A Beidou positioning terminal for electric power

Abstract

The present invention discloses a Beidou positioning terminal for electric power, which relates to the field of radio technology and effectively solves the problem of limited signals in remote terrain during power grid inspections through a signal enhancement module. The signal enhancement module uses multi-band signals from low-orbit reflectors and ground-based radiation devices to evaluate the signal coverage index Sg in real time, and ensures continuous signal coverage of complex areas through frequency and power adjustment, thereby ensuring the stability and accuracy of inspection data; the data acquisition module combines with an electromagnetic interference detector to monitor the electromagnetic interference intensity Ds near the high-voltage power grid in real time and construct a set of inspection-related data, and uses a state prediction model to capture positioning dynamics near the power grid, thereby ensuring the stability and accuracy of the terminal in complex environments. The precision optimization module responds to high-precision positioning in inspection requirements, corrects the deviation vector through calculation and evaluation, triggers self-inspection, and ensures positioning accuracy and updates three-dimensional point cloud maps.

Description

Technical Field

[0001] The present invention relates to the field of radio technology, and in particular to a Beidou positioning terminal for electric power. Background Art

[0002] The background of Beidou positioning terminal technology can be traced back to the establishment of the Beidou satellite navigation system independently developed by China, which aims to meet the needs of national security and economic and social development. The origin of the Beidou system can be traced back to the early 1990s, when China proposed the goal of independently developing a navigation system to reduce its dependence on satellite navigation systems of other countries. After multiple stages of research and development, the Beidou system has achieved a leap from regional navigation to global navigation, and completed global networking in 2020, providing global users with all-weather, high-precision position, speed and time services. As a device for receiving and processing Beidou satellite signals, Beidou positioning terminals have gone through a process from the initial military, traffic monitoring and other professional fields to gradually penetrating into the mass consumer market. Today, Beidou positioning terminals are widely used in personal positioning, vehicle navigation, logistics tracking, etc., especially in emerging fields such as the Internet of Things (IoT) and smart city construction. With the advancement of chip and sensor technology, Beidou terminals have gradually achieved miniaturization, low power consumption and high precision, promoting the comprehensive popularization and intelligent development of Beidou applications.

[0003] Beidou positioning terminals have a wide range of applications, covering multiple industries and application scenarios, including the power industry, where they are mainly used in power grid inspections. Power companies use Beidou positioning technology in combination with drone inspections to achieve remote monitoring and maintenance of high-voltage power grid lines. However, the existing Beidou positioning technology often has the following technical shortcomings in the actual application of power grid inspections:

[0004] 1. Signal limitation problem: High-voltage power grids are generally located in remote, complex terrain or forest areas, and are easily affected by mountain obstructions, building obstructions, etc., which can cause Beidou signals to attenuate or be lost. Especially in some deep mountain canyons and densely forested areas, the positioning accuracy is seriously affected, resulting in a lack of continuity and accuracy in inspection data.

[0005] 2. Limited positioning accuracy: Although the Beidou system provides high positioning accuracy, power line inspections often require centimeter-level or even higher accuracy, especially for positioning and observing equipment status details. The accuracy of Beidou positioning is difficult to meet the needs under certain complex terrain and climatic conditions, especially in precise positioning close to equipment, where deviations may occur.

[0006] 3. Signal interference and electromagnetic influence: There is a strong electromagnetic field around the high-voltage power grid, which may interfere with the Beidou signal, resulting in reduced positioning accuracy and stability. In addition, Beidou receiving equipment may be subject to electromagnetic interference around the power grid, affecting the normal operation of the terminal and even causing data loss or inaccuracy. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a Beidou positioning terminal for electric power, which solves the problems mentioned in the background technology.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: A Beidou positioning terminal for electric power, including a signal enhancement module, an environment perception and area division module, a data acquisition module, a position prediction and correction module and an accuracy optimization module;

[0009] The signal enhancement module is used to confirm the signal coverage. Based on the radio wave ranging technology, the multi-band Beidou signal and the auxiliary radio signal source are combined to first enhance the Beidou signal located in remote and complex terrain; the auxiliary radio signal source includes a low-orbit reflector and a ground radiation device, and through real-time quantitative evaluation of the signal coverage, further adjust the signal transmission stability, including adjusting the signal frequency and power;

