A multi-station lightning data screening and active self-optimization method

Abstract

The application discloses a multi-station thunder data screening and active self-optimization method, which comprises the following steps: obtaining original data; randomly selecting the original data to perform comprehensive positioning calculation to obtain temporary positioning results; cyclically checking the data quality of each data in the original data, i.e. removing the original data which may cause larger positioning errors through original data screening principles until no original data can be removed any more, and obtaining selected original data; in the selected original data, calculating the thunder position through any three-station combination, checking whether an obtuse angle exists in a triangle formed by the three-station combination, and judging whether the thunder position is outside the covering area of the triangle, if yes, the three-station combination is not a high-precision combination, and vice versa; selecting the calculation results of the high-precision combination from the calculation results of all three-station combinations, selecting the optimal solution through the least square method, and thus obtaining data with higher precision.

Description

Technical Field

[0001] This invention relates to the field of lightning location technology, and in particular to a method for filtering and actively self-optimizing multi-station lightning data. Background Technology

[0002] The power grid wide-area lightning and ground flash monitoring system inherits the comprehensive positioning concept of "time difference + direction" in lightning location calculation and proposes to realize the self-optimization technology of positioning and parameter calculation model. Traditional lightning location systems employ a fixed "time difference + direction" integrated location calculation method. This method calculates the location (coordinates) and time of lightning occurrence based on the direction and time of the lightning wave's arrival at the detection station and the station's Earth coordinate system coordinates. It then uses an electromagnetic wave propagation attenuation theory model to inversely calculate the lightning current and other related parameters. However, this approach suffers from several problems: First, as the system's monitoring network expands, the number of detection stations simultaneously detecting lightning signals increases, leading to more complex lightning wave propagation paths and introducing various detection errors into the location calculation, becoming a bottleneck affecting the system's accuracy. Second, considering that lightning waves propagate along the Earth's ellipsoid, the iterative calculation method introduces delays during periods of intense lightning activity and cannot meet the speed requirements for historical data analysis and processing. Finally, using a fixed lightning electromagnetic wave propagation model to calculate parameters such as lightning current results in significant deviations in lightning parameters calculated from different combinations of raw data, failing to guarantee consistency based on the source. Summary of the Invention

[0003] This invention provides a method for filtering and actively self-optimizing multi-station lightning data, which at least solves the technical problem in related technologies where the accuracy of location calculation of multi-station lightning data affects the calculation results.

[0004] According to one aspect of the present invention, a method for multi-station lightning data filtering and active self-optimization is provided, comprising:

[0005] Raw data was acquired during a lightning strike location calculation.

[0006] A temporary positioning result is obtained by randomly selecting raw data and performing comprehensive positioning calculations.

[0007] The data quality of each data point in the original data is checked repeatedly, that is, the original data that may cause large positioning errors is removed according to the original data screening principle.

[0008] Randomly select data from the data after removing the data to recalculate the lightning locations, and check the data quality again until no more original data can be removed, thus obtaining the selected original data;

[0009] In the selected raw data, the lightning location is calculated by combining any three stations. The presence of an obtuse angle in the triangle formed by the three stations is checked, and it is determined whether the lightning location is outside the triangle's coverage area. If so, the three-station combination is not a high-precision combination; otherwise, it is a high-precision combination.

[0010] The calculation results of the high-precision combination are selected from all the calculation results of the three-station combination, and the optimal solution is selected by the least squares method.

[0011] Optionally, calculating the lightning location using any combination of three stations includes: using the arrival time of the lightning wave to create a time difference between multiple detection stations; multiplying the time difference by the speed of light to obtain the corresponding distance difference; establishing a hyperbola equation on an ellipsoid using the distance difference; establishing three independent ellipsoidal hyperbola equations using the distance difference between the four detection stations; solving the three ellipsoidal hyperbola equations to obtain the geodetic coordinates of the unique intersection point of the three hyperbolas; and the geodetic coordinates of the unique intersection point are the coordinates of the lightning strike point.

