A 5G+Beidou-based transmission tower large-span deformation monitoring system and method

Abstract

Aiming at the demand for accurate monitoring and evaluation of the relative positions between long-span towers, the present invention discloses a 5G-based Beidou monitoring system and method for long-span deformation monitoring of transmission towers: two Beidou monitoring sensors based on 5G communication are respectively placed on the top of the long-span tower 1 and tower 2, which have built-in inertial MEMS sensors, temperature sensors, micro-kernel processors, embedded Beidou solution software and 5G communication modules; the Beidou monitoring sensors contain an embedded Beidou solution software that can process Beidou, inertial sensor and temperature sensor data in real time; the Beidou solution software can transmit the tower safety status results to the remote data management center through 5G communication in real time for real-time display and early warning.

Description

Technical Field

[0001] The present invention belongs to the technical method in the field of high-voltage transmission line safety monitoring and operation and maintenance, and also involves the field of Beidou high-precision positioning technology and the field of 5G data communication. Specifically, it relates to a large-span deformation monitoring system and method for transmission towers based on 5G+Beidou. Background Art

[0002] High-voltage transmission lines transport electricity over long distances, crossing rivers in some areas and at key transportation hubs. To ensure adequate insulation safety distances and minimize impacts on traffic and shipping, large-span towers are typically built tall and spaced farther apart. This results in long conductors between the towers, placing significant traction forces on the towers. In areas with severe weather conditions and potential geological hazards, large-span towers warrant significant monitoring and attention. Current technology primarily uses online monitoring sensors to monitor these critical towers in real time. These sensors typically include conductor stress sensors, ice sensors, video cameras, and temperature sensors, while BeiDou / GNSS sensors are installed at the tower base. While these sensors provide some insight into tower characteristics, they lack sufficient information on relative deformation between the towers due to wind-induced vibrations of the transmission lines and thermal expansion, making it difficult to accurately determine the real-time relative position changes of large-span towers.

[0003] Currently, the application of Beidou technology in tower deformation monitoring primarily focuses on monitoring tower subsidence caused by geological disasters, requiring accuracy of several millimeters or even 1 cm. However, deformation at the top of long-span towers due to factors such as conductor sway and thermal expansion can reach as much as 10 cm. Furthermore, these interfering factors exhibit periodic variations, making them difficult to eliminate using conventional numerical averaging and filtering methods.

[0004] For large-span transmission towers, the real-time changing characteristics and trends of the relative position of the tower top are of great reference value to the overall safe operation of the tower. Current sensor monitoring technology has not yet seen a method to monitor and extract this important parameter.

[0005] With the gradual maturity of 5G communication technology, it has low cost and broad application prospects in Beidou / GNSS data transmission and related sensor integration applications, making the application of Beidou real-time monitoring technology more extensive. The present invention relates to the integrated application scenarios of Beidou technology and 5G. Summary of the Invention

[0006] Aiming at the demand for accurate monitoring and evaluation of the relative positions between large-span towers, this paper proposes a method for monitoring the deformation of large-span transmission towers based on 5G Beidou monitoring.

[0007] The current Beidou high-precision positioning sensors are able to integrate inertial MEMS devices to support real-time output of the sensor's three-dimensional motion posture. They can also integrate temperature sensors for real-time ambient temperature perception. Based on the integration of these technologies, the periodic swing characteristics of the top of the high-voltage transmission tower can be monitored with high precision, and the periodicity and spectral characteristics of its deformation characteristics can be extracted.

[0008] A large-span deformation monitoring system for transmission towers based on 5G+Beidou is characterized by including Beidou monitoring modules respectively arranged on the top of two adjacent towers. The Beidou monitoring module includes several monitoring units for monitoring tower data, a micro-kernel processor for processing detection data, and a 5G+ communication module for data communication.

[0009] In the above system, several monitoring units include

[0010] BeiDou / GNSS receivers for real-time collection and transmission of tower BeiDou monitoring data;

[0011] Inertial MEMS sensors used to collect and transmit tower vibration frequency and amplitude data in real time;

[0012] Temperature sensor used to collect and transmit real-time ambient temperature data at the top of the tower.