[0010] After the signal coverage is confirmed, the environment perception and area division module deploys relevant environment detection devices, uses radio wave reflection technology in the inspection area to obtain information related to the surrounding environment, and generates a three-dimensional point cloud map of the terrain and obstacle distribution; then divides the area based on the three-dimensional point cloud map, and divides the inspection area into several inspection sub-areas;

[0011] The data acquisition module is used to deploy inertial sensors in each inspection sub-area; collect three-dimensional speed-related data, direction information-related data, and electromagnetic interference intensity-related data near the high-voltage power grid of the inspection terminal during the inspection process in the current inspection sub-area through the inertial sensors; finally, the three-dimensional speed-related data, direction information-related data, and electromagnetic interference intensity-related data of the inspection terminal in the current inspection sub-area are summarized to construct an inspection-related data set;

[0012] The position prediction correction module extracts feature parameters based on the inspection-related data set, builds a state prediction model based on the inspection-related data set after feature extraction, and predicts the state vector of the inspection terminal at the i-th moment in the future according to the trained state prediction model. ;

[0013] The precision optimization module obtains the state vector at the future i-th moment Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and obtain the correction deviation vector And evaluate, trigger the self-check command, and update the position of the Beidou positioning terminal in the three-dimensional point cloud map according to the corrected status.

[0014] Preferably, the signal enhancement module includes a signal coverage evaluation unit and an optimization feedback unit;

[0015] The signal coverage evaluation unit first receives multi-band BeiDou signals from low-orbit reflectors and ground-based radiation devices, analyzes the signal coverage of the current inspection area, and collects real-time data from the signal coverage to obtain the initial signal strength parameter Ps, signal-to-noise ratio Snr, and terrain shielding factor Tf. By calculation, the signal coverage status in the inspection area is quantified to generate a signal coverage index Sg. The specific calculation formula is as follows:

[0016] .

[0017] Preferably, the optimization feedback unit is used to preset the coverage threshold Q to compare and evaluate the signal coverage index Sg, and the specific evaluation content is as follows:

[0018] If the signal coverage index Sg ≥ coverage threshold Q, it means that the current signal coverage meets the inspection requirements and no adjustment is required;

[0019] If the signal coverage index Sg < coverage threshold Q, it means that the signal coverage does not meet the inspection requirements. At this time, further adjustments are made, including adjusting the signal frequency to other frequency bands or adjusting the output of the signal transmission power.

[0020] Preferably, the environment perception and area division module collects relevant information of the surrounding environment through relevant environment detection devices, including terrain features, obstacle locations and height distribution, and then generates a three-dimensional point cloud map of the terrain and obstacle distribution; secondly, based on the generated three-dimensional point cloud map, the inspection area is subdivided into a number of inspection sub-areas, wherein each inspection sub-area is assigned a specific inspection priority and coverage strategy according to the complexity of the terrain and the density of obstacles;

[0021] The three-dimensional point cloud map is also used to display the location of power grid equipment and the surrounding environment and to assist Beidou positioning terminals in maintaining their positioning capabilities in signal-restricted areas.

[0022] Preferably, the data acquisition module is used to monitor the motion state and environmental interference status of the inspection terminal during the inspection process in real time; the inertial sensor includes an accelerometer, a gyroscope, a magnetic compass and an electromagnetic interference detector; the accelerometer and the gyroscope are used to collect the three-dimensional speed-related data of the inspection terminal in the current inspection sub-area, and the three-dimensional speed-related data of the inspection terminal includes the instantaneous speed information in the X, Y and Z axis directions; at the same time, the magnetic compass is used to obtain the direction information-related data in the inspection sub-area, and the electromagnetic interference detector monitors the electromagnetic interference intensity-related data near the high-voltage power grid in the current inspection sub-area in real time; after the acquisition is completed, the three-dimensional speed-related data, the direction information-related data and the electromagnetic interference intensity-related data of the inspection terminal are summarized, and after preprocessing and dimensionless processing, a set of inspection-related data is constructed.

[0023] Preferably, the position prediction and correction module includes a feature extraction unit, a model building unit and a state prediction unit;

[0024] The feature extraction unit extracts feature parameters from the inspection-related data set, including the velocity value Vs, angular velocity Ss and electromagnetic interference intensity Ds in three-dimensional space, which are used to reflect the motion state and environmental impact of the inspection terminal in the current inspection cycle; through data cleaning and dimensionless processing, the original data in the inspection-related data set is standardized, and key feature parameters are screened.

