Inertial navigation parameter optimization method and system for monitoring sag and windage yaw states of conductor in real time

Abstract

The invention relates to the technical field of line monitoring information, and discloses an inertial navigation parameter optimization method and system for real-time monitoring of sag and windage yaw states of a conductor, and the method comprises the following steps: obtaining dynamic state data of the conductor in real time; calculating real-time sag and windage yaw states of the conductor according to the dynamic state data, physical characteristics of the conductor and current environmental conditions; comparing the real-time sag and windage yaw states with preset safety thresholds respectively, judging the current safe operation state of the conductor according to the comparison result, and correcting the inertial navigation parameters in real time in combination with Kalman filtering to obtain the corrected inertial navigation parameters for feedback, and performing real-time monitoring. The real-time sag and windage yaw states of the conductor can be accurately calculated, the abnormal conditions of the sag and windage yaw of the conductor can be found and processed in time, an automatic correction mechanism can quickly respond to the abnormal conditions, the requirement for manual intervention is reduced, a closed-loop control system is formed, and the reliability and stability of the closed-loop control system are further improved.

Description

Technical Field

[0001] The present invention relates to the field of line monitoring information technology, and in particular to an inertial navigation parameter optimization method and system for real-time monitoring of conductor sag and windage states. Background Art

[0002] In the power system, high-voltage transmission lines are important channels for electric energy transmission. However, these lines are affected by a variety of natural factors (such as wind, temperature, etc.) during operation, causing sag and windage in the conductors, which affects the safe operation of the lines and even causes accidents. In particular, when the conductor sag is too large, the conductor may be too close to the ground or other lines, increasing the risk of short circuit; and windage may reduce the electrical gap between the conductor and the tower, which may easily cause discharge accidents. In order to ensure the safe operation of the transmission line, it is necessary to monitor the sag and windage of the conductor in real time and make timely adjustments. Some traditional monitoring methods still rely on manual inspections, which is inefficient and may not be able to achieve real-time monitoring. With the development of technology, inertial measurement units (IMUs) are widely used in real-time monitoring of conductor status.

[0003] However, due to various factors, the inertial navigation parameters of IMU may produce errors, thus affecting the accuracy of monitoring. These errors mainly come from factors such as the sensor's own noise, temperature drift, and mechanical stress. Due to the existence of these errors, the accuracy of the monitoring data is affected, which in turn affects the accurate assessment of the wire status. Therefore, a monitoring optimization method is needed to solve the problem of excessive inertial navigation parameter errors. Summary of the invention

[0004] In view of the above existing problems, the present invention is proposed.

[0005] Therefore, the present invention provides an inertial navigation parameter optimization method and system for real-time monitoring of conductor sag and windage status to solve the problem that the accuracy of monitoring data is affected due to errors in the inertial navigation parameters of the current IMU due to its own or environmental reasons, thereby affecting the accurate assessment of the conductor status.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides an inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status, comprising: acquiring dynamic status data of the conductor in real time;

[0008] Calculate the real-time sag and windage status of the conductor based on dynamic status data, physical characteristics of the conductor and current environmental conditions;

[0009] Compare the real-time sag and windage states with preset safety thresholds to obtain comparison results;

[0010] According to the comparison results, the current safe operation state of the wire is judged, and the inertial navigation parameters are corrected in real time according to the operation state combined with Kalman filtering to obtain the corrected inertial navigation parameters;

[0011] The corrected inertial navigation parameters are fed back to perform real-time monitoring using the corrected inertial navigation parameters.

[0012] As a preferred solution of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state of the present invention, the dynamic state data includes acceleration, angular velocity and attitude angle;

[0013] The current environmental conditions include: wind speed, wind direction and temperature;

[0014] The physical properties of the conductor include: elastic modulus, line density and cross-sectional area of ​​the conductor.

[0015] As a preferred solution of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state of the present invention, the calculation of the real-time sag of the conductor includes:

[0016] Calculated based on dynamic state data, physical characteristics of the conductor and current environmental conditions, expressed as:

[0017]

[0018] Where a is the conductor sag, i.e. the amount of sag caused by gravity between the two supporting points, T is the conductor tension, ρ is the mass per unit length of the conductor, L is the horizontal distance of the conductor, s is the vertical straight-line distance between the two supporting points, and K is the correction factor.