[0013] In the above system, the micro-kernel processor is provided with an embedded software platform for receiving monitored tower data and performing Beidou differential data preprocessing and data solving to obtain deformation monitoring calculation results.

[0014] The above system also includes a remote data management center, which receives the calculated results of deformation monitoring in real time and transmits them to the remote data management center. The deformation results are displayed at the data management center. The data center sets the deformation value threshold and the tower vibration state threshold. When the threshold is exceeded, a disaster warning notification is issued in real time.

[0015] A method for monitoring deformation of a large-span transmission tower based on 5G+Beidou, applicable to the above-mentioned device, is characterized in that:

[0016] The GNSS three-dimensional baseline coordinates of two adjacent towers are transformed, and the three-axis rotation angle parameters of the Beidou sensor and the rotation component values ​​of the inertial MEMS sensor in this coordinate system are calculated based on them;

[0017] Collect Beidou monitoring data of two adjacent towers, tower vibration frequency, tower amplitude data and tower top ambient temperature data;

[0018] The received tower vibration and ambient temperature data are used to preprocess and solve Beidou differential data.

[0019] In the above monitoring method, when performing coordinate conversion, the horizontal distance between two adjacent towers is defined as the X-axis, the axis perpendicular to the X-axis on the horizontal plane and in accordance with the right-hand rule is defined as the Y-axis, and the axis perpendicular to the horizontal plane is defined as the Z-axis;

[0020] The three-axis coordinate conversion parameters, i.e. the three-axis rotation angle parameters, are calculated through the measured coordinates of the tower top;

[0021] The three-axis orientation of the inertial MEMS device is measured, and the rotational component of the angular momentum measured by the inertial MEMS device in the rectangular coordinate system of the adjacent tower is obtained through coordinate transformation calculation.

[0022] In the above monitoring method, the calculation of the three-axis rotation parameters of the local rectangular coordinate system of the two towers specifically includes:

[0023] The phase center of the GNSS antenna on Tower 1 is selected as the starting point of the plane rectangular coordinate system, and the WGS84 coordinates measured by GNSS on Tower 1 are projected into the plane rectangular coordinate system.

[0024] According to the baseline solution between tower 1 and tower 2, the three-axis rotation parameters θ, Φ, Then, the three-parameter transformation model is used to transform the rectangular coordinates of the baseline solution into the local rectangular coordinate system between Tower 1 and Tower 2.

[0025] In the above monitoring method, the three-axis rotation components of the MEMS are ensured to be consistent with the local coordinate systems of the two towers, including:

[0026] According to the rotation angle parameters of the rectangular coordinate system of Tower 1-Tower 2, the installation position, horizontal and tilt azimuth angles of the GNSS receivers on Tower 1 and Tower 2 are set so that the built-in rectangular coordinate system of the MEMS device is consistent with the local rectangular coordinate system of Tower 1-Tower 2.

[0027] In the above monitoring method, during pretreatment:

[0028] The GNSS baseline solution is projected onto the local rectangular coordinate system of Tower 1 and Tower 2, and its time-series monitoring results are similarly reduced. The three-dimensional baseline vector x projected onto Tower 1 and Tower 2 represents the increase or decrease in the horizontal distance between Tower 1 and Tower 2, y represents the increase or decrease in the distance perpendicular to the horizontal distance between Tower 1 and Tower 2 on the horizontal plane, and z represents the increase or decrease in the height of the vertical line from the ground surface toward the distance between Tower 1 and Tower 2.