[0025] Preferably, the model building unit constructs a state prediction model based on the key feature parameters extracted by the feature extraction unit, using historical inspection data and supervised learning methods; the state prediction model is used to capture the dynamic change trend of the inspection terminal affected by signal interference and environmental factors in complex terrain; the state prediction model uses the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds in three-dimensional space, and optimizes the model parameters through iterative training, so that the prediction accuracy of the state prediction model remains stable in the high interference area of ​​the power grid inspection.

[0026] Preferably, after receiving the trained state prediction model, the state prediction unit predicts the state vector at the i-th moment in the future based on the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds input by the inspection terminal at the current moment. :

[0027] ;

[0028] Where W is the weight matrix of the state prediction model, which represents the weight of each input feature on the state at the future moment; b is the bias vector, which contains the correction parameters of the model; represents the future i-th moment of the k-th state vector, represents the previous moment of the future i-th moment of the k-th state vector;

[0029] , and Respectively represent the last moment Speed ​​value Vs, angular velocity Ss and electromagnetic interference intensity Ds; , and They respectively represent the rates of change of velocity value Vs, angular velocity Ss and electromagnetic interference intensity Ds.

[0030] Preferably, the accuracy optimization module includes a state correction unit and a deviation evaluation unit;

[0031] The state correction unit obtains the state vector at the future i-th moment Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and obtain the correction deviation vector :

[0032] .

[0033] Preferably, the deviation evaluation unit is used to correct the deviation vector By presetting a threshold and comparing the threshold with the corrected deviation vector The specific contents of the comparative analysis are as follows:

[0034] If the correction deviation vector When the threshold is exceeded, a self-check instruction will be sent out to automatically trigger the self-check instruction. The self-check process includes checking the signal reception status, sensor function and data transmission stability of the positioning terminal to determine whether there is equipment failure or signal interference, and recording the self-check results for subsequent adjustments; after the deviation assessment and self-check are completed, the corrected state vector is applied to the three-dimensional point cloud map, the position status of the Beidou positioning terminal in the map is updated, and the new position status is synchronized to the subsequent modules;

[0035] If the correction deviation vector When the threshold is not exceeded, no self-check instruction will be issued externally, indicating that no further correction is required.

[0036] The present invention provides a Beidou positioning terminal for electric power, which has the following beneficial effects:

[0037] (1) This Beidou positioning terminal for power effectively solves the problem of limited signals in remote, complex terrain and forest areas by setting up a signal enhancement module. The signal enhancement module is based on radio wave ranging technology, combining multi-band Beidou signals with auxiliary radio signal sources, such as low-orbit reflectors and ground radiation devices. The signal coverage evaluation unit obtains the initial signal strength parameters Ps, signal-to-noise ratio Snr and terrain shielding factor Tf in real time, calculates the signal coverage index Sg, and compares it with the preset coverage threshold Q; if the signal coverage index Sg is lower than the coverage threshold Q, the signal frequency and power are adjusted by optimizing the feedback unit to improve the signal penetration and coverage stability in the restricted area; in this way, even in complex terrains such as mountainous areas and forests where the signal may be attenuated or lost, the continuity and reliability of the signal can be guaranteed, thereby improving the accuracy and stability of inspection data acquisition;

[0038] (2) This is a Beidou positioning terminal for power, and the accuracy optimization module effectively addresses the problem of limited positioning accuracy. Power line inspection requires centimeter-level or even higher accuracy positioning, especially in the precise positioning of equipment status details. Therefore, the accuracy optimization module obtains the state vector at the future i-th moment through the state correction unit. Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and generate correction deviation vector ; The deviation evaluation unit will correct the deviation vector Compare with the preset threshold to determine whether it exceeds the deviation tolerance; when the deviation vector is corrected When the threshold is exceeded, the self-check command is triggered to ensure the accuracy and stability of the positioning terminal, and the positioning status in the 3D point cloud map is updated in time, thereby meeting the high-precision requirements of the inspection terminal under complex terrain conditions and realizing accurate monitoring of equipment details;

