Transmission tower attitude monitoring method, device and equipment and storage medium

Abstract

The invention discloses a power transmission tower attitude monitoring method, device and equipment and a storage medium. The method comprises the following steps: determining antenna pose information of each positioning antenna according to a baseline vector of at least one positioning antenna relative to a reference antenna; determining target antenna attitude information and attitude correction information according to the attitude information of each antenna; acquiring inertial navigation positioning information, and correcting the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information; and determining tower attitude information of the target transmission tower according to the target antenna attitude information and the corrected inertial navigation positioning information. According to the technical scheme provided by the embodiment of the invention, a plurality of positioning antennas are placed for observation, and the attitude information of the target antenna is solved, so that the influence of observation conditions on observation is reduced, the influence of amplification of carrier phase double-difference errors is reduced, and meanwhile, the accumulated error of long-term operation of an inertial sensor device is reduced by using attitude correction information; therefore, the precision of power transmission tower attitude monitoring is improved.

Description

Technical Field

[0001] The present invention relates to the field of electric power Beidou positioning technology, and in particular to a transmission tower posture monitoring method, device, equipment and storage medium. Background Art

[0002] Transmission towers and lines are important infrastructure for large-scale and long-distance transmission of electric energy. The locations where towers are built are mostly in complex geological environments, and the deformation of towers caused by extreme weather and geological disasters will pose a great threat to the safety of the transmission towers themselves.

[0003] At present, the monitoring of the slight deformation of the transmission tower body mainly relies on advanced navigation and positioning technology, specifically, on Beidou satellite positioning, inertial measurement and other spatial attitude measurement technologies. By installing and fixing sensors with Beidou positioning and inertial measurement on the transmission tower, the tower attitude can be accurately measured, thereby determining the possible attitude change risks of the transmission tower.

[0004] However, due to the poor distribution of Beidou satellites observable by Beidou antennas and multipath effects, the attitude determination method that directly combines the Beidou positioning results with the inertial navigation positioning results will have large errors. In addition, inertial sensors are susceptible to the accumulation of their own errors during long-term operation, resulting in errors in the output results, thereby reducing the accuracy of monitoring the tower attitude. Summary of the invention

[0005] The present invention provides a transmission tower posture monitoring method, device, equipment and storage medium to solve the problem that a posture determination method that directly combines Beidou positioning results with inertial navigation positioning results will have large errors, and the inertial sensor is easily affected by the cumulative error of the inertial sensor itself during long-term operation, resulting in errors in the output results, thereby improving the accuracy of tower posture monitoring.

[0006] In a first aspect, an embodiment of the present invention provides a method for monitoring the posture of a transmission tower, the method comprising:

[0007] Determine antenna posture information of each positioning antenna according to a baseline vector of at least one positioning antenna relative to a reference antenna, wherein the positioning antenna and the reference antenna are arranged at the top of a target transmission tower and are parallel to the transmission line of the target transmission tower;

[0008] Determine target antenna attitude information and attitude correction information according to each of the antenna attitude information;

[0009] Acquire inertial navigation positioning information, and correct the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on output data of an inertial sensor installed on the target transmission tower;

[0010] The tower attitude information of the target transmission tower is determined according to the target antenna attitude information and the corrected inertial navigation positioning information.

[0011] In a second aspect, an embodiment of the present invention provides a transmission tower posture monitoring device, the device comprising:

[0012] An antenna posture information determination module is used to determine the antenna posture information of each positioning antenna according to the baseline vector of at least one positioning antenna relative to the reference antenna, wherein the positioning antenna and the reference antenna are arranged at the top of the target transmission tower and are parallel to the transmission line of the target transmission tower;

[0013] An attitude information determination module is used to determine the target antenna attitude information and attitude correction information according to each of the antenna posture information;

[0014] An information acquisition module, used to acquire inertial navigation positioning information, and correct the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on output data of an inertial sensor installed on the target transmission tower;

[0015] The tower attitude information determination module is used to determine the tower attitude information of the target transmission tower according to the target antenna attitude information and the corrected inertial navigation positioning information.

[0016] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0017] at least one processor;

[0018] and a memory communicatively coupled to the at least one processor;

[0019] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the transmission tower posture monitoring method described in any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the transmission tower posture monitoring method described in any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention is to determine the antenna posture information of each positioning antenna according to the baseline vector of at least one positioning antenna relative to the reference antenna, wherein the positioning antenna and the reference antenna are arranged at the top of the target transmission tower and are parallel to the transmission line direction of the target transmission tower; determine the target antenna attitude information and attitude correction information according to the antenna posture information; obtain inertial navigation positioning information, and correct the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on the output data of the inertial sensor installed on the target transmission tower; determine the tower attitude information of the target transmission tower according to the target antenna attitude information and the corrected inertial navigation positioning information. The technical solution of the embodiment of the present invention is adopted, by placing multiple positioning antennas for observation and solving the target antenna attitude information, the influence of observation conditions on observation is reduced, the influence of the amplification of the carrier phase double difference error is reduced, and the attitude correction information is used to reduce the cumulative error of the inertial sensor device in the long-term operation, thereby improving the accuracy of the transmission tower attitude monitoring.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a flow chart of a transmission tower posture monitoring method provided by an embodiment of the present invention;

[0025] Figure 2 It is a logic implementation diagram for determining the tower posture information of the target transmission tower applicable to the embodiment of the present invention;

[0026] Figure 3 It is a structural schematic diagram of a transmission tower posture monitoring device provided by an embodiment of the present invention;

[0027] Figure 4 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] It should be noted that due to the poor distribution of Beidou satellites observable by Beidou antennas and multipath effects, the attitude determination method that directly combines the Beidou positioning results with the inertial navigation positioning results will have large errors, and inertial sensors are susceptible to the accumulation of their own errors during long-term operation, resulting in errors in the output results, thereby reducing the accuracy of monitoring the tower attitude.