[0029] Therefore, the present invention has the following advantages: first, through coordinate system conversion, the relative displacement information between large-span towers can be effectively extracted, which facilitates the monitoring and early warning system to intuitively analyze the stress and vibration conditions of the towers corresponding to the deformation monitoring results; second, the three axial vibration results obtained by the MEMS sensor can be deeply integrated with the GNSS monitoring results after coordinate transformation, so that the deformation cycle caused by vibration can be eliminated in real time in the GNSS deformation monitoring time series results, providing important guarantees for real-time disaster warning; finally, the thermal expansion effect of the tower's daily and annual cycles is corrected through the results of the on-site ambient temperature sensor, which can eliminate its thermal expansion noise and obtain high-precision horizontal and vertical displacement of the tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the Beidou monitoring module based on 5G communication.

[0031] Figure 2 This is a schematic diagram of the deployment of Beidou monitoring modules based on 5G communication on the long-span tower 1 and tower 2.

[0032] Figure 3 This is a schematic diagram of the Beidou / GNSS three-dimensional space baseline and local rectangular coordinate system between Tower 1 and Tower 2.

[0033] Figure 4 This is a flow chart of the Beidou monitoring method for large-span deformation monitoring of transmission towers based on 5G. DETAILED DESCRIPTION

[0034] In order to illustrate the technical methods and implementation schemes of the present invention in detail and to highlight the technical goals, technical advantages and results that can be achieved by the present invention, the present invention is described in detail below with reference to the accompanying drawings and examples.

[0035] In one embodiment, a method for monitoring deformation of a transmission tower over a long span based on 5G Beidou monitoring is provided. Figure 4 As shown, the following steps are included:

[0036] S1: Deployment of Beidou sensors on large-span towers and conversion of GNSS three-dimensional baseline coordinates between towers

[0037] In the embodiment of the present invention, Beidou sensors are arranged on the long-span iron tower as follows: Figure 2As shown, the sensors are arranged at the top of the long-span tower 1 and the tower 2, forming a three-dimensional spatial baseline between the two sensors. As for the Beidou system, the baseline uses the geocentric rectangular coordinate system, which uses the north and south poles as the polar axes and defines the horizontal plane on the equatorial plane. This coordinate system is difficult to use for extracting the relative deformation of the long-span towers and the deformation of the towers themselves during vibration and thermal expansion cycles. In order to solve this problem, the present invention proposes to establish a local rectangular coordinate system between the long-span towers 1 and 2, such as Figure 3 As shown in the diagram, the horizontal distance between sensor 1 and sensor 2 is defined as the X-axis, the axis perpendicular to the X-axis in the horizontal plane and conforming to the right-hand rule is defined as the Y-axis, and the axis perpendicular to the horizontal plane is defined as the Z-axis. This coordinate system differs from the BeiDou / GNSS coordinate system in terms of three-axis coordinate conversion. After installing the BeiDou sensors, the three-axis coordinate conversion parameters, namely the three-axis rotation angle parameters, can be calculated using the measured top coordinates of Tower 1 and Tower 2 and then substituted into the BeiDou embedded solution software.

[0038] It should be pointed out that the calculation of the three-degree-of-freedom angular momentum of the inertial MEMS device also needs to be converted into the rectangular coordinate system of Tower 1 and Tower 2. This requires pre-setting the orientation of the three axes of the MEMS device inside the Beidou sensor. When installing the Beidou sensor, the three-axis orientation of the inertial MEMS device must be accurately measured, and the rotational component of the angular momentum measured by the inertial MEMS device in the rectangular coordinate system of Tower 1 and Tower 2 can be obtained through coordinate conversion calculation.

[0039] S2: Embedded BeiDou / GNSS data solution and processing

[0040] In the embodiment of the present invention, the main functions of the embedded Beidou solution software platform are as follows: Figure 4 As shown in S2, it includes the real-time collection and transmission of BeiDou / GNSS data on Tower 1 and Tower 2, the real-time collection and transmission of inertial MEMS data, and the real-time collection and transmission of temperature sensors. These steps are integrated and processed by the embedded software in the BeiDou monitoring sensor, and its data comes from the relevant models in the sensor, such as Figure 1 As shown in the figure, the Beidou receiver is responsible for real-time collection of Beidou monitoring data, the inertial MEMS sensor is responsible for real-time collection of tower vibration frequency, amplitude and other data, the temperature sensor is responsible for real-time collection of ambient temperature data at the top of the tower, and the embedded software platform is deployed in the microkernel processor of the Beidou sensor, which is responsible for the preprocessing of Beidou differential data and the corresponding software solution.