[0039] (3) This Beidou positioning terminal for electric power, in order to cope with the impact of strong electromagnetic interference near the power grid on positioning accuracy and stability, this solution uses a data acquisition module combined with an electromagnetic interference detector to monitor the electromagnetic interference intensity Ds in real time to ensure the signal stability of the inspection terminal in a strong electromagnetic field environment; the data acquisition module integrates the three-dimensional speed-related data, direction information-related data and electromagnetic interference intensity-related data of the inspection terminal collected by the accelerometer, gyroscope, magnetic compass and electromagnetic interference detector into an inspection-related data set, and inputs it into the position prediction correction module; the feature extraction unit extracts key parameters from the data set, including the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds, and applies the supervised learning method in the model construction unit to construct a state prediction model, and the state prediction model is used to capture the dynamic change trend of the terminal in the complex environment near the power grid. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The present invention is a schematic diagram of the framework structure of a Beidou positioning terminal for electric power. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0042] Example 1

[0043] See also Figure 1 , the present invention provides a Beidou positioning terminal for electric power, including a signal enhancement module, an environment perception and area division module, a data acquisition module, a position prediction and correction module and an accuracy optimization module;

[0044] The signal enhancement module is used to confirm the signal coverage. Based on the radio wave ranging technology, the multi-band Beidou signal and the auxiliary radio signal source are combined to first enhance the Beidou signal located in remote and complex terrain; the auxiliary radio signal source includes a low-orbit reflector and a ground radiation device, and through real-time quantitative evaluation of the signal coverage, further adjust the signal transmission stability, including adjusting the signal frequency and power;

[0045] After the signal coverage is confirmed, the environment perception and area division module deploys relevant environment detection devices, uses radio wave reflection technology in the inspection area to obtain information related to the surrounding environment, and generates a three-dimensional point cloud map of the terrain and obstacle distribution; then divides the area based on the three-dimensional point cloud map, and divides the inspection area into several inspection sub-areas;

[0046] The data acquisition module is used to deploy inertial sensors in each inspection sub-area; collect three-dimensional speed-related data, direction information-related data, and electromagnetic interference intensity-related data near the high-voltage power grid of the inspection terminal during the inspection process in the current inspection sub-area through the inertial sensors; finally, the three-dimensional speed-related data, direction information-related data, and electromagnetic interference intensity-related data of the inspection terminal in the current inspection sub-area are summarized to construct an inspection-related data set;

[0047] The position prediction correction module extracts feature parameters based on the inspection-related data set, builds a state prediction model based on the inspection-related data set after feature extraction, and predicts the state vector of the inspection terminal at the i-th moment in the future according to the trained state prediction model. ;

[0048] The precision optimization module obtains the state vector at the future i-th moment Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and obtain the correction deviation vector And evaluate, trigger the self-check command, and update the position of the Beidou positioning terminal in the three-dimensional point cloud map according to the corrected status.

[0049] In this embodiment, the signal enhancement module can effectively improve the transmission stability of Beidou signals in remote and complex terrains. By combining multi-band Beidou signals and auxiliary radio signal sources (including low-orbit reflectors and ground radiation devices), it can quantitatively evaluate signal coverage in real time and adjust signal frequency and power, thereby ensuring continuous coverage of signals in environments such as mountain obstruction and building obstruction. The environmental perception and area division module uses radio wave reflection technology to obtain terrain features and obstacle distribution information of the inspection area by deploying environmental detection devices, and generates a three-dimensional point cloud map, dividing the inspection area into several inspection sub-areas, effectively improving the positioning adaptability of the terminal in complex environments. The data acquisition module By arranging inertial sensors in each inspection sub-area, the three-dimensional speed-related data, direction information-related data and electromagnetic interference intensity-related data near the high-voltage power grid of the inspection terminal during the inspection process are collected in real time, and the inspection-related data set is summarized to improve the inspection accuracy and ensure data integrity; the position prediction correction module extracts characteristic parameters based on the inspection-related data set, such as the three-dimensional speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds, constructs and trains the state prediction model, accurately predicts the state vector at the i-th moment in the future, and improves the prediction accuracy of the inspection terminal in a high-interference environment; the accuracy optimization module combines the actual state vector of speed, direction and interference intensity obtained in real time , correct the state vector at the future i-th moment and obtain the corrected deviation vector When the correction deviation exceeds the preset threshold, the self-check instruction is triggered and the position of the Beidou positioning terminal in the three-dimensional point cloud map is automatically updated, thereby further ensuring the positioning accuracy and stability of the inspection terminal.