[0031] Based on this, an embodiment of the present invention provides a method for monitoring the posture of a transmission tower. Figure 1 A flow chart of a transmission tower posture monitoring method provided in an embodiment of the present invention. The embodiment of the present invention is applicable to the situation where the posture of a transmission tower is monitored. The method can be executed by a transmission tower posture monitoring device, which can be implemented in the form of software and / or hardware, and optionally, by an electronic device, which is preferably a mobile terminal, a desktop computer, a laptop computer, a server, etc.

[0032] like Figure 1 As shown, the transmission tower posture monitoring method provided in the embodiment of the present invention may specifically include:

[0033] S101. Determine antenna posture information of each positioning antenna according to a baseline vector of at least one positioning antenna relative to a reference antenna, wherein the positioning antenna and the reference antenna are arranged on top of a target transmission tower and are parallel to a transmission line of the target transmission tower.

[0034] The baseline vector can be understood as the space vector between a positioning antenna and a reference antenna in a dual-antenna positioning system. The length and direction of the vector can be determined by measuring the phase difference between the two antennas to the satellite. Antenna posture information can be considered as a collection of the position coordinate information of the positioning antenna and angle information such as heading angle and pitch angle. The target transmission tower can be understood as the transmission tower to be monitored.

[0035] In this embodiment, multiple positioning antennas can be placed on the top of the target transmission tower parallel to the transmission line direction of the target transmission tower, one of the positioning antennas is set as a reference antenna, and the remaining positioning antennas form multiple baseline vectors relative to the reference antenna. According to the observation equations observed by the positioning antennas at both ends of the baseline vector, such as the carrier phase double difference equation, the coordinate value of the baseline vector can be determined by the least squares method or the Kalman filter method, and the antenna posture information of the other positioning antennas can be determined by the coordinate value of the reference antenna.

[0036] Exemplarily, A Beidou positioning antennas are placed on the top of the transmission tower parallel to the direction of the transmission line, numbered from 0 to A-1. Suppose antenna No. 0 is the reference antenna, then Beidou positioning antennas No. 1 to A-1 can form A-1 baseline vectors relative to the reference antenna.

[0037] S102: Determine target antenna attitude information and attitude correction information based on the position and attitude information of each antenna.

[0038] Among them, the target antenna attitude information can be understood as the angle information of a target antenna obtained according to the posture information of multiple positioning antennas to characterize the unique observation value determined by multiple positioning antennas, and the target antenna attitude information includes a heading angle and a pitch angle. The attitude correction information can be considered as a set of angle information obtained through the posture information of each antenna that can guide the correction of the state value error of the heading angle and the pitch angle in the inertial sensor, and the attitude correction information includes a heading angle and a pitch angle.

[0039] In this embodiment, based on the antenna posture information of other positioning antennas except the reference antenna, the error elimination of multiple antenna posture information is performed, such as weighted averaging, so as to determine the target antenna posture information representing the unique observation value of multiple positioning antennas, and through the optimal value search algorithm, such as the traversal method, the intelligent algorithm, etc., the posture correction information that can guide the correction of the inertial sensor is determined.

[0040] S103, acquiring inertial navigation positioning information, and correcting the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on output data of an inertial sensor installed on the target transmission tower.

[0041] Among them, the inertial navigation positioning information can be understood as the data that the inertial sensor converts the measured acceleration and angular velocity of the object into electrical signals and converts them into numerical signal output through the processing circuit, including the heading angle and pitch angle, which are used to measure the attitude of the tower. Correcting the inertial navigation positioning information can be considered as correcting the errors caused by the long-term operation of the inertial sensor device through the attitude correction information, and the inertial navigation positioning information output by the corrected inertial sensor.

[0042] In this embodiment, data is collected from an inertial sensor (such as an accelerometer, a gyroscope) installed on a target transmission tower. The inertial sensor can measure the acceleration and angular velocity of the tower, and the inertial navigation positioning information of the tower, including the heading angle and the pitch angle, is calculated by the measured values. Then, the attitude correction information is input into the inertial sensor, and the attitude correction information is used as a reference value for the error feedback control in the inertial sensor. By applying a proportional, integral and differential (PID) control algorithm, the inertial sensor is adjusted to correct the heading angle and the pitch angle in the inertial navigation positioning information, and the corrected inertial navigation positioning information is obtained.

[0043] For example, an accelerometer can detect the acceleration of an object on the X, Y, and Z axes, including the acceleration caused by gravity. When the object is stationary, the accelerometer can measure the gravity component to determine the direction of the object relative to gravity. By measuring the gravity component on different axes, the object's attitude information, such as pitch angle and roll angle, can be calculated.

[0044] S104: Determine the tower attitude information of the target transmission tower according to the target antenna attitude information and the corrected inertial navigation positioning information.

[0045] The tower attitude information can be considered as a set of angle information that characterizes the tower attitude, including heading angle and pitch angle, which is used to determine whether the tower is deformed.

[0046] It should be noted that since the use of observable satellites alone for attitude measurement has limitations, such as low data update rate and poor anti-interference characteristics, in order to improve the accuracy of attitude measurement, inertial navigation positioning information can be used to assist observable satellites in attitude measurement.

[0047] In this embodiment, the target antenna attitude information and the corrected inertial navigation positioning information are fused through the Kalman filter algorithm to further correct the attitude measurement error, and finally obtain more accurate tower attitude information of the target transmission tower output by the Kalman filter algorithm.