[0019] As a preferred solution of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state of the present invention, the calculation of the windage state of the conductor includes:

[0020] Obtain wind pressure load and wind speed from current environmental conditions;

[0021] Calculate the wind pressure acting on the conductor according to the wind pressure load and wind speed;

[0022] The deadweight load of the conductor and the wind pressure are vector-synthesized to obtain a synthetic force;

[0023] The wind deflection angle is determined based on the angle between the resultant force and the vertical line.

[0024] As a preferred solution of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state of the present invention, the real-time sag and windage state are respectively compared with preset safety thresholds to obtain a comparison result, including:

[0025] The safety threshold is calculated based on the current environmental conditions and is expressed as:

[0026]

[0027] Among them, DT represents the safety threshold, BT represents the basic threshold, T represents the current temperature, Tr represents the reference temperature, α and β represent the temperature coefficients, WS represents the current wind speed, Vr represents the reference wind speed, Vc represents the critical wind speed, γ represents the wind speed linear growth coefficient, δ represents the wind speed saturation growth coefficient, WD represents the current wind direction, θ r represents the reference wind direction, η represents the wind direction influence coefficient, θ c represents the critical wind direction angle, H represents the current humidity, and H r represents the reference humidity, ∈ represents the humidity coefficient, and min(WS,Vc)) represents the smaller value between the current wind speed WS and the critical wind speed Vc;

[0028] Wherein, max(0,WS-Vc) represents the difference between the current wind speed WS and the critical wind speed Vc. If the difference is a positive number, the difference is taken; if the difference is a negative number or zero, 0 is taken;

[0029] in, Indicates the current wind direction WD and the reference wind direction θ r The absolute difference between the critical wind direction angle θ c The ratio of the two values, It means that if the difference between 1 and the ratio value is a positive number, the result is taken; if it is a negative number, 0 is taken.

[0030] As a preferred solution of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state described in the present invention, it also includes:

[0031] Compare the real-time sag data with the safety threshold to determine whether the sag exceeds the safety range;

[0032] The real-time windage status data is compared with the safety threshold to determine whether the windage status exceeds the safety range and output the comparison result of the two.

[0033] As a preferred solution of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status described in the present invention, if any real-time data in the comparison result is greater than a safety threshold, indicating that the current conductor is not in a safe operating state, the inertial navigation parameters are corrected in real time using Kalman filtering to obtain corrected inertial navigation parameters.

[0034] In a second aspect, the present invention provides an inertial navigation parameter optimization system for real-time monitoring of conductor sag and windage status, comprising:

[0035] An acquisition module is used to acquire the dynamic state data of the conductor in real time;

[0036] A calculation module is used to calculate the real-time sag and windage state of the conductor based on the dynamic state data, the physical characteristics of the conductor and the current environmental conditions;

[0037] A comparison module, used to compare the real-time sag and windage states with preset safety thresholds to obtain a comparison result;

[0038] The correction module is used to judge the current safe operation state of the wire according to the comparison result, and to correct the inertial navigation parameters in real time according to the operation state in combination with Kalman filtering to obtain the corrected inertial navigation parameters;

[0039] The feedback module is used to feed back the corrected inertial navigation parameters so as to perform real-time monitoring using the corrected inertial navigation parameters.

[0040] In a third aspect, the present invention provides a computing device, comprising:

[0041] Memory and processor;

[0042] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status are realized.

[0043] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of an inertial navigation parameter optimization method for real-time monitoring of the conductor sag and windage status.

[0044] Compared with the prior art, the present invention has the following beneficial effects: the present invention can accurately calculate the real-time sag and windage status of the conductor, and can timely detect and handle abnormal conditions of the conductor sag and windage, thereby avoiding potential safety accidents and economic losses. The present invention can also compare with the preset safety threshold to evaluate the current safe operation status of the conductor. The automatic correction mechanism can quickly respond to abnormal conditions, reduce the need for manual intervention, and form a closed-loop control system, so that the IMU can continuously use the corrected inertial navigation parameters for real-time monitoring, further improving its reliability and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0046] Figure 1 The figure is a schematic diagram of the overall process logic of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status according to the first embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0048] Example 1

[0049] Reference Figure 1 , which is an embodiment of the present invention, provides an inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state, comprising:

[0050] S100: acquiring dynamic state data of the conductor in real time;

[0051] It should be noted that the dynamic state data is obtained through inertial measurement units installed at key locations of high-voltage transmission lines, which can capture the dynamic changes of the conductors in real time and detect abnormal situations in a timely manner.

[0052] Specifically, real-time acquisition of the dynamic state data of the conductor can be performed through the following steps:

[0053] S101: Create an initial population, where each individual represents a possible IMU layout solution. The individuals in the population can be encoded as binary, integer, or other forms of gene strings, indicating the installation location and quantity of the IMU.