[0050] Example 2

[0051] See also Figure 1 , the signal enhancement module includes a signal coverage evaluation unit and an optimization feedback unit;

[0052] The signal coverage evaluation unit first receives multi-band BeiDou signals from low-orbit reflectors and ground-based radiation devices, analyzes the signal coverage of the current inspection area, and collects real-time data from the signal coverage to obtain the initial signal strength parameter Ps, signal-to-noise ratio Snr, and terrain shielding factor Tf. By calculation, the signal coverage status in the inspection area is quantified to generate a signal coverage index Sg. The specific calculation formula is as follows:

[0053] .

[0054] The optimization feedback unit is used to preset the coverage threshold Q to compare and evaluate the signal coverage index Sg, and the specific evaluation content is as follows:

[0055] If the signal coverage index Sg ≥ coverage threshold Q, it means that the current signal coverage meets the inspection requirements and no adjustment is required;

[0056] If the signal coverage index Sg < coverage threshold Q, it means that the signal coverage does not meet the inspection requirements. At this time, further adjustments are made, including adjusting the signal frequency to other frequency bands or adjusting the output of the signal transmission power.

[0057] In this embodiment, the signal enhancement module effectively improves the signal coverage and transmission stability of the Beidou positioning terminal in complex terrain through the coordinated work of the signal coverage evaluation unit and the optimization feedback unit; the signal coverage evaluation unit first collects real-time data on the signal coverage of the current inspection area by receiving multi-band Beidou signals from low-orbit reflectors and ground radiation devices, and obtains the initial signal strength parameter Ps, signal-to-noise ratio Snr and terrain shielding factor Tf, which respectively represent the basic strength of the signal, the clarity of the signal and the degree of environmental obstruction to the signal. By calculating these parameters, the signal coverage index Sg is generated to quantify the signal in the inspection area. The actual coverage status of the domain; the calculation of the signal coverage index Sg provides a clear indicator for signal optimization, and determines whether further optimization and adjustment are needed by comparing and evaluating with the preset coverage threshold Q; if the signal coverage index Sg is lower than the coverage threshold Q, the optimization feedback unit will take adjustment measures, including adjusting the signal frequency to enhance penetration or increasing the transmission power to expand the coverage range, thereby ensuring the continuity and stability of the signal in the inspection area; this module is of great significance in the entire system, it ensures the stability of signal acquisition of the inspection terminal in remote, obstructed and complex terrain environments, and provides a solid signal foundation for subsequent data collection and positioning accuracy.

[0058] Example 3

[0059] See also Figure 1The environment perception and area division module collects relevant information about the surrounding environment through relevant environment detection devices, including terrain features, obstacle locations and height distribution, and then generates a three-dimensional point cloud map of terrain and obstacle distribution; secondly, based on the generated three-dimensional point cloud map, the inspection area is subdivided into several inspection sub-areas, where each inspection sub-area is assigned a specific inspection priority and coverage strategy according to the complexity of the terrain and the density of obstacles;

[0060] The three-dimensional point cloud map is also used to display the location of power grid equipment and the surrounding environment and to assist Beidou positioning terminals in maintaining their positioning capabilities in signal-restricted areas.

[0061] The data acquisition module is used to monitor the motion state and environmental interference status of the inspection terminal in real time during the inspection process; the inertial sensor includes an accelerometer, a gyroscope, a magnetic compass and an electromagnetic interference detector; the accelerometer and the gyroscope are used to collect the three-dimensional speed-related data of the inspection terminal in the current inspection sub-area, and the three-dimensional speed-related data of the inspection terminal includes the instantaneous speed information in the X, Y and Z axis directions; at the same time, the magnetic compass is used to obtain the direction information-related data in the inspection sub-area, and the electromagnetic interference detector monitors the electromagnetic interference intensity-related data near the high-voltage power grid in the current inspection sub-area in real time; after the acquisition is completed, the three-dimensional speed-related data, the direction information-related data and the electromagnetic interference intensity-related data of the inspection terminal are summarized, and after preprocessing and dimensionless processing, a set of inspection-related data is constructed.

