A transmission tower position monitoring system and method based on satellite communication

Abstract

The present application relates to a transmission tower position monitoring system and method based on satellite communication, and belongs to the field of satellite positioning technology. The present application includes: by using satellite communication technology to realize communication transmission between the controller and the differential base in areas with weak ground signals, the differential calibration data of the differential base can be effectively sent to the controller, and the carrier phase differential calculation is performed to obtain the final position data of the target; at the same time, in order to reduce the influence of the delay of the satellite communication link on the result, this scheme adds timestamp information to the original position data and the differential calibration data of the differential base, and realizes the precise matching of the original position data and the differential correction data through the matching of timestamps, thereby improving the accuracy of the positioning data.

Description

Technical Field

[0001] The present application belongs to the field of satellite positioning technology, and specifically relates to a transmission tower position monitoring system and method based on satellite communication. Background Art

[0002] Transmission line towers are operated outdoors for a long time and are susceptible to minor displacements, settlements and deformations due to heavy rainfall and debris flow disasters, which can lead to power outages in severe cases. Especially in mountainous and hilly areas where geological disasters are prone to occur, it is difficult for personnel to reach them during daily inspections, and changes in the position of transmission towers cannot be discovered in time. In severe cases, tower collapse may even occur, greatly affecting the stable operation of the line.

[0003] At present, Beidou online monitoring devices are widely used to monitor the position changes of pole towers. Centimeter-level position data collection is achieved by self-built base stations or using the position differential correction service provided by the CORS network. This method works well in plain areas. However, in areas with weak ground signals such as mountainous areas, it is difficult for personnel to set up base stations due to the terrain environment. High-precision position monitoring based on the CORS network relies heavily on ground communication means such as 4G for differential correction data transmission, and cannot perform position differential correction in weak signal areas. At present, there is still a lack of effective monitoring means for the position monitoring of pole towers in such areas.

[0004] With the development of satellite communication technology, communication satellites such as low-orbit satellites and high-throughput satellites have been widely used, and their application areas are constantly expanding. They can serve as an effective supplement to ground communication networks. Since the delay of satellite communication links is more than 2 seconds, direct use for position correction is likely to lead to increased errors. Summary of the invention

[0005] Therefore, the present application provides a transmission tower position monitoring system and method based on satellite communication, which is used to solve the problem in the prior art that the differential correction service cannot effectively transmit differential calibration data in areas with weak ground signals, resulting in the inability to effectively monitor the precise position of the tower in weak signal areas. At the same time, it solves the problem that when using satellite communication technology, direct use for position correction is prone to large errors due to the delay of the satellite communication link.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] A transmission tower position monitoring system based on satellite communication, the system comprising:

[0008] Beidou positioning and timing module: used to receive Beidou satellite information and output the original position data and timing data of the target;

[0009] Controller: used to receive the original position data and timing data of the target at a certain frequency, add timestamp information to the original position data according to the timing data, and send it to the differential base;

[0010] It is also used to match the original position data with the differential calibration data according to the differential calibration data with time stamp information returned by the differential base, and to perform carrier phase differential calculation according to the original position data and the differential calibration data matched therewith, so as to obtain the final position data of the target;

[0011] Satellite communication module: used to realize satellite communication between the controller and the differential base;

[0012] Differential base: used to receive the original position data with timestamp sent by the controller, query the corresponding differential calibration data according to the timestamp of the original position data, and send the differential calibration data and the corresponding timestamp to the controller.

[0013] Preferably,

[0014] The differential base queries the corresponding differential calibration data according to the timestamp of the original position data, including:

[0015] Each differential calibration data in the differential base corresponds to a timestamp information. After receiving the original position data with the timestamp information sent by the controller, the differential base extracts the timestamp information therein, and obtains the differential calibration data corresponding to the original position information based on the minimum time difference between the timestamp information of the differential calibration data and the timestamp information of the original position data;

[0016] The controller matches the original position data with the differential calibration data according to the differential calibration data with time stamp information returned by the differential base, including:

[0017] According to the timestamp information of the differential calibration data, the original position data is matched with the differential calibration data with the time difference between the timestamp of the differential calibration data and the timestamp of the original position data being the smallest as a standard.