[0012] Optionally, the raw data filtering principles include:

[0013] Prioritize selecting raw data labeled as Level 2 recognition;

[0014] Calculate the arrival time of the positioning results to each detection station, and discard the raw data that are less than 50km or more than 300km away from the positioning results;

[0015] The azimuth angle of the positioning result relative to each detection station is calculated, and raw data with a deviation from the actual arrival time greater than a set threshold are discarded.

[0016] Remove raw data whose deviation from the actual detected azimuth angle is greater than a set threshold;

[0017] Calculate the geometric topological relationship between the triangle formed by the three-station combination and the positioning results. If the triangle is obtuse or acute and the positioning point is outside the triangle, then discard the original data combination form.

[0018] Optionally, the parameters of the ellipsoid include: the necessary parameters of the global coordinate system WGS84 and the speed of light; the average radius of curvature of the station; the ellipsoidal distance between the stations and the geodetic azimuth.

[0019] Optionally, the temporary positioning results obtained by randomly selecting raw data for comprehensive positioning calculation include:

[0020] The approximate values ​​of the azimuth, distance, time of the lightning strike, and coordinates of the lightning strike point are calculated using the time data in the original data.

[0021] Based on the adjustment calculation method, and combining the azimuth solution, distance, lightning strike time, and approximate coordinates of the lightning strike point, the optimal location of the lightning strike point is determined.

[0022] Optionally, based on the adjustment calculation method, and combining the approximate values ​​of the azimuth, distance, time of the lightning strike, and coordinates of the lightning strike point, the optimal location of the lightning strike point is determined, including:

[0023] Determine the error equations, which include the distance error equation and the direction error equation;

[0024] Confirm the distance difference observation value in the distance error equation, and confirm the direction observation value in the direction error equation;

[0025] Among the observed direction values, direction values ​​are removed based on the principle of eliminating those with large errors.

[0026] The number of error equations is determined based on the number of direction values ​​after removing errors and the observation time;

[0027] Based on the determined number of error equations and the direction error equations, establish the composition method equations, solve the algorithm equations, and calculate the coordinates of the lightning strike point and the lightning strike time, thereby obtaining the optimal location of the lightning strike point, i.e., the temporary positioning result.

[0028] Optionally, the principles for eliminating direction values ​​with large errors include: the retained direction values ​​and the impact of the weighting of the direction values ​​on the adjustment results should match the errors of the time observations.

[0029] According to another aspect of the present invention, a multi-station lightning data filtering and active self-optimization system is also provided, comprising:

[0030] The raw data module is used to acquire raw data during a lightning point location calculation process;

[0031] The temporary positioning result calculation module is used to randomly select raw data for comprehensive positioning calculation to obtain temporary positioning results.

[0032] The raw data selection module is used to cyclically check the data quality of each data point within the raw data. That is, it removes raw data that may cause large positioning errors by using raw data screening principles; it then randomly selects data from the data after removing the data to recalculate the lightning location and checks the data quality again until no more raw data can be removed, thus obtaining the selected raw data.

[0033] The high-precision combination module is used to calculate the lightning location from selected raw data using any three-station combination. It checks whether the triangle formed by the three-station combination has an obtuse angle and determines whether the lightning location is outside the triangle's coverage area. If it is, the three-station combination is not a high-precision combination; otherwise, it is.

[0034] The optimal solution module is used to select the calculation results of the high-precision combination from the calculation results of all three-station combination forms, and select the optimal solution by least squares method.

[0035] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the multi-station lightning data filtering and active self-optimization method described in any one of the above embodiments.

[0036] According to another aspect of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program, when running, executes the multi-station lightning data filtering and active self-optimization method described in any one of the preceding embodiments.

