technology to solve the problem that positioning information cannot be obtained indoors due to obstruction by buildings, obstacles, etc. in the distribution network. By making full use of Beidou and ultra-wideband positioning technology, the problem of weak indoor positioning signals can be solved.

[0127] In some embodiments of the present application, after generating the distribution network logical topology diagram, the method further includes:

[0128] Based on the distribution network logical topology, power distribution business analysis is performed. This includes power supply reliability statistical analysis, theoretical line loss analysis, and short-term load forecasting. For example, regional statistics, line interval statistics, and site statistics can be used to obtain all facilities associated with the corresponding region, interval, or site, and obtain results such as facility density, safety status, and load conditions within the statistical scope.

[0129] Specifically, this embodiment is based on Beidou and ultra-wideband joint seamless positioning technology, which can achieve high-precision distribution terminal topology mapping, support the generation of electrical wiring diagrams and cross-sectional diagrams in distribution network automation, support flow direction search, loop inspection, locking and other functions, and realize distribution system reliability analysis, line loss analysis, power compensation analysis, distribution network reconstruction and other decision-making assistance capabilities.

[0130] Next, the DFT-based TOA and DOA joint estimation technology in the ultra-wideband positioning technology disclosed in this embodiment is verified. The TOA and DOA joint estimation algorithm in the prior art increases the complexity of system implementation while improving the resolution. The matrix bundle algorithm does not need to calculate the covariance matrix of the signal and can directly process the received signal data. It has the advantages of high resolution and fast calculation speed. Only a single snapshot is needed to estimate the position parameters, but the disadvantage is that it has high requirements for the signal-to-noise ratio and poor performance under low signal-to-noise ratio. The PM algorithm improves the algorithm estimation accuracy while not requiring the eigenvalue decomposition step in the MUSIC method. Therefore, it requires less computation than the MUSIC method. However, the generalized inverse solution and additional spatial smoothing in this method still have high complexity, which is not conducive to hardware implementation.

[0131] See also Figure 4 and Figure 5 , respectively, are the TOA and DOA joint estimation techniques based on DFT disclosed in this embodiment, and the TOA and DOA parameter estimation performance comparisons with the traditional PM algorithm and the matrix bundle algorithm under different signal-to-noise ratios. The simulation parameters are set as: pulse shaping factor τ m =0.1ns, pulse repetition period T c =2ns, the number of pulse repetitions of a single symbol N c =5, the number of frequency domain sampling points N = 64, the number of signal clusters K = 500, the number of multipaths per cluster L = 3, the arrival times of the multipath signals incident on antenna 1 are 0.2ns, 0.3ns, and 0.4ns, respectively, and the signal arrival directions are 10°, 20°, and 30°, respectively. As can be seen from the figure, while reducing complexity, this embodiment can still achieve better TOA and DOA joint estimation performance than the matrix bundle algorithm and the traditional PM algorithm. Furthermore, as the signal-to-noise ratio increases, the advantages of this embodiment become increasingly apparent. When the signal-to-noise ratio reaches 12dB, the order of magnitude of the DOA parameter estimation error of this embodiment decreases rapidly.

[0132] Figure 6 To evaluate the TOA estimation performance of this embodiment under different multipath numbers L, the simulation parameters are set as follows: pulse shaping factor τ m =0.1ns, pulse repetition period T c =2ns, the number of pulse repetitions of a single symbol N c =5, the number of frequency domain sampling points N = 64, the number of signal clusters K = 500, the number of multipaths in each cluster L = 3, the arrival times of the multipath incident on antenna 1 are 0.2ns, 0.3ns, and 0.4ns respectively, the signal arrival directions are 10°, 20°, and 30° respectively, and the signal-to-noise ratio is 20dB. Figure 6 It can be seen that under the condition of the same signal-to-noise ratio, the TOA estimation performance of this embodiment improves as the multipath number L decreases.