[0018] Preferably, it also includes:

[0019] Memory: used to store the original location data with timestamp information;

[0020] The memory uses a storage medium in which data is not lost when power is off;

[0021] After receiving the differential calibration data with time stamp information returned by the differential base, the controller matches the original position data with the differential calibration data according to the original position data with time stamp information stored in the memory.

[0022] Preferably,

[0023] The satellite antenna of the satellite communication module is a rod-shaped antenna with a communication rate of not less than 9.6 kbps, and is used to connect to a narrowband Internet of Things communication satellite.

[0024] Preferably,

[0025] The Beidou positioning and timing module is used to receive Beidou-2 or Beidou-3 information.

[0026] A method for monitoring the position of a power transmission tower based on satellite communication, the method is based on the above-mentioned system for monitoring the position of a power transmission tower based on satellite communication, and the method comprises:

[0027] Obtain the original position data of the target and the corresponding timing data through the Beidou satellite system;

[0028] Add timestamp information to the original position data based on the timing data and send it to the differential base via satellite communication;

[0029] In the differential base, query the corresponding differential calibration data according to the timestamp information of the original position data;

[0030] Matching the original position data with the differential calibration data according to the timestamp information of the differential calibration data and the timestamp information of the original position data;

[0031] The carrier phase differential calculation is performed based on the matched original position data and differential calibration data to obtain the final position data of the target.

[0032] Preferably,

[0033] The step of querying the corresponding differential calibration data according to the timestamp information of the original position data in the differential base includes:

[0034] According to the timestamp information of the original position data, the timestamp information of the differential calibration data having the smallest time difference with the timestamp information of the original position data is queried, and the differential calibration data corresponding to the timestamp information matches the original position data.

[0035] Preferably,

[0036] The original position data of the target and the corresponding timing data obtained through the Beidou satellite system include:

[0037] The original position data of the target and the corresponding timing data are obtained through BeiDou-2 or BeiDou-3.

[0038] Preferably,

[0039] The original position data of the target and the corresponding timing data are obtained at a fixed frequency through BeiDou-2 or BeiDou-3.

[0040] Preferably,

[0041] Sending the original position data with time stamp information to the differential base via satellite communication includes:

[0042] The original location data with timestamp information is sent to the differential base via the satellite communication network based on the Ntrip protocol.

[0043] This application adopts the above technical solution, which has at least the following beneficial effects:

[0044] The present application uses satellite communication technology to achieve communication transmission between the controller and the differential base in areas where the ground signal is weak. The differential calibration data of the differential base can be effectively sent to the controller, and the carrier phase differential calculation is performed to obtain the final position data of the target. At the same time, in order to reduce the impact of the delay of the satellite communication link on the result, the present solution adds timestamp information to the original position data and the differential calibration data of the differential base, and achieves accurate matching of the original position data and the differential correction data through matching of the timestamps, thereby improving the accuracy of the positioning data.

[0045] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 is a system diagram of a transmission tower location monitoring system based on satellite communication according to an exemplary embodiment;

[0048] Figure 2 is a detailed device schematic diagram of a transmission tower position monitoring system according to another exemplary embodiment;

[0049] Figure 3 is a flow chart of a method for monitoring the location of a power transmission tower based on satellite communication according to an exemplary embodiment;

[0050] In the attached figure: 1- Beidou positioning and timing module, 2- satellite communication module, 3- controller, 4- memory, 5- differential base. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without creative work belong to the scope of protection of the present application.

[0052] Embodiment 1

[0053] See also Figure 1 , Figure 1 The present invention is a system diagram of a transmission tower position monitoring system based on satellite communication according to an exemplary embodiment. The transmission tower position monitoring system is applied in the field of satellite positioning technology. The transmission tower position monitoring system includes:

[0054] Beidou positioning and timing module 1: used to receive Beidou satellite information and output the original position data and timing data of the target;

[0055] Controller 3: used to receive the original position data and timing data of the target at a certain frequency, add timestamp information to the original position data according to the timing data, and send it to the differential base 5;

[0056] It is also used to match the original position data with the differential calibration data according to the differential calibration data with time stamp information returned by the differential base 5, and perform carrier phase differential calculation according to the original position data and the differential calibration data matched therewith, so as to obtain the final position data of the target;

[0057] Satellite communication module 2: used to realize satellite communication between the controller 3 and the differential base 5;

[0058] Differential base 5: used for receiving the original position data with timestamp sent by the controller 3, querying the corresponding differential calibration data according to the timestamp of the original position data, and sending the differential calibration data and the corresponding timestamp to the controller 3;