[0037] Compared with existing technologies, the present invention has the following advantages:

[0038] In this embodiment of the invention, the method involves: acquiring raw data during a lightning point location calculation; randomly selecting raw data for comprehensive location calculation to obtain a temporary location result; cyclically checking the data quality of each data point within the raw data, i.e., removing raw data that may cause significant location errors through raw data screening principles; randomly selecting data from the removed data to recalculate the lightning location and checking the data quality again until no more raw data can be removed, thus obtaining selected raw data; calculating the lightning location using any three-station combination within the selected raw data, checking whether the triangle formed by the three-station combination has an obtuse angle, and determining whether the lightning location is outside the triangle's coverage area. If so, the three-station combination is not a high-precision combination; otherwise, it is a high-precision combination; selecting the calculation result of the high-precision combination from all three-station combination calculation results, and selecting the optimal solution using the least squares method, thereby obtaining data with higher accuracy and improving the accuracy of subsequent lightning location calculations.

[0039] Furthermore, by utilizing the arrival time (GPS time) of lightning electromagnetic waves observed by multiple detection stations at each station and the geodetic azimuth angle from the station to the lightning strike point, the location (coordinates) of the lightning strike point is calculated using the known coordinates of the stations within the Earth coordinate frame. Since the lightning location system has a wide distribution area, performing the calculation on an ellipsoid is more advantageous. This avoids the cumbersome projection and zone conversion required when calculating on the Gaussian plane, UTM plane, or Lambert plane, although the corresponding ellipsoidal model is very complex. Attached Figure Description

[0040] To more clearly illustrate the technical solution of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart of a multi-station lightning data filtering and active self-optimization method according to an embodiment of the present invention;

[0042] Figure 2 This is a calculation block diagram for integrated lightning location according to an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of distance and azimuth on an ellipsoidal surface according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the solution according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the solution according to an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of the solution according to an embodiment of the present invention. Detailed Implementation

[0047] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0049] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0050] Example 1

[0051] According to an embodiment of the present invention, an embodiment of a multi-station lightning data filtering and active self-optimization method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0052] like Figure 1 This is a flowchart of a multi-station lightning data filtering and active self-optimization method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0053] Step S10: Obtain raw data during a lightning point location calculation.

[0054] Step S20: Randomly select raw data to perform comprehensive positioning calculations to obtain temporary positioning results.

[0055] As an optional implementation, the time difference positioning calculation method randomly selects raw data for comprehensive positioning calculation to obtain a temporary positioning result. To establish the observation equation, the approximate coordinates of the lightning strike point should be calculated using the coordinates of the detection station and time observations, and then used to establish the corresponding distance difference and direction observation equations on the ellipsoid. Specifically, this includes:

[0056] Step S201: Determine the basic data, which are the parameter data of the ellipsoid.

[0057] Specifically, the parameters of the ellipsoid include: the necessary parameters of the global coordinate system WGS84 and the speed of light; the average radius of curvature of the station; the ellipsoidal distance between the stations and the geodetic azimuth.

[0058] ① Essential parameters of the global coordinate system WGS84 and the speed of light

[0059] C0 = 6399593.626 m--Radius of curvature of the meridian circle at the pole of the ellipsoid;

[0060] e 2 =0.006694379992 -- the square of the first eccentricity of the ellipsoid;

[0061] e' 2 =0.006739496745 -- the square of the second eccentricity of the ellipsoid;

[0062] C = 299792458 m / s -- speed of light.

[0063] ② Average radius of curvature of the station The expression is:

[0064]

[0065] in, Average latitude of the website:

[0066]

[0067] In the above formula, n is the number of websites, B i Let be the latitude of the i-th website.

[0068] ③ Ellipsoidal distance S between website points ij and the azimuth angle β ij calculate

[0069] like Figure 3 As shown, Figure 3 It represents the distance and azimuth on the ellipsoid, where i,j are the site points and N is the North Pole.