[0133] This embodiment eliminates the need for eigenvalue decomposition and generalized inverse solutions, achieving superior parameter estimation performance while maintaining low complexity and facilitating engineering implementation. Numerous simulation results demonstrate that the DFT-based joint TOA and DOA estimation technique disclosed in this embodiment effectively achieves joint TOA and DOA estimation, significantly improving performance compared to the matrix bundle algorithm and the traditional PM algorithm.

[0134] It can be seen that this embodiment proposes a distribution network topology generation method based on the TOA and DOA joint estimation technology based on DFT in Beidou and ultra-wideband systems. In the process of positioning the distribution unit, the seamless positioning that combines Beidou outdoor positioning technology and ultra-wideband indoor positioning technology is used to determine the position of the distribution unit, which can well realize the joint estimation of TOA and DOA. Compared with the matrix beam algorithm and the traditional PM algorithm, the performance of the method proposed in this embodiment is greatly improved. Compared with the parameter estimation system based on array antennas, the indoor positioning method of the present invention only requires two antennas to realize the joint estimation of TOA and DOA, which greatly reduces the cost. The method proposed in this embodiment can effectively obtain the location of the distribution unit, generate the distribution topology network structure network and analyze the network.

[0135] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0136] The second embodiment of the present application discloses a power distribution topology generation device based on Beidou ultra-wideband joint positioning, and the power distribution topology generation device based on Beidou ultra-wideband joint positioning is applied to the power distribution topology generation method based on Beidou ultra-wideband joint positioning disclosed in the first embodiment of the present application, see Figure 7 , the power distribution topology generation device based on Beidou ultra-wideband joint positioning includes:

[0137] Positioning information acquisition module 71 is configured to determine the location information of distribution units (PDUs) using a combined Beidou and ultra-wideband positioning method. The PDUs include outdoor and indoor PDUs. The outdoor PDUs are located using the Beidou system. The indoor PDUs are located using the DFT-based TOA and DOA combined estimation technique within ultra-wideband positioning technology.

[0138] In some embodiments of the present application, the positioning information acquisition module 71 includes:

[0139] The outdoor data receiving unit is used to receive the source signal data of the outdoor area distribution unit through the Beidou navigation satellite. The Beidou system includes Beidou navigation satellites and a positioning server.

[0140] The outdoor data transmission unit is used to transmit the source signal data of the outdoor area power distribution unit to the positioning server through a cellular network.

[0141] The outdoor positioning unit is used for the positioning server to generate the spatial coordinates of the outdoor area power distribution unit according to the source signal data of the outdoor area power distribution unit and determine the positioning information of the outdoor area power distribution unit.

[0142] In some embodiments of the present application, the positioning information acquisition module 71 includes:

[0143] The indoor signal acquisition unit is used to set two receiving antennas in the indoor area to receive the radiation signal of the indoor area power distribution unit and determine the indoor area antenna receiving signal.

[0144] The covariance matrix determining unit is used to model the indoor area antenna receiving signal in the frequency domain, determine the frequency domain receiving signal, and determine the covariance matrix of the frequency domain receiving signal.

[0145] The rough estimation unit is used to perform DFT processing on the first column of the covariance matrix to determine a rough estimation result of the TOA of the indoor area antenna receiving signal arriving at the two receiving antennas.

[0146] The fine estimation unit is used to construct a phase compensation matrix, determine an estimated value of an optimal phase compensation factor, and determine a fine TOA estimation result of two receiving antennas based on a rough TOA estimation result and the estimated value of the optimal phase compensation factor.

[0147] The estimation result determination unit is used to pair the TOA estimation values ​​in the TOA precise estimation results of the two receiving antennas and determine the DOA estimation result according to the arrival time difference of the indoor area antenna receiving signal reaching the two receiving antennas.

[0148] An indoor positioning unit is used to determine the positioning information of the indoor regional power distribution unit according to the DOA estimation result.