[0054] S102: Define a fitness function F(x) to evaluate the pros and cons of each layout scheme. For example, a comprehensive evaluation can be performed based on the monitoring accuracy of the conductor dynamic state data, the reliability of data transmission, and the cost of installation and maintenance, where F(x) = w1×C c (x)+w2×A cc (x)+w3×R e (x)-w4×C o(x), where F(x) is the fitness value of the layout solution x, C c (x) represents the monitoring coverage of layout plan x, A cc (x) represents the monitoring accuracy that can be achieved by layout scheme x. The higher the accuracy, the higher the fitness should be. e (x) represents the reliability of data transmission, that is, the ability of data to be stably and accurately transmitted from the IMU to the data center. The higher the reliability, the higher the fitness. o (x) represents the total cost of layout plan x, including installation cost and maintenance cost. Cost is a negatively correlated factor. The higher the cost, the lower the fitness should be. w1, w2, w3 and w4 are weight coefficients.

[0055] S103: Calculate the fitness value of each individual according to the fitness function, and select individuals with higher fitness to enter the next generation, which can be achieved through roulette selection.

[0056] S104: Select two individuals to perform a crossover operation to generate new offspring. The crossover operation can be performed by a single-point crossover, and the purpose is to combine the advantages of the two parent individuals to generate potentially better offspring.

[0057] S105: Perform mutation operations on the offspring to increase the diversity of the population. The mutation operation can randomly change certain gene values ​​in the individual to avoid falling into the local optimal solution. Repeat the selection, crossover and mutation operations until the termination condition is met. Decode the optimal individual into a specific IMU layout plan and implement the plan on the high-voltage transmission line, which includes determining the specific installation location, quantity and type of the IMU.

[0058] It should be noted that the above steps can find a near-optimal layout solution in a wide solution space, avoiding the trap of local optimal solutions and ensuring the overall effectiveness of the IMU layout. Through the definition of the fitness function, it can automatically adapt to different monitoring needs and environmental conditions. For example, if the monitoring of a certain area is particularly important, the fitness function can be adjusted accordingly to reflect this, thereby optimizing the IMU layout in that area. Continuously introducing new layout solutions through crossover and mutation operations and maintaining the diversity of the population can help discover non-traditional and innovative layout methods, which may bring better monitoring results. The cost factor is taken into account in the fitness function, so that the algorithm can take into account the economic benefits while ensuring the monitoring effect, which helps to achieve the best monitoring performance within a limited budget.

[0059] S200: Calculate the real-time sag and windage state of the conductor according to the dynamic state data, the physical characteristics of the conductor and the current environmental conditions;

[0060] In the embodiment of the present application, the dynamic state data includes: acceleration, angular velocity and attitude angle;

[0061] Current environmental conditions include: wind speed, direction, and temperature;

[0062] The physical properties of the conductor include: elastic modulus, linear density and cross-sectional area of ​​the conductor.

[0063] It should be noted that based on a variety of influencing factors, the sag and windage status of the conductor can be calculated more accurately, which helps to discover potential safety hazards in a timely manner.

[0064] In the embodiment of the present application, calculating the real-time sag of the conductor includes:

[0065] Calculated based on dynamic state data, physical characteristics of the conductor and current environmental conditions, expressed as:

[0066]

[0067] Where a is the conductor sag, i.e. the amount of sag caused by gravity between the two supporting points, T is the conductor tension, ρ is the mass per unit length of the conductor, L is the horizontal distance of the conductor, s is the vertical straight-line distance between the two supporting points, and K is the correction factor.

[0068] It should be noted that the calculation of sag takes into account a variety of factors, such as conductor tension, mass per unit length, horizontal distance of the conductor, vertical straight-line distance, and a correction coefficient, which can more accurately calculate the sag (sag) of the conductor caused by gravity between two support points. Since this step is calculated based on the real-time collected dynamic state data, the physical characteristics of the conductor, and the current environmental conditions, it can reflect the sag state of the conductor in real time. This real-time nature helps to promptly discover and deal with the problem of excessive conductor sag, thereby ensuring the safe operation of the transmission line. The correction coefficient K in the formula can be adjusted according to actual conditions to adapt to different environmental conditions, conductor types, and operating conditions. This flexibility enables the calculation method to be widely used in various scenarios, improving its practicality and applicability. By real-time monitoring and calculation of the sag of the conductor, possible problems of the conductor can be predicted, such as safety hazards caused by excessive sag, which helps to carry out preventive maintenance, deal with potential problems in advance, and avoid serious accidents. Accurate sag calculation can help power companies allocate maintenance resources more effectively. For example, for areas with large sag, maintenance and overhaul work can be prioritized to ensure the stable operation of the power system.