[0070] The geodetic coordinates of point i are: The geodetic coordinates of point j are:

[0071] l ij =L j -L i (3)

[0072] l ji =-l ij (4)

[0073]

[0074]

[0075]

[0076]

[0077]

[0078] Calculation instructions:

[0079] a. β needs to be calculated for all sites across the entire network. ij and β ji and The library is stored concurrently for later use, including Also stored in the warehouse for future use.

[0080] b. Equations (5) to (8) are symmetrical, grouped in pairs. When writing the program, only the odd numbers are written. For even numbers, simply swap the footnote numbers, that is, change the latitude of the two points. ij Simply reverse the sign.

[0081] c. The inverse functions of equations (5) to (7) all take the first quadrant, i.e., values ​​less than 90°.

[0082] d. Quadrant determination by equation (7):

[0083] When B j >B i hour

[0084] When B j <B i hour

[0085] e. Equation (8) takes the principal values ​​of the first quadrant and they are basically equal.

[0086] fS ij and S ji equal.

[0087] Step S202: Calculate the approximate values ​​of the azimuth, distance, time of the lightning strike, and coordinates of the lightning strike point using the time data in the original data.

[0088] As an optional embodiment,

[0089] ① Calculation of approximate azimuth of lightning strike point

[0090] like Figure 4 As shown, 1, 2, and 3 are the detection site points; P is the lightning strike point; N is the Earth's North Pole; S ij This represents the spherical distance (in units of length) between corresponding points. In spherical triangles 12P and 13P, σ... ij Let be the side of the spherical triangle. This is the azimuth angle.

[0091]

[0092]

[0093] Δσ 12p =σ 2p -σ1p ;Δσ 13p =σ 3p -σ 1p (12)

[0094]

[0095] In the above formula, T i This is the GPS time for the corresponding station.

[0096] from Figure 4 From the spherical triangle, we obtain:

[0097]

[0098] Substituting equations (11) to (13) into equation (14), and transforming them, we get:

[0099] A′sinβ 1p +B′cosβ 1p =C′ (15)

[0100] In the above formula

[0101]

[0102] In the above formula

[0103]

[0104] Equation (15) is a standard trigonometric equation, which can be solved to obtain:

[0105]

[0106] in,

[0107]

[0108] Equation (17) takes two values ​​within the range of 0° to 360°.

[0109]

[0110] Since equation (18) has two values, equation (20) also has a corresponding two values.

[0111] The azimuth of the lightning strike point calculated using equation (19) has two values, one of which is true and the other is false. The azimuth auxiliary method is used to eliminate the false value and retain the true value.

[0112] ② Method for determining the true value of azimuth angle

[0113] There are two methods to determine the true value of the azimuth angle.

[0114] First, when there are only three time observations, and more than one direction value is observed at the three stations, the formulas (10) to (20) are used to calculate the direction value using different combinations. The two values, plus β 1p The two values, and the station-direction observation value. A comparison is made, and the closest calculated direction value is selected as the true value for subsequent calculations. This method is only used in difficult situations where the number of time observations is 3; it is generally not used.

[0115] Second, when the number of time observations > 3, such as Figure 5 As shown, with 5 time observations, select a direction. The selection criterion for this basic direction is: for example, if β is selected... 1p The time difference ΔS 1ip With S 1i The difference should be relatively large, meaning the distance difference in the basic direction should not be close to the station distance value.

[0116] For example, select β according to the above conditions. 1p As the basic direction, the following complete combination can be made, and β can be calculated using formulas (10) to (20). 1p The direction value, each combination yields β. 1p The two values. This combination is:

[0117] (one):

[0118] (two):

[0119] Each of these combinations yields two βs. 1p The values ​​are given, one true and one false. All true values ​​are very close, with differences within a few degrees, while the false values ​​differ significantly. Based on this, β is determined. 1p The truth value of each is selected for subsequent calculations.