[0149] The logical topology relationship acquisition module 72 is used to acquire the physical structure of the power distribution system and determine the logical topology relationship of the power distribution units.

[0150] The distribution network logical topology map generation module 73 is used to generate a distribution network logical topology map based on the logical topology relationship of the distribution units and the positioning information of the distribution units. The nodes in the distribution network logical topology map correspond one-to-one to the distribution units, and the node corresponding to any distribution unit stores the positioning information of any distribution unit.

[0151] This embodiment can also effectively check personnel to ensure that each power distribution equipment is inspected and in place. This device can also be used as an infrastructure to easily expand other indoor positioning and navigation application scenarios.

[0152] The present application has been described in detail above with reference to specific embodiments and exemplary examples. However, these descriptions should not be construed as limiting the present application. Those skilled in the art will appreciate that, without departing from the spirit and scope of the present application, various equivalent substitutions, modifications, or improvements may be made to the technical solutions and implementations of the present application, all of which fall within the scope of the present application. The scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for generating power distribution topology based on BeiDou ultra-wideband joint positioning, characterized in that: include: Using a BeiDou and ultra-wideband joint positioning method, the positioning information of the distribution units is determined. The distribution units include outdoor distribution units and indoor distribution units. The positioning information of the outdoor distribution units is obtained through the BeiDou system. The positioning information of the indoor distribution units is obtained through the DFT-based TOA and DOA joint estimation technology in ultra-wideband positioning technology. Obtain the physical structure of the power distribution system and determine the logical topology relationship of the power distribution units; Generate a distribution network logical topology diagram based on the logical topology relationship of the distribution units and the positioning information of the distribution units, wherein the nodes in the distribution network logical topology diagram correspond one-to-one to the distribution units, and the node corresponding to any distribution unit stores the positioning information of any distribution unit; The method of obtaining the positioning information of the indoor area power distribution unit by using the DFT-based TOA and DOA joint estimation technology in the ultra-wideband positioning technology includes: Two receiving antennas are set in the indoor area to receive the radiation signal of the indoor area power distribution unit and determine the indoor area antenna receiving signal; Modeling the indoor area antenna received signal in the frequency domain, determining the frequency domain received signal, and determining the covariance matrix of the frequency domain received signal; Performing DFT processing on the first column of the covariance matrix to determine a rough estimation result of the TOA of the indoor area antenna receiving signal arriving at the two receiving antennas; Constructing a phase compensation matrix, determining an estimated value of an optimal phase compensation factor, and determining a precise TOA estimation result of the two receiving antennas based on a rough TOA estimation result and the estimated value of the optimal phase compensation factor; The TOA estimation values ​​from the two receiving antennas are paired, and the DOA estimation result is determined based on the arrival time difference between the indoor area antenna receiving signal and the two receiving antennas. The positioning information of the indoor area power distribution unit is determined according to the DOA estimation result.

2. The method for generating power distribution topology based on BeiDou ultra-wideband joint positioning according to claim 1, characterized in that: The obtaining of the positioning information of the outdoor area power distribution unit through the Beidou system includes: The Beidou system includes Beidou navigation satellites and positioning servers; receiving source signal data of the outdoor area power distribution unit via the Beidou navigation satellite; transmitting the source signal data of the outdoor area power distribution unit to the positioning server via a cellular network; The positioning server generates the spatial coordinates of the outdoor area power distribution unit according to the source signal data of the outdoor area power distribution unit, and determines the positioning information of the outdoor area power distribution unit.

3. The method for generating power distribution topology based on BeiDou ultra-wideband joint positioning according to claim 1, characterized in that: The physical structure of the power distribution system includes the connection relationship of the power distribution units and the inclusion relationship of the power distribution units; The connection relationship of the power distribution units is a power supply and distribution path between the power distribution units connected by power cables; The distribution network logical topology diagram is used to perform a hierarchical layout according to the inclusion relationship of the distribution units.