[0048] For example, Figure 2 1 is a logic implementation diagram for determining the tower posture information of the target transmission tower applicable to the embodiment of the present invention. Figure 2As shown, by observing the observable satellites through the s21 multi-positioning antenna, the antenna posture information of each positioning antenna can be obtained; then, the antenna posture information of each antenna can be obtained by weighted averaging s22 to obtain the target antenna posture information, thereby reducing the error caused by the multi-positioning antenna observation, and at the same time, the antenna posture information of each antenna is passed through a traversal search algorithm s23 to obtain attitude correction information, which is used as a reference value for the error feedback control of the inertial sensor device, and the inertial positioning information output by the inertial sensor is corrected through s24 to obtain the corrected inertial navigation positioning information; finally, the target antenna posture information and the corrected inertial navigation positioning information are combined s25 to further correct the attitude measurement error, for example, the Kalman filter algorithm can be used for data fusion or other network models can be used for combination to determine more accurate tower posture information of the target transmission tower.

[0049] A transmission tower posture monitoring method provided by an embodiment of the present invention determines the antenna posture information of each positioning antenna according to the baseline vector of at least one positioning antenna relative to a reference antenna, wherein the positioning antenna and the reference antenna are arranged at the top of the target transmission tower and are parallel to the transmission line direction of the target transmission tower; determines the target antenna posture information and posture correction information according to the antenna posture information; obtains inertial navigation positioning information, and corrects the inertial navigation positioning information according to the posture correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on the output data of the inertial sensor installed on the target transmission tower; determines the tower posture information of the target transmission tower according to the target antenna posture information and the corrected inertial navigation positioning information. The technical solution of the embodiment of the present invention, the technical solution of the embodiment of the present invention, by placing multiple positioning antennas for observation and solving the target antenna posture information, reduces the influence of observation conditions on observation, reduces the influence of the amplification of the carrier phase double difference error, and uses the posture correction information to reduce the cumulative error of the inertial sensor device in long-term operation, thereby improving the accuracy of transmission tower posture monitoring.

[0050] As a first optional embodiment of the embodiment of the present invention, on the basis of the above embodiment, the antenna posture information of each positioning antenna can be determined according to the baseline vector of the at least one positioning antenna relative to the reference antenna, which can be further specifically the following steps:

[0051] a1) For each baseline vector, the carrier signal wavelength is obtained, and the unit line of sight vectors between the reference satellite among the observable satellites pointed by the corresponding positioning antenna and each target satellite are determined.

[0052] Among them, the reference satellite can be considered as one of all observable satellites; each target satellite can be understood as all observable satellites except the reference satellite; the unit line of sight vector can be considered as the unit vector pointing from the positioning antenna to the satellite, which can be determined by measuring the phase of the carrier signal from the satellite to the positioning antenna. The unit line of sight vector can be used to calculate the azimuth and pitch angle of the receiving positioning antenna.

[0053] In this embodiment, the carrier frequency transmitted by the satellite is obtained to obtain the corresponding carrier signal wavelength. For example, the L1 carrier frequency of GPS is 1575.42MHz, and the corresponding wavelength is about 19cm. Then, for each baseline vector, the elevation angle and azimuth angle of the observable satellite signal pointed by the positioning antenna are measured according to the coordinate value of the observable satellite and the coordinate value of the positioning antenna, and then normalized to obtain the unit sight line vector of the positioning antenna pointing to the reference satellite and the unit sight line vector between the positioning antenna and the target satellites, thereby determining the unit sight line vector between the reference satellite and the target satellites.

[0054] b1) obtaining observation error noises between the reference satellite and each of the target satellites, and determining integer ambiguities corresponding to the reference satellite and each of the target satellites through epoch observation according to satellite ephemeris information.

[0055] Among them, the epoch can be considered as a specific time point, which is used as a reference standard for observation data and celestial body positions. Satellite ephemeris information can be understood as a set of data describing the orbit and time of observable satellites, which are broadcast by observable satellites to positioning antennas.

[0056] In this embodiment, the level of observation error noise can be estimated by statistically analyzing the observation data, such as using the error model of the Beidou navigation system attitude measurement model analysis system. At the same time, the satellite's ephemeris information can be used to determine the integer ambiguity. By using the ephemeris information, combined with the observation data of the observable satellite by the positioning antenna at a specific epoch, the integer ambiguity is estimated using the least squares method, Kalman filter or other optimization techniques.

[0057] c1) determining the antenna posture information of the positioning antenna corresponding to the baseline vector according to the carrier signal wavelength, unit line of sight vector, observation error noise and integer ambiguity, in combination with a given carrier phase double difference formula.

[0058] In this embodiment, the carrier signal wavelength, unit line of sight vector, observation error noise and integer ambiguity are substituted into the given carrier phase double-difference formula, and the reference antenna is set at the coordinate origin in the carrier coordinate system with a coordinate value of (0, 0, 0). By solving the carrier phase double-difference formula, the coordinate value of each baseline vector in the carrier coordinate system can be determined, and then the antenna posture information of each positioning antenna relative to the reference antenna can be determined.

[0059] Furthermore, the antenna posture information of the positioning antenna includes antenna coordinate values ​​of the positioning antenna, and a heading angle and a pitch angle determined according to the antenna coordinate values.

[0060] Among them, the antenna coordinate value can be considered as the three-dimensional coordinate value of the antenna in the carrier coordinate system relative to the reference antenna; the heading angle can be understood as the angle information used to monitor the deformation of the tower due to the tension of the conductor; the pitch angle can be considered as the angle information used to monitor the inclination angle of the tower itself.

[0061] In this embodiment, the antenna posture information of the positioning antenna is a collection of information such as the antenna coordinate value, heading angle and pitch angle of the positioning antenna. The heading angle and pitch angle of the positioning antenna can be determined according to the coordinate value of the antenna.