[0120] Calculation explanation: The above combined calculation can be performed by looping equations (10) to (20) when programming.

[0121] ③ Calculation of approximate distance to the strike point and approximate lightning strike time

[0122] Using the selected true value β of the azimuth angle above ip (e.g., β) 1p Use initial values ​​and form a graph as shown. Figure 6 The graph can be chosen arbitrarily, as long as it includes the stations for the selected azimuth angle. The solution is as follows:

[0123]

[0124]

[0125] In equation (22), the two equations are equivalent, and only one of them is needed. The results obtained by calculating with the two formulas are equal, which can verify the correctness of the calculation.

[0126] Approximate distance from the lightning strike point:

[0127]

[0128] Approximate time of lightning strike:

[0129]

[0130] Of course, we can also calculate the approximate distance from point P to other stations.

[0131] The actual distance and time can only be calculated after obtaining the final results. However, the approximate distance and time mentioned above differ very little from the true values. Because... and It is useless for subsequent calculations and can generally be disregarded.

[0132] ④ Calculation of approximate coordinates of the lightning strike point

[0133] The following calculations provide approximate coordinates of the lightning strike point. The error is generally within 1′ to 2′, and is used for subsequent calculations of accurate coordinate adjustment.

[0134]

[0135]

[0136] In the above two equations, the inverse function is: Equation (25) takes the principal value from 0 to 90°; the second term in Equation (26) takes the principal value according to its positive or negative sign.

[0137] Step S203: Based on the adjustment calculation method, and combining the azimuth solution, distance, lightning strike time, and approximate coordinates of the lightning strike point, determine the optimal location of the lightning strike point.

[0138] Specifically, such as Figure 2 As shown, step S203 includes:

[0139] Step S2031: Determine the error equations, which include the distance error equation and the direction error equation;

[0140] a. Distance difference error formula:

[0141]

[0142] b. Direction error equation

[0143]

[0144] In the above two equations, ρ″=206264.8062.

[0145] In equations (27) and (28):

[0146]

[0147]

[0148] -- is the geodetic azimuth angle between the approximate coordinates of the lightning strike point and points j and i.

[0149] and Let be the spherical distance between the approximate coordinates of the lightning strike point and points j and i.

[0150] above Formulas (3) to (23) should be used for calculation.

[0151] Step S2032: Confirm the distance difference observation value in the distance error equation, and confirm the direction observation value in the direction error equation.

[0152] Specifically, in equations (26) and (27), ΔS ijp For the distance difference observation, β ip These are directional observations.

[0153] Step S2033: Among the observed direction values, remove direction values ​​according to the principle of removing direction values ​​with large errors.

[0154] Specifically, if a certain number of direction values ​​are observed, then a certain number of direction error equations can be established according to equation (28). However, due to the influence of external conditions, some direction errors are too large (gross errors). If they are included in the adjustment calculation, they will bring large errors to the results. Therefore, it is necessary to remove direction values ​​with large errors. The principle of removal is that the influence of the retained direction values ​​and their weights on the adjustment results should match the errors of the time observation values. After estimation, the direction weight is assigned a value of 0.2 and the time weight is assigned a value of 1. The decision to keep or discard the direction values ​​depends on the magnitude of the constant term in the direction error equation. The absolute value of the constant term in the error equation listed according to equation (27) is:

[0155] Then this direction is eliminated.

[0156] Then this direction is retained.

[0157] Step S2034: Determine the number of error equations based on the number of direction values ​​after removing errors and the observation time.

[0158] Specifically, the number of direction error formulas = the number of direction observations r after removing gross errors, and the number of distance error formulas = the number of time observations n-1.

[0159] For ease of memorization, the distance error formula can be composed as follows.

[0160] Suppose that time was measured at n stations, and the station numbers are 1, 2, 3...n, then the error formula is as follows:

[0161] There are n-1 in total

[0162] Therefore, if r effective directions are retained and n time periods are observed, a total of r+n-1 effective error equations need to be formed to participate in the subsequent adjustment calculation.