[0069] In the embodiment of the present application, calculating the windage state of the conductor includes:

[0070] Obtain wind pressure load and wind speed from current environmental conditions;

[0071] Calculate the wind pressure acting on the conductor according to the wind pressure load and wind speed;

[0072] The deadweight load of the conductor and the wind pressure are vector-synthesized to obtain a synthetic force;

[0073] The windage angle is determined from the angle between the resultant force and the vertical.

[0074] It should be noted that by obtaining the wind pressure load and wind speed from the current environmental conditions in real time, the impact of the external environment on the conductor can be accurately understood, and real-time environmental monitoring can improve the system's response speed and accuracy to environmental changes. By vector synthesis of the conductor's deadweight load and wind pressure, a more comprehensive synthetic force is obtained. This comprehensive force consideration method makes the assessment of the conductor state more accurate and can reflect the true state under the joint action of multiple forces. Determining the wind deflection angle based on the angle between the synthetic force and the vertical line can provide an important basis for predicting the dynamic behavior of the conductor. An accurate wind deflection angle helps prevent the deviation of the conductor caused by wind force, thereby ensuring the safe operation of the conductor under severe weather conditions. Through real-time monitoring of wind pressure and wind speed and subsequent calculation of wind pressure, synthetic force and wind deflection angle, real-time monitoring and early warning of the transmission line status can be achieved. When abnormal data is detected, preventive maintenance can be carried out in time to prevent potential safety accidents.

[0075] S300: comparing the real-time sag and windage states with preset safety thresholds to obtain a comparison result;

[0076] In the embodiment of the present application, the real-time sag and windage states are compared with preset safety thresholds to obtain comparison results, including:

[0077] The safety threshold is calculated based on the current environmental conditions and is expressed as:

[0078]

[0079] Among them, DT represents the safety threshold, BT represents the basic threshold, T represents the current temperature, Tr represents the reference temperature, α and β represent the temperature coefficients, WS represents the current wind speed, Vr represents the reference wind speed, Vc represents the critical wind speed, γ represents the wind speed linear growth coefficient, δ represents the wind speed saturation growth coefficient, WD represents the current wind direction, θ r represents the reference wind direction, η represents the wind direction influence coefficient, θ c represents the critical wind direction angle, H represents the current humidity, and H r represents the reference humidity, ∈ represents the humidity coefficient, and min(WS,Vc)) represents the smaller value between the current wind speed WS and the critical wind speed Vc;

[0080] Among them, max(0,WS-Vc) means calculating the difference between the current wind speed WS and the critical wind speed Vc. If the difference is positive, the difference is taken; if the difference is negative or zero, 0 is taken;

[0081] in, Indicates the current wind direction WD and the reference wind direction θ r The absolute difference between the critical wind direction angle θ c The ratio of the two values, It means that if the difference between 1 and the ratio value is positive, the result is taken; if it is negative, 0 is taken.

[0082] It should be noted that the safety threshold comprehensively considers multiple environmental factors such as temperature, wind speed, wind direction and humidity, as well as their potential impact on the safe operation of transmission lines. This comprehensive risk assessment method makes the judgment of the safety status of transmission lines more accurate and comprehensive. The formula can dynamically adjust the safety threshold according to real-time environmental conditions, thereby ensuring the safety of transmission lines under different environmental conditions. By calculating the safety threshold in real time and comparing it with the actual monitoring data, potential safety hazards can be discovered in time, and corresponding preventive safety measures can be taken to prevent accidents. The real-time safety status monitoring and early warning system can help operation and maintenance personnel quickly locate and deal with potential safety issues, improve operation and maintenance efficiency and response speed. The safety threshold calculated by comprehensively considering multiple environmental factors is more scientific and reasonable, which can reduce false alarms and missed alarms and improve the reliability of the monitoring system.

[0083] In the embodiment of the present application, it also includes:

[0084] Compare the real-time sag data with the safety threshold to determine whether the sag exceeds the safety range;

[0085] The real-time windage status data is compared with the safety threshold to determine whether the windage status exceeds the safety range and output the comparison result of the two.

[0086] It should be noted that by comparing with the safety threshold, it is possible to quickly determine whether the conductor status exceeds the safety range.