[0041] Specifically, the BeiDou / GNSS receiver collects and transmits BeiDou monitoring data in real time, transmits the original GNSS data to another receiver via 5G communication, and then performs differential observation to obtain the short baseline vector of Tower 1-Tower 2. By converting the WGS84 coordinate system to the plane rectangular coordinate system, the coordinates of Tower 1-Tower 2 are converted to the plane rectangular coordinate system. Then, based on the baseline vector of Tower 1-Tower 2 in the plane rectangular coordinate system, the three-axis rotation parameters θ, Φ, and θ of the local rectangular coordinate system of Tower 1-Tower are calculated. Select Tower 1 as the common 0 point of the two coordinate systems, and use the three-parameter conversion formula.

[0042]

[0043] In the above formula, x, y, and z are the three-dimensional vectors of the local rectangular coordinate system of Tower 1 and Tower 2; X, Y, and Z are the coordinates of Tower 1 and Tower 2 converted from the WGS84 coordinates to the plane rectangular coordinate system; R is the three-dimensional rotation matrix, which is obtained by multiplying the matrix composed of the three rotation parameters. Its calculation formula is as follows:

[0044]

[0045] Among them, R1, R2, and R3 are three rotation angle parameters θ, Φ, The matrix formed.

[0046] After the conversion of formula 1, the baseline vector of tower 1-tower 2 is converted into the local rectangular coordinate system of tower 1-tower 2, as shown in the attached figure. Figure 3 shown.

[0047] Inertial MEMS sensors collect and transmit tower vibration frequency and amplitude data in real time. This data is also converted into vibration frequency and amplitude data in the local rectangular coordinate system of Tower 1 and Tower 2 through Formula 1. This is used to eliminate high-frequency vibration error signals in the baseline time series observation results of the two towers and obtain real-time deformation information of the towers.

[0048] The temperature sensor collects and transmits the ambient temperature data at the top of the tower in real time. Using the daily monitoring results, the daily temperature change cycle curve of Tower 1 and Tower 2 is extracted. Through the daily cycle spectrum extraction method, the spectrum characteristics of the daily temperature cycle of Tower 1 and Tower 2 are used to extract the daily cycle deformation results in the GNSS deformation monitoring results, and the periodic term is eliminated to improve the accuracy index of the GNSS deformation monitoring results. S3: Remote Data Management Center Monitoring and Early Warning

[0049] In the embodiment of the present invention, the main functions of the remote data management center monitoring and early warning are as follows: Figure 4As shown in S3, towers 1 and 2 transmit the calculation results of deformation monitoring to the remote data management center respectively, and the deformation results are displayed in the data management center. The data center sets the deformation value threshold and the tower vibration state threshold. When the threshold is exceeded, a disaster warning notification is issued in real time.

[0050] The various technical features of the embodiments described above can be appropriately combined. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several variations and improvements can be made, which all fall within the scope of protection of this application.