[0062] In this embodiment, the environment perception and area division module and the data acquisition module work together to achieve efficient positioning and data acquisition of the inspection terminal in a complex power grid environment; the environment perception and area division module obtains surrounding environment information through relevant environmental detection devices, collects data such as terrain characteristics, obstacle locations and height distribution, and generates a three-dimensional point cloud map of terrain and obstacle distribution, and constructs an accurate three-dimensional environmental model for the inspection area, thereby achieving a fine division of the inspection area, subdividing it into several inspection sub-areas, each of which is given an inspection priority and coverage strategy based on terrain complexity and obstacle density, which helps to optimize the inspection path and improve inspection efficiency; at the same time, the three-dimensional point cloud map displays the location of power grid equipment and the surrounding environment, which helps to assist the positioning terminal in maintaining stable positioning capabilities in signal-restricted areas;

[0063] The data acquisition module monitors the movement state and environmental interference status of the inspection terminal in real time during the inspection process. The instantaneous speed information in the X, Y and Z axis directions is collected through the accelerometer and gyroscope. The magnetic compass obtains the direction information in the current inspection sub-area. The electromagnetic interference detector monitors the electromagnetic interference intensity near the high-voltage power grid. By summarizing the three-dimensional speed-related data, direction information-related data and electromagnetic interference intensity-related data of the inspection terminal, after preprocessing and dimensionless processing, an inspection-related data set is constructed to provide a high-quality data foundation for the subsequent position prediction and correction module, effectively improving the inspection accuracy and data completeness of the system in complex environments.

[0064] Example 4

[0065] See also Figure 1 , the position prediction and correction module includes a feature extraction unit, a model construction unit and a state prediction unit;

[0066] The feature extraction unit extracts feature parameters from the inspection-related data set, including the velocity value Vs, angular velocity Ss and electromagnetic interference intensity Ds in three-dimensional space, which are used to reflect the motion state and environmental impact of the inspection terminal in the current inspection cycle; through data cleaning and dimensionless processing, the original data in the inspection-related data set is standardized, and key feature parameters are screened.

[0067] The model building unit constructs a state prediction model based on the key feature parameters extracted by the feature extraction unit, using historical inspection data and supervised learning methods; the state prediction model captures the dynamic change trend of the inspection terminal affected by signal interference and environmental factors in complex terrain; the state prediction model uses the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds in three-dimensional space, and optimizes the model parameters through iterative training, so that the prediction accuracy of the state prediction model remains stable in the high interference area of ​​the power grid inspection.

[0068] After receiving the trained state prediction model, the state prediction unit predicts the state vector at the future i-th moment based on the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds input by the inspection terminal at the current moment. :

[0069] ;

[0070] Where W is the weight matrix of the state prediction model, which represents the weight of each input feature on the state at the future moment; b is the bias vector, which contains the correction parameters of the model; represents the future i-th moment of the k-th state vector, represents the previous moment of the future i-th moment of the k-th state vector;

[0071] , and Respectively represent the last moment Speed ​​value Vs, angular velocity Ss and electromagnetic interference intensity Ds; , and They respectively represent the rates of change of velocity value Vs, angular velocity Ss and electromagnetic interference intensity Ds.

[0072] The precision optimization module includes a state correction unit and a deviation evaluation unit.

[0073] The state correction unit obtains the state vector at the future i-th moment Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and obtain the correction deviation vector :

[0074] .

[0075] The deviation evaluation unit is used to correct the deviation vector By presetting a threshold and comparing the threshold with the corrected deviation vector The specific contents of the comparative analysis are as follows:

[0076] If the correction deviation vector When the threshold is exceeded, a self-check instruction will be sent out to automatically trigger the self-check instruction. The self-check process includes checking the signal reception status, sensor function and data transmission stability of the positioning terminal to determine whether there is equipment failure or signal interference, and recording the self-check results for subsequent adjustments; after the deviation assessment and self-check are completed, the corrected state vector is applied to the three-dimensional point cloud map, the position status of the Beidou positioning terminal in the map is updated, and the new position status is synchronized to the subsequent modules;

[0077] If the correction deviation vector When the threshold is not exceeded, no self-check instruction will be issued externally, indicating that no further correction is required.