[0163] Step S2035: Based on the determined number of error equations and direction error equations, establish the composition method equations, solve the algorithm equations, and calculate the coordinates of the lightning strike point and the lightning strike time to obtain the optimal location of the lightning strike point, i.e., the temporary positioning result.

[0164] Specifically, a. the above error equation can be expressed as:

[0165]

[0166] b. Under the condition that [PVV] = min, the normal equation is:

[0167]

[0168] In equation (31):

[0169]

[0170] Where P i For the weight, the direction error formula,

[0171] In the formula m Δt For time difference error, m Δs For distance error, m β For direction finding error, S ip For the corresponding side length, C is the speed of light, ρ is the curvature of the ellipsoid, and P is the distance error formula. i =1.

[0172] c. Solve the normal equations to find the coordinates of the lightning strike point and the time of the lightning strike:

[0173] Equation (31) is a system of linear equations symmetric on the main diagonal, which can be written as:

[0174]

[0175] The coefficients are simplified to:

[0176]

[0177] Solve equation (33), let:

[0178] G = AD - B 2 (35)

[0179] have to:

[0180]

[0181] The optimal coordinates of the lightning strike point P are:

[0182]

[0183] The time of the lightning strike was:

[0184]

[0185] Step S30: Iteratively check the data quality of each data in the original data, that is, remove the original data that may cause large positioning errors by using the original data screening principle.

[0186] As an optional implementation, the raw data screening principles include:

[0187] a) Prioritize selecting raw data labeled as Level 2 recognition (i.e., those that have passed a rigorous recognition model);

[0188] b) Calculate the arrival time of the positioning results to each detection station. The optimal detection distance of the detection station is between 50km and 300km. Therefore, raw data with a distance of <50km or >300km to the positioning results are discarded.

[0189] c) Calculate the azimuth angle of the positioning result relative to each detection station, and remove the raw data whose deviation from the actual arrival time is greater than the set threshold (which can also be understood as the deviation being too large, and the specific value is set as needed);

[0190] d) Remove raw data whose deviation from the actual detected azimuth angle is greater than the set threshold (which can also be understood as a large deviation, the specific value of which should be set as needed);

[0191] e) Calculate the geometric topological relationship between the triangle formed by the three-station combination and the positioning result. If the triangle is an obtuse or acute triangle and the positioning point is outside the triangle, then discard the original data combination form.

[0192] Step S40: Randomly select data from the data after removing the data to recalculate the lightning location, and check the data quality again until no more original data can be removed, thus obtaining the selected original data.

[0193] Step S50: In the selected raw data, calculate the lightning location by combining any three stations, check whether the triangle formed by the three station combinations has an obtuse angle, and determine whether the lightning location is outside the coverage area of ​​the triangle. If so, it means that the three station combinations are not high-precision combinations; otherwise, they are high-precision combinations.

[0194] As an optional embodiment, calculating the lightning location using any combination of three stations includes: using the arrival time of the lightning wave to create a time difference between multiple detection stations; multiplying the time difference by the speed of light to obtain the corresponding distance difference; establishing a hyperbola equation on an ellipsoid using the distance difference; establishing three independent ellipsoidal hyperbola equations using the distance difference between the four detection stations; solving the three ellipsoidal hyperbola equations to obtain the geodetic coordinates of the unique intersection point of the three hyperbolas; and the geodetic coordinates of the unique intersection point are the coordinates of the lightning strike point.

[0195] Step S60: Select the calculation results of the high-precision combination from all the calculation results of the three-station combination forms, and select the optimal solution by the least squares method.

[0196] Example 2

[0197] According to another aspect of the present invention, a multi-station lightning data filtering and active self-optimization system is also provided, the system comprising:

[0198] The raw data module is used to acquire raw data during a lightning point location calculation process;

[0199] The temporary positioning result calculation module is used to randomly select raw data for comprehensive positioning calculation to obtain temporary positioning results.