[0087] S400: judging the current safe operation state of the conductor according to the comparison result, and performing real-time correction on the inertial navigation parameters according to the operation state in combination with Kalman filtering to obtain corrected inertial navigation parameters;

[0088] In the embodiment of the present application, if any real-time data in the comparison result is greater than the safety threshold, indicating that the current conductor is not in a safe operating state, the Kalman filter is used to perform real-time correction on the inertial navigation parameters to obtain corrected inertial navigation parameters.

[0089] S500: Feedback the corrected inertial navigation parameters to perform real-time monitoring using the corrected inertial navigation parameters.

[0090] It should be noted that the above steps form a closed-loop control, which enables the inertial measurement unit to continuously use the corrected inertial navigation parameters for real-time monitoring, further improving the stability and accuracy of the monitoring system. At the same time, this feedback mechanism also helps to improve the adaptability of the entire system.

[0091] The above is a schematic scheme of an inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status in this embodiment. It should be noted that the technical scheme of the inertial navigation parameter optimization system for real-time monitoring of conductor sag and windage status and the technical scheme of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status described above belong to the same concept. The details not described in detail in the technical scheme of the inertial navigation parameter optimization system for real-time monitoring of conductor sag and windage status in this embodiment can be found in the description of the technical scheme of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status described above.

[0092] The inertial navigation parameter optimization system for real-time monitoring of conductor sag and windage status in this embodiment includes:

[0093] An acquisition module is used to acquire the dynamic state data of the conductor in real time;

[0094] A calculation module is used to calculate the real-time sag and windage state of the conductor based on the dynamic state data, the physical characteristics of the conductor and the current environmental conditions;

[0095] A comparison module, used to compare the real-time sag and windage states with preset safety thresholds to obtain a comparison result;

[0096] The correction module is used to judge the current safe operation state of the wire according to the comparison result, and to correct the inertial navigation parameters in real time according to the operation state in combination with Kalman filtering to obtain the corrected inertial navigation parameters;

[0097] The feedback module is used to feed back the corrected inertial navigation parameters so as to perform real-time monitoring using the corrected inertial navigation parameters.

[0098] This embodiment further provides a computing device, which is applicable to the case of optimizing inertial navigation parameters for real-time monitoring of conductor sag and windage status, and includes:

[0099] A memory and a processor; the memory is used to store computer executable instructions, and the processor is used to execute computer executable instructions to implement the inertial navigation parameter optimization method for realizing real-time monitoring of conductor sag and windage status as proposed in the above embodiment.

[0100] This embodiment also provides a storage medium on which a computer program is stored. When the program is executed by a processor, the inertial navigation parameter optimization method for realizing real-time monitoring of conductor sag and windage status as proposed in the above embodiment is implemented.

[0101] The storage medium proposed in this embodiment and the inertial navigation parameter optimization method for realizing real-time monitoring of conductor sag and windage status proposed in the above embodiment belong to the same inventive concept. The technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0102] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ReadOnly, Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform the methods of various embodiments of the present invention.

[0103] Example 2

[0104] Referring to Table 1, based on the previous embodiment, this embodiment provides an application case of an inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status to illustrate the feasibility and beneficial effects of our solution.

[0105] The 500kV high-voltage AC transmission line in a certain area is monitored. The average summer temperature is 33℃, the wind speed is 5.3m / s, and the monitoring is carried out 24 hours a day.

[0106] The key performance indicators are: Accuracy, i.e. the deviation between the measured value of the conductor sag and windage state and the true value. Stability, i.e. the stability of the inertial measurement unit (IMU) output data over time. Response time, i.e. the time from detecting an abnormality to taking corrective measures. Correction effect, i.e. the change of error before and after Kalman filter correction. The traditional solution does not use our real-time correction mechanism to improve the measurement results of the inertial measurement unit (IMU). The specific monitoring results are shown in Table 1.

[0107] Table 1 Comparison parameters

[0108]

[0109] When both use high-precision IMU for monitoring, their initial errors are the same. For the traditional solution, no correction is made, so the error before correction is the same as the initial error. For the corrected error, our solution further reduces the error through the Kalman filter; the traditional solution has no correction mechanism, so the error remains unchanged. For the cumulative error (after 24 hours), the error of our solution increases slightly, but it is still much lower than the traditional solution. Because our solution can correct the IMU parameters in time, its output data is more stable, and it can respond quickly and adjust the IMU parameters after detecting anomalies, which the traditional solution cannot do.