[0059] It can be understood that in the present application, in areas where the ground signal is weak, the Beidou satellite information is received through the Beidou positioning and timing module 1, and the original position data of the transmission tower and the timing data are output to the controller 3. The controller 3 receives the original position data and the timing data, and adds timestamp information to the original position data according to the timing data, and sends the original position data with the timestamp information to the differential base 5 through the satellite communication module 2. The differential base 5 queries its own differential calibration data according to the timestamp information in the original position data, and sends the differential calibration data and the corresponding timestamp to the controller 3. The controller 3 The original position data is matched according to the differential calibration data and the corresponding timestamp, and the carrier phase differential calculation is performed according to the matched original position data and the differential calibration data to obtain the final position data of the target; in this embodiment, by using satellite communication technology to realize the communication transmission between the controller 3 and the differential base 5 in areas with weak ground signals, the differential calibration data of the differential base 5 can be effectively sent to the controller 3, and the carrier phase differential calculation is performed to obtain the final position data of the target; at the same time, in order to reduce the impact of the delay of the satellite communication link on the result, this scheme adds timestamp information to the original position data and the differential calibration data of the differential base 5, and realizes the precise matching of the original position data and the differential correction data through the matching of the timestamp, thereby improving the accuracy of the positioning data.

[0060] It is worth emphasizing that before applying this system, device initialization is required. Device initialization includes Beidou positioning and timing module 1 initialization and satellite communication module 2 initialization. The Beidou positioning and timing module 1 initialization configures the output data type and frequency of the Beidou positioning and timing board card. The satellite communication module 2 initialization configures the destination IP address. The controller 3 establishes a network connection with the differential base 5.

[0061] Preferably,

[0062] The differential base 5 queries the corresponding differential calibration data according to the timestamp of the original position data, including:

[0063] Each differential calibration data in the differential base 5 corresponds to a timestamp information. After receiving the original position data with the timestamp information sent by the controller 3, the differential base 5 extracts the timestamp information therein, and obtains the differential calibration data corresponding to the original position information based on the minimum time difference between the timestamp information of the differential calibration data and the timestamp information of the original position data;

[0064] The controller 3 matches the original position data with the differential calibration data according to the differential calibration data with time stamp information returned by the differential base 5, including:

[0065] According to the timestamp information of the differential calibration data, the original position data is matched with the differential calibration data with the time difference between the timestamp of the differential calibration data and the timestamp of the original position data being the smallest as a standard;

[0066] It is understandable that in order to minimize the impact of the delay of the satellite communication link on the results, the original position data and differential calibration data at the same time are selected as much as possible. This is because in the satellite positioning process, the errors in different regions at the same time are roughly equal, that is, at the same time, the errors between the differential calibration data and the original position data are the closest. Therefore, when matching the original position data with the differential calibration data, the matching is performed on the principle of minimizing the timestamp time difference.

[0067] Preferably, it also includes:

[0068] Memory 4: used to store the original location data with timestamp information;

[0069] The memory 4 uses a storage medium in which data is not lost when power is off;

[0070] After receiving the differential calibration data with time stamp information returned by the differential base 5, the controller 3 matches the original position data with the differential calibration data according to the original position data with time stamp information stored in the memory 4;

[0071] It is understandable that if Figure 2 As shown, the memory 4 is used to store configuration parameters, original position data and corresponding timestamp information and working status data of the system 1. The memory 4 is a storage medium such as a flash or an SD card that does not lose data when power is off.

[0072] Preferably,

[0073] The satellite antenna of the satellite communication module 2 is a rod-shaped antenna with a communication rate of not less than 9.6 kbps, and is used to connect to a narrowband Internet of Things communication satellite;

[0074] It is understandable that if Figure 2 As shown, the satellite communication module 2 includes a satellite antenna and a satellite communication board. The satellite antenna of the satellite communication module 2 is a rod-shaped antenna with a communication rate of not less than 9.6 kbps. It can be connected to a narrowband Internet of Things communication satellite. By limiting the minimum communication rate of the satellite communication module 2, the delay error of the satellite communication caused by the communication rate can be reduced as much as possible.