[0200] The raw data selection module is used to cyclically check the data quality of each data point within the raw data. That is, it removes raw data that may cause large positioning errors by using raw data screening principles; it then randomly selects data from the data after removing the data to recalculate the lightning location and checks the data quality again until no more raw data can be removed, thus obtaining the selected raw data.

[0201] The high-precision combination module is used to calculate the lightning location from selected raw data using any three-station combination. It checks whether the triangle formed by the three-station combination has an obtuse angle and determines whether the lightning location is outside the triangle's coverage area. If it is, the three-station combination is not a high-precision combination; otherwise, it is.

[0202] The optimal solution module is used to select the calculation results of the high-precision combination from the calculation results of all three-station combination forms, and select the optimal solution by least squares method.

[0203] This invention is not limited to the specific embodiments described above. The above are merely preferred embodiments of this invention and are not intended to limit the invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0204] Example 3

[0205] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute any of the above-described multi-station lightning data filtering and active self-optimization methods.

[0206] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals, and the computer-readable storage medium includes a stored program.

[0207] Optionally, during program execution, the device containing the computer-readable storage medium performs the following functions: During a lightning point location calculation, acquire raw data; randomly select raw data for comprehensive location calculation to obtain a temporary location result; cyclically check the data quality of each data point within the raw data, i.e., remove raw data that may cause significant location errors through raw data filtering principles; randomly select data from the removed data to recalculate the lightning position, and check the data quality again until no more raw data can be removed, obtaining selected raw data; in the selected raw data, calculate the lightning position using any three-station combination, check whether the triangle formed by the three-station combination has an obtuse angle, and determine whether the lightning position is outside the triangle's coverage area. If so, the three-station combination is not a high-precision combination; otherwise, it is a high-precision combination; select the calculation result of the high-precision combination from all three-station combination calculation results, and select the optimal solution using the least squares method.

[0208] Example 4

[0209] According to another aspect of the present invention, a processor is also provided for running a program, wherein the program executes the multi-station lightning data filtering and active self-optimization method described above.

[0210] This invention provides a device that includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of a multi-station lightning data filtering and active self-optimization method.

[0211] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0212] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0213] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interface, and the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0214] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0215] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0216] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0217] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for filtering and actively self-optimizing multi-station lightning data, characterized in that, include: Raw data was acquired during a lightning strike location calculation. A temporary positioning result is obtained by randomly selecting raw data and performing comprehensive positioning calculations. The temporary positioning results obtained by randomly selecting raw data for comprehensive positioning calculation include: The approximate values ​​of the azimuth, distance, time of the lightning strike, and coordinates of the lightning strike point are calculated using the time data in the original data. Based on the adjustment calculation method, and combining the approximate values ​​of the azimuth, distance, time of lightning strike, and coordinates of the lightning strike point, the optimal location of the lightning strike point is determined. This determination of the optimal location of the lightning strike point, based on the adjustment calculation method and combining the approximate values ​​of the azimuth, distance, time of lightning strike, and coordinates, includes: Determine the error equations, which include the distance error equation and the direction error equation; Confirm the distance difference observation value in the distance error equation, and confirm the direction observation value in the direction error equation; Among the observed direction values, direction values ​​are removed based on the principle of eliminating those with large errors. The number of error equations is determined based on the number of direction values ​​after removing errors and the observation time; Based on the determined number of error equations and the direction error equations, establish the composition method equations, solve the algorithm equations, and calculate the coordinates of the lightning strike point and the lightning strike time, thereby obtaining the optimal location of the lightning strike point, i.e., the temporary positioning result. The data quality of each data point in the original data is checked repeatedly, that is, the original data that causes large positioning errors is removed by filtering the original data according to the original data filtering principle. Randomly select data from the data after removing the data to recalculate the lightning locations, and check the data quality again until no more original data can be removed, thus obtaining the selected original data; In the selected raw data, the lightning location is calculated by combining any three stations. The triangle formed by the three stations is checked for obtuse angles, and it is determined whether the lightning location is outside the triangle's coverage area. If it is, the three-station combination is not a high-precision combination; otherwise, it is a high-precision combination. The calculation results of the high-precision combination are selected from all the calculation results of the three-station combination, and the optimal solution is selected by the least squares method.