[0062] For example, the coordinate value of the positioning antenna a can be expressed as (x a ,y a ,z a ), the heading angle θ of the positioning antenna a a and pitch angle It can be calculated by the following formula:

[0063]

[0064] The above technical solution of this embodiment improves the accuracy of determining the antenna posture information of the positioning antenna corresponding to the baseline vector by accurately determining the carrier signal wavelength, unit line of sight vector, observation error noise and integer ambiguity in a given carrier phase double difference formula for each baseline vector.

[0065] As one implementation method, the first optional embodiment can specifically express the carrier phase double difference formula as follows:

[0066]

[0067] Among them, positioning antenna No. 0 is the reference antenna, observable satellite No. 0 is the reference satellite, λ is the wavelength of the carrier signal, is the first transformation matrix from geographic coordinate system to Earth-centered Earth-fixed coordinate system, is the second transformation matrix from the carrier coordinate system to the geographic coordinate system, is the baseline vector of the ath positioning antenna relative to the reference antenna No. 0, a = 1, 2, ... A-1, A is the number of positioning antennas set, is the unit line of sight vector pointing from the positioning antenna to the reference satellite, is the unit sight vector of the positioning antenna pointing to the mth observable satellite, is the baseline vector The double difference of the carrier phase between the ath positioning antenna observation at both ends and the reference antenna No. 0, is the integer ambiguity, is the observation error noise, m=1,2,…M-1, and M is the number of observable satellites.

[0068] In this embodiment, each positioning antenna can observe more than 4 observation satellites. If the baseline vector If there are M observable satellites, then M-1 double difference equations can be formed.

[0069] The above technical solution of this embodiment provides a method for calculating the double difference of the carrier phase. The double difference can further eliminate the positioning antenna clock error in the carrier phase measurement value, leaving only the observation noise of the positioning antenna, thereby improving the accuracy of the carrier phase observation.

[0070] As a second optional embodiment of the embodiment of the present invention, based on the above optimization, the target antenna attitude information and attitude correction information can be determined according to each of the antenna posture information, and specifically optimized into the following steps:

[0071] a2) determining the target antenna attitude information according to the heading angle and the pitch angle in the antenna attitude information corresponding to each of the positioning antennas and the positioning precision factor of each of the positioning antennas.

[0072] Among them, the positioning precision factor can be considered as a value that characterizes the quality of the observed observable satellites. The smaller the positioning precision factor, the better the quality of the observed observable satellites, the higher the positioning accuracy, and the higher the credibility.

[0073] In this embodiment, the positioning precision factor is used as a weight, and the weighted average values ​​of the heading angles and pitch angles of multiple antennas are calculated respectively, so as to obtain the target antenna attitude information with higher final accuracy.

[0074] On the basis of the above optional embodiment, determining the target antenna attitude information according to the heading angle and the pitch angle in the antenna attitude information corresponding to each of the positioning antennas and the positioning precision factor of each of the positioning antennas can be further concretized into the following steps:

[0075] a21) For each positioning antenna, determine a first product value of the square of the positioning precision factor and the heading angle, and determine a first ratio of the first product value to a predetermined data value, wherein the predetermined data value is obtained by adding the squares of all positioning precision factors.

[0076] In this embodiment, for each antenna, the square of the positioning accuracy factor of each positioning antenna is multiplied by the heading angle to obtain a first product value, then the positioning accuracy factor of each positioning antenna except the reference antenna is squared, and then the squares of all positioning accuracy factors are added together to obtain a predetermined data value, and finally the first product value is divided by the predetermined data value to obtain a first ratio.

[0077] a22) determining a second product value of the square of the positioning precision factor and the pitch angle, and determining a second ratio of the second product value to the predetermined data value.

[0078] In this embodiment, the positioning precision factor of each positioning antenna is squared and multiplied by the elevation angle to obtain a second product value, and then the second product value is divided by a predetermined data value to obtain a second ratio.

[0079] a23) determining a first summation result after adding the first ratios, and determining a second summation result after adding the second ratios.

[0080] In this embodiment, the first ratios obtained by each positioning antenna except the reference antenna are added to obtain a first summation result, and the second ratios obtained by each positioning antenna except the reference antenna are added to obtain a second summation result.

[0081] a24) using the first summation result as the target heading angle and the second summation result as the target pitch angle to form the target antenna attitude information.

[0082] In this embodiment, the first summation result is the target heading angle in the target antenna attitude information, and the second summation result is the target pitch angle in the target antenna attitude information.

[0083] The above technical solution of this embodiment uses the positioning precision factor as a weight to perform weighted averaging on the heading angles and pitch angles of multiple positioning antennas to obtain the target antenna attitude information, thereby reducing the impact of adverse observation conditions during the observation process and reducing the impact of the amplification of the carrier phase double difference error.

[0084] b2) determining the attitude correction information according to the heading angle and the pitch angle in the antenna posture information corresponding to each of the positioning antennas, combined with the set key point selection threshold and the neighborhood radius.

[0085] Among them, the key point selection threshold can be considered as a value used to determine whether a positioning antenna is a key point, and can be customized according to different application scenarios and requirements.

[0086] In this embodiment, by determining the antenna posture information corresponding to each positioning antenna, the heading angle and pitch angle corresponding to each positioning antenna can be obtained. Combined with the preset key point selection threshold and neighborhood radius, the search algorithm is used to find the area where the heading angles and pitch angles of the positioning antennas are most densely populated. The posture correction information can be determined by using arithmetic average, weighted average, etc.

[0087] The above technical scheme of this embodiment determines the target antenna attitude information through the heading angle and pitch angle in the antenna attitude information corresponding to each positioning antenna, combined with the positioning precision factor, thereby reducing the influence of adverse observation conditions during the observation process, and at the same time reducing the influence of the amplification of the carrier phase double difference error; combines the key point selection threshold and the neighborhood radius to determine the attitude correction information, provides an error feedback reference for the internal components of the inertial sensor, reduces the accumulated error of the internal components of the inertial sensor during long-term operation, and improves the tower attitude estimation accuracy.