[0075] Preferably,

[0076] The Beidou positioning and timing module 1 is used to receive Beidou-2 or Beidou-3 information;

[0077] It is understandable that if Figure 2As shown, the Beidou positioning and timing module 1 includes a Beidou antenna and a Beidou positioning and timing board. The Beidou positioning and timing board in the Beidou positioning and timing module 1 is connected to the controller 3, and can be configured according to the controller 3 to output original rough position information and time information at a specified frequency. The Beidou antenna receives information from Beidou-2 or Beidou-3. This is because my country's Beidou satellites include Beidou-1, Beidou-2 and Beidou-3, of which Beidou-1 has only four satellites with an accuracy of tens of meters. It is the first Beidou satellite in my country and is a product with immature technology. In other words, the use of Beidou-2 or Beidou-3 is limited to improve the accuracy of the original position data.

[0078] Embodiment 2

[0079] As attached Figure 3 As shown, this embodiment also provides a schematic flow chart of a method for monitoring the location of a transmission tower based on satellite communication, the method comprising:

[0080] S1, obtain the original position data of the target and the corresponding timing data through the Beidou satellite system;

[0081] S2, adds timestamp information to the original position data according to the timing data, and sends it to the differential base via satellite communication;

[0082] S3, querying the corresponding differential calibration data in the differential base according to the timestamp information of the original position data;

[0083] S4, matching the original position data with the differential calibration data according to the timestamp information of the differential calibration data and the timestamp information of the original position data;

[0084] S5, performing carrier phase differential calculation according to the matched original position data and differential calibration data to obtain the final position data of the target;

[0085] It can be understood that the present embodiment also provides a method for monitoring the position of a transmission tower based on satellite communication. In areas where the ground signal is weak, the original position data and the corresponding timing data of the target are obtained through the Beidou satellite system, and the timestamp information is added to the original position data according to the timing data. Since it is an area where the ground signal is weak, the original position data with the timestamp information is sent to the differential base through satellite communication technology. The differential base matches the original position data with the differential calibration data according to the timestamp information, and performs carrier phase differential calculation based on the matched original position data and differential calibration data to obtain the final position data of the target. In the present embodiment, by using satellite communication technology to realize the communication transmission between the controller and the differential base in areas where the ground signal is weak, the differential calibration data of the differential base can be effectively sent to the controller, and the carrier phase differential calculation is performed to obtain the final position data of the target. At the same time, in order to reduce the influence of the delay of the satellite communication link on the result, the present scheme adds timestamp information to the original position data and the differential calibration data of the differential base, and realizes the accurate matching of the original position data and the differential correction data through the matching of the timestamp, thereby improving the accuracy of the positioning data.

[0086] Preferably,

[0087] The step of querying the corresponding differential calibration data according to the timestamp information of the original position data in the differential base includes:

[0088] According to the timestamp information of the original position data, query the timestamp information of the differential calibration data with the smallest time difference with the timestamp information of the original position data, and the differential calibration data corresponding to the timestamp information matches the original position data;

[0089] It is understandable that in order to minimize the impact of the delay of the satellite communication link on the results, the original position data and differential calibration data at the same time are selected as much as possible. This is because in the satellite positioning process, the errors in different regions at the same time are roughly equal, that is, at the same time, the errors between the differential calibration data and the original position data are the closest. Therefore, when matching the original position data with the differential calibration data, the matching is performed on the principle of minimizing the timestamp time difference.

[0090] Preferably,

[0091] The original position data of the target and the corresponding timing data obtained through the Beidou satellite system include:

[0092] Obtain the original position data and corresponding timing data of the target through BeiDou-2 or BeiDou-3;

[0093] It is understandable that the Beidou satellite system includes Beidou-1, Beidou-2 and Beidou-3, of which Beidou-1 has only four satellites with an accuracy of tens of meters. It is the first Beidou satellite to appear in my country. In other words, the purpose of limiting the use of Beidou-2 or Beidou-3 is to improve the accuracy of the original position data.

[0094] Preferably,

[0095] Obtain the original position data and corresponding timing data of the target through BeiDou-2 or BeiDou-3 at a fixed frequency;

[0096] It is understandable that the original position data of the target and the corresponding timing data can be output according to a preset fixed frequency. When this method is applied, the user can obtain the real-time position of the transmission tower according to the preset frequency.