4. The method for generating power distribution topology based on BeiDou ultra-wideband joint positioning according to claim 1, characterized in that: The nodes in the distribution network logical topology diagram include substations, transformers, distribution stations and distribution cabinets.

5. The method for generating power distribution topology based on BeiDou ultra-wideband joint positioning according to claim 1, characterized in that: The node corresponding to any power distribution unit further stores the device type, device number and device status of any power distribution unit.

6. The method for generating power distribution topology based on BeiDou ultra-wideband joint positioning according to claim 1, characterized in that: After generating the distribution network logical topology diagram, the method further includes: According to the distribution network logical topology diagram, a distribution business analysis is performed, wherein the distribution business analysis includes power supply reliability statistical analysis, theoretical line loss analysis and short-term load forecasting.

7. A power distribution topology generation device based on Beidou ultra-wideband joint positioning, characterized in that: The power distribution topology generation device based on Beidou ultra-wideband joint positioning is applied to the power distribution topology generation method based on Beidou ultra-wideband joint positioning according to any one of claims 1 to 6, and the power distribution topology generation device based on Beidou ultra-wideband joint positioning includes: A positioning information acquisition module is used to determine the positioning information of the distribution unit using a Beidou and ultra-wideband joint positioning method. The distribution unit includes an outdoor area distribution unit and an indoor area distribution unit. The positioning information of the outdoor area distribution unit is obtained through the Beidou system; the positioning information of the indoor area distribution unit is obtained through the DFT-based TOA and DOA joint estimation technology in the ultra-wideband positioning technology. A logical topology relationship acquisition module is used to obtain the physical structure of the power distribution system and determine the logical topology relationship of the power distribution unit; A distribution network logical topology diagram generating module is configured to generate a distribution network logical topology diagram based on the logical topology relationship of the distribution units and the positioning information of the distribution units, wherein the nodes in the distribution network logical topology diagram correspond one-to-one to the distribution units, and the node corresponding to any distribution unit stores the positioning information of any distribution unit; The positioning information acquisition module includes: An indoor signal acquisition unit is configured to set two receiving antennas in the indoor area to receive the radiation signal of the indoor area power distribution unit and determine the indoor area antenna receiving signal; A covariance matrix determination unit, configured to model the indoor area antenna received signal in the frequency domain, determine the frequency domain received signal, and determine the covariance matrix of the frequency domain received signal; a coarse estimation unit, configured to perform DFT processing on the first column of the covariance matrix to determine a coarse estimation result of TOA of the indoor area antenna receiving signal arriving at the two receiving antennas; A fine estimation unit, configured to construct a phase compensation matrix, determine an estimated value of an optimal phase compensation factor, and determine a fine TOA estimation result of the two receiving antennas based on a rough TOA estimation result and the estimated value of the optimal phase compensation factor; An estimation result determination unit is used to pair the TOA estimation values ​​in the TOA precise estimation results of the two receiving antennas and determine the DOA estimation result based on the arrival time difference of the signal received by the indoor area antenna to the two receiving antennas; An indoor positioning unit is used to determine the positioning information of the indoor regional power distribution unit according to the DOA estimation result.

8. The power distribution topology generation device based on BeiDou ultra-wideband joint positioning according to claim 7, characterized in that: The positioning information acquisition module includes: An outdoor data receiving unit, configured to receive source signal data of the outdoor regional power distribution unit via a Beidou navigation satellite; the Beidou system includes Beidou navigation satellites and a positioning server; an outdoor data transmission unit, configured to transmit the source signal data of the outdoor area power distribution unit to the positioning server via a cellular network; The outdoor positioning unit is used for the positioning server to generate the spatial coordinates of the outdoor area power distribution unit according to the source signal data of the outdoor area power distribution unit and determine the positioning information of the outdoor area power distribution unit.

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