[0088] As one of the implementation methods, on the basis of the above optional embodiment, the heading angle and pitch angle in the antenna posture information corresponding to each positioning antenna can be combined with the set key point selection threshold and neighborhood radius to determine the posture correction information, which can be further concretized into the following steps:

[0089] b201) Recording the combination of the heading angle and the pitch angle of each positioning antenna as the attitude angle of the corresponding positioning antenna, and selecting any attitude angle as the current attitude angle.

[0090] The current attitude angle may be considered as an attitude angle selected from attitude angles of all positioning antennas without undergoing a neighborhood search.

[0091] In this embodiment, a heading angle and a pitch angle corresponding to each positioning antenna except the reference antenna are combined together and recorded as the attitude angle of the corresponding positioning antenna. For example, the attitude angle of the ath positioning antenna can be expressed as θ a is the heading angle of the ath antenna, is the elevation angle of the ath antenna. Select any one of the attitude angles as the current attitude angle.

[0092] b202) Taking the current posture angle as the center, determine the first adjacent area corresponding to the current posture angle according to the neighborhood radius.

[0093] In this embodiment, a circular area is defined with the current posture angle as the center and the neighborhood radius length, and this area is the first adjacent area corresponding to the current posture angle.

[0094] b203) Determine the first adjacent posture angle belonging to the first adjacent area from other posture angles except the current posture angle, and count the number of the first adjacent posture angles to obtain a first quantity value.

[0095] The first adjacent posture angle can be considered as the posture angles other than the current posture angle in the first adjacent area corresponding to the current posture angle that have not been searched in the neighborhood. The first quantity value can be understood as the number of the first adjacent posture angles corresponding to the current posture angle.

[0096] In this embodiment, the number of first adjacent posture angles in the first adjacent area corresponding to the current posture angle is counted to obtain a first quantity value.

[0097] b204) If the first quantity value is greater than the key point selection threshold, the current posture angle is added to the corresponding key point set, and all first adjacent posture angles are added to the neighborhood point set.

[0098] In this embodiment, two empty sets associated with the current posture angle are established, namely the key point set and the neighborhood point set; then, it is determined whether the first quantity value is greater than the key point selection threshold. If the first quantity value is greater than the key point selection threshold, the current posture angle is added to the key point set, and the first adjacent posture angles corresponding to all current posture angles are added to the neighborhood point set; if the first quantity value is less than or equal to the key point selection threshold, a new posture angle is reselected as the current posture angle, and return to b202) to re-execute the determination of the new current posture angle neighborhood area and the update operation of the point set.

[0099] b205) Selecting any first adjacent posture angle from the neighborhood point set as the current adjacent posture angle, and deleting the current adjacent posture angle from the neighborhood point set.

[0100] The current adjacent posture angle may be considered as the posture angle of the first adjacent posture angle that serves as the center of the next neighborhood search.

[0101] In this embodiment, a first adjacent posture angle is selected from the neighborhood point set as the center for the next neighborhood search, and the selected current adjacent posture angle is deleted from the neighborhood point set.

[0102] b206) Taking the current adjacent posture angle as the center, determine a second adjacent area corresponding to the current adjacent posture angle according to the neighborhood radius.

[0103] In this embodiment, a circular area is defined with the current adjacent posture angle as the center and the length of the neighborhood radius, and this area is the second adjacent area corresponding to the current adjacent posture angle.

[0104] b207) Determine the second adjacent posture angles belonging to the second adjacent area from other posture angles except the current adjacent posture angle, and count the number of the second adjacent posture angles to obtain a second quantity value.

[0105] The second adjacent posture angle can be considered as the posture angles other than the current adjacent posture angle in the second adjacent area corresponding to the current adjacent posture angle that have not been searched in the neighborhood. The second quantity value can be understood as the number of second adjacent posture angles corresponding to the current adjacent posture angle.

[0106] In this embodiment, the number of second adjacent posture angles in the second adjacent area corresponding to the current adjacent posture angle is counted to obtain a second quantity value.

[0107] b208) If the second quantity value is greater than the key point selection threshold, the current adjacent posture angle is added to the key point set, and all second adjacent posture angles are added to the neighborhood point set.

[0108] In this embodiment, it is determined whether the second quantity value is greater than the key point selection threshold. If the second quantity value is greater than the key point selection threshold, the current adjacent posture angle is added to the key point set where the current posture angle exists, and all second adjacent posture angles are added to the neighborhood point set. At this time, the neighborhood point set includes other first adjacent posture angles and all second adjacent posture angles except the current adjacent posture angle.

[0109] b209) When the neighborhood point set is not empty, a new first neighboring posture angle is selected as the current neighboring posture angle, and the adjacent area determination and point set update operations are re-executed.

[0110] In this embodiment, when the neighborhood point set is not empty, a new first neighboring posture angle is reselected as the current neighboring posture angle, and the process returns to b206) to re-execute the determination of the neighborhood area of ​​the new current neighborhood posture angle and the update operation of the point set.

[0111] b210) When the neighborhood point set is empty, a new posture angle is selected as the current posture angle, and the adjacent area determination and point set update operations are returned to be re-executed until all posture angles have participated in the execution as the current posture angle or the current adjacent posture angle.

[0112] In this embodiment, when the neighborhood point set is empty, a key point set related to a selected current posture angle is output; at the same time, a new posture angle is selected as the current posture angle, and return to b202) to re-execute the adjacent area determination and point set update operations until all posture angles have participated in the execution, either as the current posture angle or as the current neighborhood posture angle. At this time, multiple key point sets are obtained, and each key point set contains a current posture angle.

[0113] b211) Determine the posture correction information based on the obtained sets of key points.