[0110] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for optimizing inertial navigation parameters for real-time monitoring of conductor sag and windage conditions, characterized in that: include: Obtain the dynamic status data of the conductor in real time; Calculate the real-time sag and windage status of the conductor based on dynamic status data, physical characteristics of the conductor and current environmental conditions; Compare the real-time sag and windage states with preset safety thresholds to obtain comparison results; According to the comparison results, the current safe operation state of the wire is judged, and the inertial navigation parameters are corrected in real time according to the operation state combined with Kalman filtering to obtain the corrected inertial navigation parameters; The corrected inertial navigation parameters are fed back to perform real-time monitoring using the corrected inertial navigation parameters.

2. The inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state according to claim 1 is characterized in that: The dynamic state data includes: acceleration, angular velocity and attitude angle; The current environmental conditions include: wind speed, wind direction and temperature; The physical properties of the conductor include: elastic modulus, line density and cross-sectional area of ​​the conductor.

3. The inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state as claimed in claim 2, characterized in that: The real-time sag calculation of the conductor includes: Calculated based on dynamic state data, physical characteristics of the conductor and current environmental conditions, expressed as: Where a is the conductor sag, i.e. the amount of sag caused by gravity between the two supporting points, T is the conductor tension, ρ is the mass per unit length of the conductor, L is the horizontal distance of the conductor, s is the vertical straight-line distance between the two supporting points, and K is the correction factor.

4. The inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state as claimed in claim 3 is characterized in that: Calculation of the windage state of the conductor includes: Obtain wind pressure load and wind speed from current environmental conditions; Calculate the wind pressure acting on the conductor according to the wind pressure load and wind speed; The deadweight load of the conductor and the wind pressure are vector-synthesized to obtain a synthetic force; The wind deflection angle is determined based on the angle between the resultant force and the vertical line.

5. The inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state as claimed in claim 4, characterized in that: The real-time sag and windage status are compared with the preset safety thresholds to obtain comparison results, including: The safety threshold is calculated based on the current environmental conditions and is expressed as: Among them, DT represents the safety threshold, BT represents the basic threshold, T represents the current temperature, Tr represents the reference temperature, α and β represent the temperature coefficients, WS represents the current wind speed, Vr represents the reference wind speed, Vc represents the critical wind speed, γ represents the wind speed linear growth coefficient, δ represents the wind speed saturation growth coefficient, WD represents the current wind direction, θ r represents the reference wind direction, η represents the wind direction influence coefficient, θ c represents the critical wind direction angle, H represents the current humidity, and H r represents the reference humidity, ∈ represents the humidity coefficient, and min(WS,Vc)) represents the smaller value between the current wind speed WS and the critical wind speed Vc; Wherein, max(0,WS-Vc) represents the difference between the current wind speed WS and the critical wind speed Vc. If the difference is a positive number, the difference is taken; if the difference is a negative number or zero, 0 is taken; in, Indicates the current wind direction WD and the reference wind direction θ r The absolute difference between the critical wind direction angle θ c The ratio of the two values, It means that if the difference between 1 and the ratio value is a positive number, the result is taken; if it is a negative number, 0 is taken.

6. The inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state according to claim 5, characterized in that: Also includes: Compare the real-time sag data with the safety threshold to determine whether the sag exceeds the safety range; The real-time windage status data is compared with the safety threshold to determine whether the windage status exceeds the safety range and output the comparison result of the two.

7. The inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state according to claim 5 or 6, characterized in that: If any real-time data in the comparison result is greater than the safety threshold, it means that the current conductor is not in a safe operation state, and the Kalman filter is used to correct the inertial navigation parameters in real time to obtain the corrected inertial navigation parameters.

8. A system using the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage state as claimed in any one of claims 1 to 7, characterized in that: include: An acquisition module is used to acquire the dynamic state data of the conductor in real time; A calculation module is used to calculate the real-time sag and windage state of the conductor based on the dynamic state data, the physical characteristics of the conductor and the current environmental conditions; A comparison module, used to compare the real-time sag and windage states with preset safety thresholds to obtain a comparison result; The correction module is used to judge the current safe operation state of the wire according to the comparison result, and to correct the inertial navigation parameters in real time according to the operation state in combination with Kalman filtering to obtain the corrected inertial navigation parameters; The feedback module is used to feed back the corrected inertial navigation parameters so as to perform real-time monitoring using the corrected inertial navigation parameters.

9. An electronic device, comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage status as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the inertial navigation parameter optimization method for real-time monitoring of conductor sag and windage states as described in any one of claims 1 to 7.

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