Claims

1. A method for monitoring large-span deformation of transmission towers based on 5G+Beidou, characterized in that: The GNSS three-dimensional baseline coordinates of two adjacent towers are converted, and the three-axis rotation angle parameters of the Beidou sensor and the rotation component values ​​of the inertial MEMS sensor in the coordinate system are calculated based on them; Collect Beidou monitoring data of two adjacent towers, tower vibration frequency, tower amplitude data, and tower top ambient temperature data; The received tower vibration and ambient temperature data are used to pre-process Beidou differential data and perform data solution. The data solution includes real-time collection and transmission of Beidou / GNSS data, inertial MEMS data, temperature sensor data, and an algorithm to eliminate tower vibration periodicity and thermal expansion periodicity. When performing coordinate conversion, the horizontal distance between two adjacent towers is defined as the X-axis, the axis perpendicular to the X-axis on the horizontal plane and in accordance with the right-hand rule is defined as the Y-axis, and the axis perpendicular to the horizontal plane is defined as the Z-axis. The three-axis coordinate conversion parameters, i.e. the three-axis rotation angle parameters, are calculated through the measured coordinates of the tower top; Measure the three-axis orientation of the inertial MEMS device and obtain the rotational component of the angular momentum measured by the inertial MEMS device in the rectangular coordinate system of the adjacent tower through coordinate transformation calculation; Calculation of the three-axis rotation parameters of the local rectangular coordinate system of the two towers specifically includes: The phase center of the GNSS antenna on Tower 1 is selected as the starting point of the plane rectangular coordinate system, and the WGS84 coordinates measured by GNSS on Tower 1 are projected into the plane rectangular coordinate system. Based on the baseline solution between Tower 1 and Tower 2, the three-axis rotation parameters θ, Φ, and φ are calculated. Then, using the three-parameter conversion model, the rectangular coordinates of the baseline solution are converted to the local rectangular coordinate system between Tower 1 and Tower 2. Ensure that the three-axis rotation components of the MEMS are consistent with the local coordinate systems of the two towers, including: According to the rotation angle parameters of the rectangular coordinate system of Tower 1-Tower 2, the installation position, horizontal and tilt azimuth angles of the GNSS receivers on Tower 1 and Tower 2 are set so that the built-in rectangular coordinate system of the MEMS device is consistent with the local rectangular coordinate system of Tower 1-Tower 2; Select Tower 1 as the common 0 point of the two coordinate systems, and use the three-parameter conversion formula. (1) In the above formula, x, y, and z are the three-dimensional vectors of the local rectangular coordinate system of Tower 1 and Tower 2; X, Y, and Z are the coordinates of Tower 1 and Tower 2 converted from the WGS84 coordinates to the plane rectangular coordinate system; R is the three-dimensional rotation matrix, which is obtained by multiplying the matrix composed of the three rotation parameters. The calculation formula is as follows: (2) in , , It is a matrix composed of three rotation parameters θ, Φ, and φ.

2. The monitoring method according to claim 1, characterized in that: During preprocessing: The GNSS baseline solution is projected onto the local rectangular coordinate system of Tower 1 and Tower 2, and its time-series monitoring results are similarly reduced. The three-dimensional baseline vector x projected onto Tower 1 and Tower 2 represents the increase and decrease in the horizontal distance between Tower 1 and Tower 2, y represents the increase and decrease in the distance perpendicular to the horizontal distance between Tower 1 and Tower 2 on the horizontal plane, and z represents the increase and decrease in the height of the vertical line from the ground surface toward the distance between Tower 1 and Tower 2.

3. A 5G+Beidou-based transmission tower large-span deformation monitoring system, based on the 5G+Beidou-based transmission tower large-span deformation monitoring method according to claim 1 or 2, characterized in that: It includes Beidou monitoring modules respectively arranged on the top of two adjacent towers. The Beidou monitoring module includes several monitoring units for monitoring tower data, a micro-kernel processor for processing detection data, and a 5G+ communication module for data communication.

4. The system according to claim 3, characterized in that Several monitoring units include BeiDou / GNSS receivers for real-time collection and transmission of tower BeiDou monitoring data; Inertial MEMS sensors used to collect and transmit tower vibration frequency and amplitude data in real time; Temperature sensor used to collect and transmit real-time ambient temperature data at the top of the tower.

5. The system according to claim 3, wherein: The micro-kernel processor is provided with an embedded software platform for receiving monitored tower data and performing Beidou differential data pre-processing and data solving to obtain deformation monitoring calculation results.

6. The system according to claim 4, characterized in that It also includes a remote data management center, which receives the calculated results of deformation monitoring in real time and transmits them to the remote data management center. The deformation results are displayed at the data management center. The data center sets the deformation value threshold and the tower vibration state threshold. When the threshold is exceeded, a disaster warning notification is issued in real time.

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