[0114] In this embodiment, based on the multiple key point sets obtained, the posture correction information can be determined by selecting a key point set that meets the conditions, such as a key point set containing the largest number of posture angles, a key point set containing a number of posture angles exceeding a certain value, etc., and calculating the posture angles in the selected key point set, such as weighted average, arithmetic average, etc., or using model optimization and other methods.

[0115] The above technical scheme of the present embodiment is designed to traverse and search the neighborhood of all attitude angles according to the set key point selection threshold and neighborhood radius, and obtain multiple key point sets. These key point sets can provide richer attitude information. The key point sets are used to determine the attitude correction information, which improves the accuracy of the attitude correction information determination result, thereby reducing the impact of the cumulative error of the inertial sensor device.

[0116] On the basis of the above optional embodiment, the posture correction information can be determined according to the obtained key point sets, which can be further concretized into the following steps:

[0117] b2111) Determine the number of attitude angles contained in each of the key point sets, and determine the key point set corresponding to the maximum number of attitude angles as the target key point set.

[0118] Among them, the target key point set can be considered as the key point set containing the largest number of posture angles.

[0119] In this embodiment, the number of attitude angles contained in each key point set is determined, and by comparing the number of attitude angles in each key point set, the key point set containing the largest number of attitude angles is selected as the target key point set.

[0120] b2112) performing arithmetic mean calculation on all attitude angles contained in the target key point set, and obtaining the target heading angle and target pitch angle based on the calculation to form the attitude correction information.

[0121] In this embodiment, the heading angle and the pitch angle in the attitude angle in the target key point set are respectively calculated by arithmetic average, and the sum of all heading angles is obtained by adding all heading angles in all attitude angles in the target key point set, and then the ratio of the sum of all heading angles to the number of attitude angles in the target key point set is determined to obtain the target heading angle; all pitch angles in all attitude angles in the target key point set are added to obtain the sum of all pitch angles, and the ratio of the sum of all pitch angles to the number of attitude angles in the target key point set is determined to obtain the target pitch angle; the target heading angle and the target pitch angle are combined to form attitude correction information.

[0122] The above technical solution of this embodiment obtains attitude correction information by selecting a target key point set containing the largest number of attitude angles, and performing arithmetic averaging on the heading angle and pitch angle in the target key point set, thereby reducing the influence of the amplification of the carrier phase double difference error, and can be used as an inertial sensor error feedback control input to reduce the accumulated error of the inertial sensor device in the long-term operation, thereby improving the accuracy of transmission tower attitude monitoring.

[0123] Figure 3 Schematic diagram of the structure of a transmission tower posture monitoring device provided by an embodiment of the present invention. Figure 3 As shown, the device may include: an antenna position information determination module 31, an attitude information determination module 32, an information acquisition module 33 and a tower attitude information determination module 34, wherein:

[0124] The antenna posture information determination module 31 is used to determine the antenna posture information of each positioning antenna according to the baseline vector of at least one positioning antenna relative to the reference antenna, wherein the positioning antenna and the reference antenna are arranged at the top of the target transmission tower and are parallel to the transmission line of the target transmission tower;

[0125] An attitude information determination module 32 is used to determine the target antenna attitude information and attitude correction information according to each of the antenna attitude information;

[0126] An information acquisition module 33 is used to acquire inertial navigation positioning information, and correct the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on output data of an inertial sensor installed on the target transmission tower;

[0127] The tower attitude information determination module 34 is used to determine the tower attitude information of the target transmission tower according to the target antenna attitude information and the corrected inertial navigation positioning information.

[0128] A transmission tower attitude monitoring device provided by an embodiment of the present invention places multiple positioning antennas for observation and solves the target antenna attitude information, thereby reducing the influence of observation conditions on observation and reducing the influence of the amplification of the carrier phase double difference error. At the same time, attitude correction information is used to reduce the cumulative error of the inertial sensor device in the long-term operation, thereby improving the accuracy of transmission tower attitude monitoring.

[0129] Furthermore, the antenna posture information determination module 31 may specifically include:

[0130] The first parameter acquisition unit is used to acquire the wavelength of the carrier signal for each baseline vector, and determine the unit sight vector between the reference satellite among the observable satellites pointed by the corresponding positioning antenna and each target satellite;

[0131] A second parameter acquisition unit is used to acquire observation error noise between the reference satellite and each of the target satellites, and determine the integer ambiguity corresponding to the reference satellite and each of the target satellites through epoch observation according to satellite ephemeris information;

[0132] The posture information determination unit is used to determine the antenna posture information of the positioning antenna corresponding to the baseline vector based on the carrier signal wavelength, unit line of sight vector, observation error noise and integer ambiguity, combined with a given carrier phase double difference formula.

[0133] Furthermore, the posture information determination unit can be specifically used for:

[0134] The double difference formula for determining the carrier phase can be expressed as:

[0135]

[0136] Among them, positioning antenna No. 0 is the reference antenna, observable satellite No. 0 is the reference satellite, λ is the wavelength of the carrier signal, is the first transformation matrix from geographic coordinate system to Earth-centered Earth-fixed coordinate system, is the second transformation matrix from the carrier coordinate system to the geographic coordinate system, is the baseline vector of the ath positioning antenna relative to the reference antenna No. 0, a = 1, 2, ... A-1, A is the number of positioning antennas set, is the unit line of sight vector pointing from the positioning antenna to the reference satellite, is the unit sight vector of the positioning antenna pointing to the mth observable satellite, is the baseline vector The double difference of the carrier phase between the ath positioning antenna observation at both ends and the reference antenna No. 0, is the integer ambiguity, is the observation error noise, m=1,2,…M-1, M is the number of observable satellites;

[0137] The antenna posture information of the positioning antenna includes the antenna coordinate value of the positioning antenna, and the heading angle and the pitch angle determined according to the antenna coordinate value.