[0078] In this embodiment, the position prediction and correction module realizes the state prediction and dynamic correction of the inspection terminal in complex terrain through the collaboration of the feature extraction unit, the model construction unit and the state prediction unit; the feature extraction unit extracts the three-dimensional speed value Vs, the angular velocity Ss and the electromagnetic interference intensity Ds from the inspection-related data set. These parameters respectively reflect the instantaneous speed state, the direction change rate and the electromagnetic environment influence of the inspection terminal. Through data cleaning and dimensionless processing, data standardization is ensured and key features are screened to provide accurate input for model construction; the model construction unit uses the extracted key feature parameters of the three-dimensional speed value Vs, the angular velocity Ss and the electromagnetic interference intensity Ds, combined with historical inspection data and supervised learning methods, to construct a state prediction model. The state prediction model uses the weight matrix W and the bias vector b of the state prediction model to improve the prediction accuracy in a high-interference power grid environment; the state prediction unit receives the trained state prediction model, and predicts the state vector at the future i-th moment based on the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds at the current moment. , used to infer the subsequent status and environmental adaptability of the inspection terminal;

[0079] The precision optimization module further improves the positioning accuracy through the state correction unit and the deviation evaluation unit. The state correction unit obtains the state vector at the future i-th moment Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and obtain the correction deviation vector , the deviation evaluation unit will correct the deviation vector Compared with the preset threshold, if it exceeds the preset threshold, the self-check instruction is triggered to perform device status self-check and update the three-dimensional point cloud map position status, thereby ensuring the continuity and stability of positioning and the high-precision reliability of the inspection terminal.

[0080] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A Beidou positioning terminal for electric power, characterized in that: It includes signal enhancement module, environment perception and area division module, data acquisition module, location prediction and correction module and accuracy optimization module; The signal enhancement module is used to confirm the signal coverage. Based on the radio wave ranging technology, the multi-band Beidou signal and the auxiliary radio signal source are combined to first enhance the Beidou signal located in remote and complex terrain; the auxiliary radio signal source includes a low-orbit reflector and a ground radiation device, and through real-time quantitative evaluation of the signal coverage, further adjust the signal transmission stability, including adjusting the signal frequency and power; After the signal coverage is confirmed, the environment perception and area division module deploys relevant environment detection devices, uses radio wave reflection technology in the inspection area to obtain information related to the surrounding environment, and generates a three-dimensional point cloud map of the terrain and obstacle distribution; then divides the area based on the three-dimensional point cloud map, and divides the inspection area into several inspection sub-areas; The data acquisition module is used to deploy inertial sensors in each inspection sub-area; collect three-dimensional speed-related data, direction information-related data, and electromagnetic interference intensity-related data near the high-voltage power grid of the inspection terminal during the inspection process in the current inspection sub-area through the inertial sensors; finally, the three-dimensional speed-related data, direction information-related data, and electromagnetic interference intensity-related data of the inspection terminal in the current inspection sub-area are summarized to construct an inspection-related data set; The position prediction correction module extracts feature parameters based on the inspection-related data set, builds a state prediction model based on the inspection-related data set after feature extraction, and predicts the state vector of the inspection terminal at the i-th moment in the future according to the trained state prediction model. ; The precision optimization module obtains the state vector at the future i-th moment Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and obtain the correction deviation vector And evaluate, trigger the self-check command, and update the position of the Beidou positioning terminal in the three-dimensional point cloud map according to the corrected status.

2. A Beidou positioning terminal for electric power according to claim 1, characterized in that: The signal enhancement module includes a signal coverage evaluation unit and an optimization feedback unit; The signal coverage evaluation unit first receives multi-band BeiDou signals from low-orbit reflectors and ground-based radiation devices, analyzes the signal coverage of the current inspection area, and collects real-time data from the signal coverage to obtain the initial signal strength parameter Ps, signal-to-noise ratio Snr, and terrain shielding factor Tf. By calculation, the signal coverage status in the inspection area is quantified to generate a signal coverage index Sg. The specific calculation formula is as follows: 。 3. A Beidou positioning terminal for electric power according to claim 2, characterized in that: The optimization feedback unit is used to preset the coverage threshold Q to compare and evaluate the signal coverage index Sg, and the specific evaluation content is as follows: If the signal coverage index Sg ≥ coverage threshold Q, it means that the current signal coverage meets the inspection requirements and no adjustment is required; If the signal coverage index Sg < coverage threshold Q, it means that the signal coverage does not meet the inspection requirements. At this time, further adjustments are made, including adjusting the signal frequency to other frequency bands or adjusting the output of the signal transmission power.

4. A Beidou positioning terminal for electric power according to claim 1, characterized in that: The environment perception and area division module collects relevant information about the surrounding environment through relevant environment detection devices, including terrain features, obstacle locations and height distribution, and then generates a three-dimensional point cloud map of the terrain and obstacle distribution; secondly, based on the generated three-dimensional point cloud map, the inspection area is subdivided into several inspection sub-areas, where each inspection sub-area is assigned a specific inspection priority and coverage strategy according to the complexity of the terrain and the density of obstacles; The three-dimensional point cloud map is also used to display the location of power grid equipment and the surrounding environment and to assist Beidou positioning terminals in maintaining their positioning capabilities in signal-restricted areas.