[0097] Preferably,

[0098] Sending the original position data with time stamp information to the differential base via satellite communication includes:

[0099] The original location data with timestamp information is sent to the differential base via the satellite communication network based on the Ntrip protocol;

[0100] It is understandable that when sending the original position data to the differential base through the satellite communication network, it needs to be implemented through the Ntrip protocol. The Ntrip protocol can transmit data in different formats. In addition to RTCM data, various data such as CMR, FKP, MAX, etc. can be transmitted as long as they comply with Ntrip's management regulations, and multiple users can access them simultaneously.

[0101] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0102] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" and "multiple" refers to at least two.

[0103] It should be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. In addition, the "connection" used here may include wireless connection; the wording "and / or" used includes any unit and all combinations of one or more associated listed items.

[0104] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0105] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0106] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0108] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0109] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0110] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A transmission tower location monitoring system based on satellite communication, characterized in that: The system comprises: Beidou positioning and timing module: used to receive Beidou satellite information and output the original position data and timing data of the target; Controller: used to receive the original position data and timing data of the target at a certain frequency, add timestamp information to the original position data according to the timing data, and send it to the differential base; It is also used to match the original position data with the differential calibration data according to the differential calibration data with time stamp information returned by the differential base, and to perform carrier phase differential calculation according to the original position data and the differential calibration data matched therewith, so as to obtain the final position data of the target; Satellite communication module: used to realize satellite communication between the controller and the differential base; Differential base: used to receive the original position data with timestamp sent by the controller, query the corresponding differential calibration data according to the timestamp of the original position data, and send the differential calibration data and the corresponding timestamp to the controller.

2. The system according to claim 1, characterized in that The differential base queries the differential calibration data corresponding to itself according to the timestamp of the original position data, including: Each differential calibration data in the differential base corresponds to a timestamp information. After receiving the original position data with the timestamp information sent by the controller, the differential base extracts the timestamp information therein, and obtains the differential calibration data corresponding to the original position data based on the minimum time difference between the timestamp information of the differential calibration data and the timestamp information of the original position data; The controller matches the original position data with the differential calibration data according to the differential calibration data with time stamp information returned by the differential base, including: According to the timestamp information of the differential calibration data, the original position data is matched with the differential calibration data with the time difference between the timestamp of the differential calibration data and the timestamp of the original position data being the smallest as a standard.

3. The system according to claim 2, characterized in that Also includes: Memory: used to store the original location data with timestamp information; The memory uses a storage medium in which data is not lost when power is off; After receiving the differential calibration data with time stamp information returned by the differential base, the controller matches the original position data with the differential calibration data according to the original position data with time stamp information stored in the memory.

4. The system according to claim 3, characterized in that The satellite antenna of the satellite communication module is a rod-shaped antenna with a communication rate of not less than 9.6 kbps, and is used to connect to a narrowband Internet of Things communication satellite.

5. The system according to claim 4, characterized in that The Beidou positioning and timing module is used to receive Beidou-2 or Beidou-3 information.

6. A method for monitoring the position of a transmission tower based on satellite communication, characterized in that: The method is based on a satellite communication-based transmission tower position monitoring system according to any one of claims 1 to 5, and the method comprises: Obtain the original position data of the target and the corresponding timing data through the Beidou satellite system; Add timestamp information to the original position data based on the timing data and send it to the differential base via satellite communication; In the differential base, query the corresponding differential calibration data according to the timestamp information of the original position data; Matching the original position data with the differential calibration data according to the timestamp information of the differential calibration data and the timestamp information of the original position data; The carrier phase differential calculation is performed based on the matched original position data and differential calibration data to obtain the final position data of the target.

7. The method according to claim 6, characterized in that The step of querying the corresponding differential calibration data according to the timestamp information of the original position data in the differential base includes: According to the timestamp information of the original position data, the timestamp information of the differential calibration data having the smallest time difference with the timestamp information of the original position data is queried, and the differential calibration data corresponding to the timestamp information matches the original position data.

8. The method according to claim 7, characterized in that The original position data of the target and the corresponding timing data obtained through the Beidou satellite system include: The original position data of the target and the corresponding timing data are obtained through BeiDou-2 or BeiDou-3.

9. The method according to claim 8, characterized in that The original position data of the target and the corresponding timing data are obtained at a fixed frequency through BeiDou-2 or BeiDou-3.

10. The method according to claim 9, characterized in that Sending the original position data with time stamp information to the differential base via satellite communication includes: The original location data with timestamp information is sent to the differential base via the satellite communication network based on the Ntrip protocol.

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