[0138] Furthermore, the posture information determination module 32 may specifically include:

[0139] A target attitude determination unit, used to determine the target antenna attitude information according to the heading angle and the pitch angle in the antenna attitude information corresponding to each of the positioning antennas and the positioning precision factor of each of the positioning antennas;

[0140] The attitude correction information determination unit is used to determine the attitude correction information according to the heading angle and pitch angle in the antenna posture information corresponding to each positioning antenna, combined with the set key point selection threshold and neighborhood radius.

[0141] Furthermore, the target posture determination unit can be specifically used for:

[0142] For each positioning antenna, determine a first product value of the square of the positioning precision factor and the heading angle, and determine a first ratio of the first product value to a predetermined data value;

[0143] determining a second product value of the square of the positioning precision factor and the pitch angle, and determining a second ratio of the second product value to the predetermined data value;

[0144] Determine a first summation result after adding the first ratios, and determine a second summation result after adding the second ratios;

[0145] Using the first summation result as the target heading angle and the second summation result as the target pitch angle to form the target antenna attitude information;

[0146] The predetermined data value is obtained by adding the squares of all positioning precision factors.

[0147] Furthermore, the posture correction information determination unit may specifically include:

[0148] A current attitude angle determination subunit is used to record the combination of the heading angle and the pitch angle of each positioning antenna as the attitude angle of the corresponding positioning antenna, and select any attitude angle as the current attitude angle;

[0149] A first adjacent area determination subunit, configured to determine a first adjacent area corresponding to the current posture angle based on the neighborhood radius with the current posture angle as the center;

[0150] a first quantity value determining subunit, configured to determine a first adjacent posture angle belonging to the first adjacent area from other posture angles except the current posture angle, and to count the number of the first adjacent posture angles to obtain a first quantity value;

[0151] a first set updating subunit, configured to add the current posture angle to the corresponding key point set and add all first adjacent posture angles to the neighborhood point set if the first quantity value is greater than the key point selection threshold;

[0152] A current adjacent posture angle determination subunit, used for selecting any first adjacent posture angle from the neighborhood point set as the current adjacent posture angle;

[0153] A second adjacent area determination subunit, configured to determine a second adjacent area corresponding to the current adjacent posture angle based on the neighborhood radius with the current adjacent posture angle as the center;

[0154] a second quantity determination subunit, configured to determine second adjacent posture angles belonging to the second adjacent area from other posture angles except the current adjacent posture angle, and to count the number of second adjacent posture angles to obtain a second quantity value;

[0155] a second set updating subunit, configured to add the current adjacent posture angle to the key point set and add all second adjacent posture angles to the neighborhood point set if the second quantity value is greater than the key point selection threshold;

[0156] An update operation subunit, used for deleting the current adjacent posture angle from the adjacent point set when the adjacent point set is not empty, selecting a new first adjacent posture angle as the current adjacent posture angle, and returning to re-execute the adjacent area determination and point set update operation;

[0157] A traversal selection subunit, used for selecting a new posture angle as the current posture angle when the neighborhood point set is empty, returning to re-execute the adjacent area determination and point set update operation until all posture angles have participated in the execution as the current posture angle or the current adjacent posture angle;

[0158] The correction information determination subunit is used to determine the posture correction information according to the obtained key point sets.

[0159] Furthermore, the correction information determination subunit may be specifically used for:

[0160] Determine the number of attitude angles contained in each of the key point sets, and determine the key point set corresponding to the maximum number of attitude angles as the target key point set;

[0161] The arithmetic mean calculation is performed on all the attitude angles included in the target key point set, and the target heading angle and the target pitch angle obtained based on the calculation constitute the attitude correction information.

[0162] The transmission tower posture monitoring device provided in the embodiment of the present invention can execute the transmission tower posture monitoring method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0163] Figure 4 4 is a schematic diagram of the structure of an electronic device 40 provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0164] like Figure 4 As shown, the electronic device 40 includes at least one processor 41, and a memory connected to the at least one processor 41, such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In the RAM 43, various programs and data required for the operation of the electronic device 40 can also be stored. The processor 41, the ROM 42, and the RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0165] A number of components in the electronic device 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the electronic device 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0166] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as a transmission tower posture monitoring method.

[0167] In some embodiments, the transmission tower posture monitoring method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the transmission tower posture monitoring method described above can be performed. Alternatively, in other embodiments, the processor 41 can be configured to execute the transmission tower posture monitoring method in any other appropriate manner (for example, by means of firmware).

[0168] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0170] The embodiment of the present invention provides a computer storage medium. In the context of the present invention, a computer readable storage medium may be a tangible medium that may contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The computer readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. Alternatively, the computer readable storage medium may be a machine readable signal medium. A more specific example of a machine readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0171] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0172] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0173] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0174] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0175] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for monitoring the posture of a transmission tower, characterized in that: include: Determine antenna posture information of each positioning antenna according to a baseline vector of at least one positioning antenna relative to a reference antenna, wherein the positioning antenna and the reference antenna are arranged at the top of a target transmission tower and are parallel to the transmission line of the target transmission tower; Determine target antenna attitude information and attitude correction information according to each of the antenna attitude information; Acquire inertial navigation positioning information, and correct the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on output data of an inertial sensor installed on the target transmission tower; The tower attitude information of the target transmission tower is determined according to the target antenna attitude information and the corrected inertial navigation positioning information.

2. The method according to claim 1, characterized in that: The step of determining antenna posture information of each positioning antenna according to a baseline vector of at least one positioning antenna relative to a reference antenna comprises: For each baseline vector, the wavelength of the carrier signal is obtained, and the unit line of sight vectors between the reference satellite among the observable satellites pointed by the corresponding positioning antenna and each target satellite are determined; Obtaining observation error noises between the reference satellite and each of the target satellites, and determining integer ambiguities corresponding to the reference satellite and each of the target satellites through epoch observation according to satellite ephemeris information; According to the carrier signal wavelength, unit line of sight vector, observation error noise and integer ambiguity, combined with a given carrier phase double difference formula, the antenna posture information of the positioning antenna corresponding to the baseline vector is determined.