5. A Beidou positioning terminal for electric power according to claim 1, characterized in that: The data acquisition module is used to monitor the motion state and environmental interference status of the inspection terminal during the inspection process in real time; the inertial sensor includes an accelerometer, a gyroscope, a magnetic compass and an electromagnetic interference detector; the accelerometer and the gyroscope are used to collect the three-dimensional speed-related data of the inspection terminal in the current inspection sub-area, and the three-dimensional speed-related data of the inspection terminal includes the instantaneous speed information in the X, Y and Z axis directions; at the same time, the magnetic compass is used to obtain the direction information-related data in the inspection sub-area, and the electromagnetic interference detector monitors the electromagnetic interference intensity-related data near the high-voltage power grid in the current inspection sub-area in real time; after the acquisition is completed, the three-dimensional speed-related data, the direction information-related data and the electromagnetic interference intensity-related data of the inspection terminal are summarized, and after preprocessing and dimensionless processing, a set of inspection-related data is constructed.

6. A Beidou positioning terminal for electric power according to claim 1, characterized in that: The position prediction and correction module includes a feature extraction unit, a model construction unit and a state prediction unit; The feature extraction unit extracts feature parameters from the inspection-related data set, including the velocity value Vs, angular velocity Ss and electromagnetic interference intensity Ds in three-dimensional space, which are used to reflect the motion state and environmental impact of the inspection terminal in the current inspection cycle; through data cleaning and dimensionless processing, the original data in the inspection-related data set is standardized, and key feature parameters are screened.

7. A Beidou positioning terminal for electric power according to claim 6, characterized in that: The model building unit constructs a state prediction model based on the key feature parameters extracted by the feature extraction unit, using historical inspection data and supervised learning methods; the state prediction model captures the dynamic change trend of the inspection terminal affected by signal interference and environmental factors in complex terrain; the state prediction model uses the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds in three-dimensional space, and optimizes the model parameters through iterative training, so that the prediction accuracy of the state prediction model remains stable in the high interference area of ​​the power grid inspection.

8. A Beidou positioning terminal for electric power according to claim 7, characterized in that: After receiving the trained state prediction model, the state prediction unit predicts the state vector at the future i-th moment based on the speed value Vs, angular velocity Ss and electromagnetic interference intensity Ds input by the inspection terminal at the current moment. : ； Where W is the weight matrix of the state prediction model, which represents the weight of each input feature on the state at the future moment; b is the bias vector, which contains the correction parameters of the model; represents the future i-th moment of the k-th state vector, represents the previous moment of the future i-th moment of the k-th state vector; , and Respectively represent the last moment Speed ​​value Vs, angular velocity Ss and electromagnetic interference intensity Ds; , and They respectively represent the rates of change of velocity value Vs, angular velocity Ss and electromagnetic interference intensity Ds.

9. A Beidou positioning terminal for electric power according to claim 1, characterized in that: The precision optimization module includes a state correction unit and a deviation evaluation unit; The state correction unit obtains the state vector at the future i-th moment Finally, the actual state vector of speed, direction and interference intensity obtained in real time is combined , for the state vector at the future i-th moment Make corrections and obtain the correction deviation vector : 。 10. A Beidou positioning terminal for electric power according to claim 9, characterized in that: The deviation evaluation unit is used to correct the deviation vector By presetting a threshold and comparing the threshold with the corrected deviation vector Perform comparative analysis to determine whether to issue a self-test instruction. The specific contents are as follows: If the correction deviation vector When the threshold is exceeded, a self-check instruction will be issued; the self-check process includes checking the signal reception status, sensor function and data transmission stability of the positioning terminal to determine whether there is equipment failure or signal interference, and recording the self-check results for subsequent adjustments; after the deviation evaluation and self-check are completed, the corrected state vector is applied to the three-dimensional point cloud map, the position status of the Beidou positioning terminal in the map is updated, and the new position status is synchronized to the subsequent modules; If the correction deviation vector When the threshold is not exceeded, no self-check instruction will be issued externally, indicating that no further correction is required.

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