2. The multi-station lightning data filtering and active self-optimization method according to claim 1, characterized in that, Calculating the location of a lightning strike using any three-station combination involves: utilizing the arrival time of the lightning wave to create a time difference between multiple detection stations; multiplying the time difference by the speed of light to obtain the corresponding distance difference; establishing a hyperbola equation on an ellipsoid using the distance difference; establishing three independent ellipsoidal hyperbola equations using the distance differences of the four detection stations; solving the three ellipsoidal hyperbola equations to obtain the geodetic coordinates of the unique intersection point of the three hyperbolas; and the geodetic coordinates of the unique intersection point are the coordinates of the lightning strike point.

3. The multi-station lightning data filtering and active self-optimization method according to claim 1, characterized in that, The principles for filtering the raw data include: The original data marked as Level 2 identification is selected first, and the original data of Level 2 identification has passed the strict identification model; Calculate the arrival time of the positioning results to each detection station, and discard the raw data that are less than 50km or more than 300km away from the positioning results; The azimuth angle of the positioning result relative to each detection station is calculated, and the original data with a deviation from the actual detection azimuth angle greater than a set threshold is discarded. Remove raw data whose deviation from the actual arrival time is greater than a set threshold; Calculate the geometric topological relationship between the triangle formed by the three-station combination and the positioning result. If the triangle is obtuse or acute and the positioning point is outside the triangle, then discard the original data combination form.

4. The multi-station lightning data filtering and active self-optimization method according to claim 2, characterized in that, The parameters of the ellipsoid include: the necessary parameters of the global coordinate system WGS84 and the speed of light; the average radius of curvature of the station; the ellipsoidal distance between the stations and the geodetic azimuth; the necessary parameters include the radius of curvature of the meridian of the ellipsoidal pole, the square of the first eccentricity of the ellipsoid, and the square of the second eccentricity of the ellipsoid.

5. The multi-station lightning data filtering and active self-optimization method according to claim 4, characterized in that, The principles for eliminating direction values ​​with large errors include: the retained direction values ​​and the impact of the weighting of direction values ​​on the adjustment results should match the errors of the time observations.

6. A multi-station lightning data filtering and active deregulation system, characterized in that, The method described by any one of claims 1-5 includes: The raw data module is used to acquire raw data during a lightning point location calculation process; The temporary positioning result calculation module is used to randomly select raw data for comprehensive positioning calculation to obtain temporary positioning results. The raw data selection module is used to cyclically check the data quality of each data point within the raw data. This involves filtering out raw data that causes significant positioning errors based on the raw data selection criteria. Then, data is randomly selected from the filtered data to recalculate the lightning location, and the data quality is checked again until no more raw data can be removed, thus obtaining the selected raw data. The high-precision combination module is used to calculate the lightning location from selected raw data using any three-station combination. It checks whether the triangle formed by the three-station combination has an obtuse angle and determines whether the lightning location is outside the triangle's coverage area. If it is, the three-station combination is not a high-precision combination; otherwise, it is. The optimal solution module is used to select the calculation results of the high-precision combination from the calculation results of all three-station combination forms, and select the optimal solution by least squares method.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the multi-station lightning data filtering and active self-optimization method according to any one of claims 1 to 5.

8. A processor, characterized in that, The processor is used to run a program, wherein the program executes the multi-station lightning data filtering and active self-optimization method according to any one of claims 1 to 5.

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