3. The method according to claim 2, characterized in that The carrier phase double difference formula is expressed as: Among them, positioning antenna No. 0 is the reference antenna, observable satellite No. 0 is the reference satellite, λ is the wavelength of the carrier signal, is the first transformation matrix from geographic coordinate system to Earth-centered Earth-fixed coordinate system, is the second transformation matrix from the carrier coordinate system to the geographic coordinate system, is the baseline vector of the ath positioning antenna relative to the reference antenna No. 0, a = 1, 2, ... A-1, A is the number of positioning antennas set, is the unit line of sight vector pointing from the positioning antenna to the reference satellite, is the unit sight vector of the positioning antenna pointing to the mth observable satellite, is the baseline vector The double difference of the carrier phase between the ath positioning antenna observation at both ends and the reference antenna No. 0, is the integer ambiguity, is the observation error noise, m=1,2,…M-1, M is the number of observable satellites; The antenna posture information of the positioning antenna includes the antenna coordinate value of the positioning antenna, and the heading angle and the pitch angle determined according to the antenna coordinate value.

4. The method according to claim 1, characterized in that: Determining target antenna attitude information and attitude correction information according to each of the antenna attitude information includes: Determine the target antenna attitude information according to the heading angle and the pitch angle in the antenna attitude information corresponding to each of the positioning antennas and the positioning precision factor of each of the positioning antennas; The attitude correction information is determined according to the heading angle and the pitch angle in the antenna posture information corresponding to each of the positioning antennas, combined with the set key point selection threshold and neighborhood radius.

5. The method according to claim 4, characterized in that Determining the target antenna attitude information according to the heading angle and the pitch angle in the antenna attitude information corresponding to each of the positioning antennas and the positioning precision factor of each of the positioning antennas includes: For each positioning antenna, determine a first product value of the square of the positioning precision factor and the heading angle, and determine a first ratio of the first product value to a predetermined data value; determining a second product value of the square of the positioning precision factor and the pitch angle, and determining a second ratio of the second product value to the predetermined data value; Determine a first summation result after adding the first ratios, and determine a second summation result after adding the second ratios; Using the first summation result as the target heading angle and the second summation result as the target pitch angle to form the target antenna attitude information; The predetermined data value is obtained by adding the squares of all positioning precision factors.

6. The method according to claim 4, characterized in that The attitude correction information is determined according to the heading angle and the pitch angle in the antenna posture information corresponding to each positioning antenna, in combination with the set key point selection threshold and the neighborhood radius, including: Recording the combination of the heading angle and the pitch angle of each positioning antenna as the attitude angle of the corresponding positioning antenna, and selecting any attitude angle as the current attitude angle; Taking the current posture angle as the center, determining a first adjacent area corresponding to the current posture angle according to the neighborhood radius; Determine a first adjacent attitude angle belonging to the first adjacent area from other attitude angles except the current attitude angle, and count the number of the first adjacent attitude angles to obtain a first quantity value; If the first quantity value is greater than the key point selection threshold, adding the current posture angle to the corresponding key point set, and adding all first adjacent posture angles to the neighborhood point set; Selecting any first adjacent posture angle from the set of neighboring points as the current adjacent posture angle, and deleting the current adjacent posture angle from the set of neighboring points; Taking the current adjacent posture angle as the center, determining a second adjacent area corresponding to the current adjacent posture angle according to the neighborhood radius; Determining second adjacent posture angles belonging to the second adjacent area from other posture angles except the current adjacent posture angle, and counting the number of second adjacent posture angles to obtain a second quantity value; If the second quantity value is greater than the key point selection threshold, adding the current neighboring posture angle to the key point set and adding all second neighboring posture angles to the neighborhood point set; When the neighborhood point set is not empty, selecting a new first neighboring posture angle as the current neighboring posture angle, returning to re-execute the adjacent area determination and point set update operations; When the neighborhood point set is empty, a new posture angle is selected as the current posture angle, and the adjacent area determination and point set update operations are re-executed until all posture angles have participated in the execution as the current posture angle or the current adjacent posture angle; The posture correction information is determined according to each of the key point sets obtained.

7. The method according to claim 6, characterized in that Determining the posture correction information according to each of the key point sets obtained includes: Determine the number of attitude angles contained in each of the key point sets, and determine the key point set corresponding to the maximum number of attitude angles as the target key point set; The arithmetic mean calculation is performed on all the attitude angles included in the target key point set, and the target heading angle and the target pitch angle obtained based on the calculation constitute the attitude correction information.

8. A transmission tower posture monitoring device, characterized in that: include: An antenna posture information determination module is used to determine the antenna posture information of each positioning antenna according to the baseline vector of at least one positioning antenna relative to the reference antenna, wherein the positioning antenna and the reference antenna are arranged at the top of the target transmission tower and are parallel to the transmission line of the target transmission tower; An attitude information determination module is used to determine the target antenna attitude information and attitude correction information according to each of the antenna posture information; An information acquisition module, used to acquire inertial navigation positioning information, and correct the inertial navigation positioning information according to the attitude correction information to obtain corrected inertial navigation positioning information, wherein the inertial navigation positioning information is determined based on output data of an inertial sensor installed on the target transmission tower; The tower attitude information determination module is used to determine the tower attitude information of the target transmission tower according to the target antenna attitude information and the corrected inertial navigation positioning information.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the transmission tower posture monitoring method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the transmission tower posture monitoring method according to any one of claims 1 to 7 when executed.

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