Electric power Beidou area networking and grid broadcasting method and system

Abstract

The invention discloses an electric power Beidou partition networking and grid broadcasting method and system, and the method comprises the steps: carrying out the partition networking of a whole network region, forming a plurality of subnetwork partitions, and determining the boundary line of each subnetwork partition; dividing all stations in the whole network area into a Delaunay triangulation network comprising a plurality of triangular units; determining a boundary triangular unit through which the boundary line of each subnet partition passes; determining the area of each subunit obtained by dividing the boundary line in each boundary triangular unit, and enabling the corresponding boundary triangular unit to belong to the subnet partition where the subunit with the largest area is located; and uniformly dividing each sub-network partition to obtain a plurality of grid points, dividing each grid point to the sub-network partition corresponding to the triangular unit where the grid point is located, and generating a grid point virtual observation value for a subsequent grid broadcast service. According to the method, the optimal network element shape of the boundary region can be guaranteed while the power Beidou base station network is networked in a partitioned manner, and the optimal service of all-region grid differential positioning is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of GNSS (Global Navigation Satellite System) positioning and navigation technology, and relates to an electric power Beidou reference station network enhanced high-precision positioning technology, and in particular to an electric power Beidou partition networking and grid broadcasting method and system. Background Art

[0002] The global satellite navigation system, especially the Beidou Satellite Navigation and Positioning System (BDS) independently developed and operated by my country, can provide all-weather, large-scale, high-precision navigation, positioning, and timing (PNT) services. Electricity is one of the main industries for the application of the Beidou system. The energy Internet with Chinese characteristics and international leadership is based on a strong smart grid. The data and information in various processes such as grid operation, dispatching, infrastructure and marketing have natural spatiotemporal attributes. The network construction and intelligent management of the grid rely on accurate spatiotemporal information. Compared with European and American countries, my country has the world's largest, most complex and most user-rich complex power grid. There is a practical need to establish a grid spatiotemporal information service platform under a unified benchmark. By the end of 2021, State Grid will complete the construction of 1,200 Beidou ground-based augmentation system reference stations and Beidou integrated service platforms, covering all operating areas of 27 grid provinces of State Grid Corporation. By 2023, the number of power Beidou reference stations will exceed 3,400 (including external introduction stations). At present, through the construction of software and hardware facilities of the Beidou ground-based augmentation system for electric power in various regions across the country, a widely covered, independently controllable Beidou precise space-time service network for electric power has been formed, with real-time positioning capabilities at the meter, decimeter and centimeter levels. The application of Beidou in various power operation scenarios is gradually becoming large-scale.

[0003] For a large-scale Beidou base station network for electric power, partitioning and networking a large range of sites to achieve subsystem services and management will help reduce the computing burden on the platform and implement personalized services for the subsystems. To this end, it is necessary to divide the area according to certain criteria. In the prior art, the zoning is usually performed only based on the distribution of sites. However, if the zoning is performed only based on the distribution of sites, the original connection relationship between the sites on both sides of the dividing line will be destroyed, resulting in large obtuse triangles in the boundary area, resulting in poor positioning service performance.

[0004] Therefore, how to automatically handle the relationship between network elements in the boundary area while partitioning, so as to achieve the best network element service under the premise of partitioning, becomes an urgent problem to be solved. Summary of the invention

[0005] In order to overcome the problems existing in the prior art, the present invention aims to provide a method and system for electric power Beidou partition networking and grid broadcasting, so as to automatically handle the relationship between network elements in boundary areas while partitioning, so as to achieve optimal network element service while partitioning.

[0006] The technical solution of the present invention is as follows:

[0007] According to a first aspect of the present invention, a method for Beidou power zone networking and grid broadcasting is provided. The method comprises the following steps:

[0008] Divide the entire network area into multiple subnets and determine the boundaries of each subnet.

[0009] Divide all sites in the entire network area into a Delaunay triangulation network consisting of multiple triangular units;

[0010] Determine the boundary triangle units through which the boundary lines of each subnet partition pass;

[0011] Determine the area of ​​each sub-unit obtained by dividing the boundary line in each boundary triangle unit, and assign the corresponding boundary triangle unit to the subnet partition where the sub-unit with the largest area is located;

[0012] Each subnet partition is divided into multiple grid points, and each grid point is divided into the subnet partition corresponding to the triangle unit. The virtual observation value of the grid point is generated according to the triangle unit and the corresponding subnet partition for subsequent grid broadcasting services.

[0013] Preferably, all sites in the entire network area are divided into a Delaunay triangulation network including a plurality of triangular units, including:

[0014] The Delaunay triangulation is divided according to the following principles:

[0015] Each site is regarded as the vertex of a triangular unit;

[0016] The circumscribed circle of each triangle does not contain other sites;

[0017] The circumscribed circle of each triangular unit does not contain other sites;

[0018] Make each triangular unit have the shortest side as much as possible;

[0019] The number of triangle elements is equal to the number of independent triangle limits;

[0020] As the number of sites increases, the edges of the selected triangle elements increase linearly with the number of triangle elements.

[0021] Preferably, determining the boundary triangle units through which the boundary lines of each subnet partition pass includes:

[0022] According to the vertex coordinates of the triangular unit, the straight line equations of the sides of the triangular unit are constructed;

[0023] According to the straight line equations of the sides of the triangular unit and the known boundary line equations, the coordinates of the intersections of the boundary line and the sides of the triangular unit are determined;

[0024] According to the intersection point coordinates and vertex coordinates, determine whether the boundary line passes through the triangle unit.

[0025] Preferably, determining whether the boundary line passes through the triangle unit according to the intersection coordinates and the vertex coordinates includes:

[0026] The coordinates of the intersection point are expressed as (x, y), and the coordinates of any two vertices in the triangle unit are expressed as (x1, y1) and (x2, y2) respectively;

[0027] When the intersection coordinates and the coordinates of any two vertices in the triangle unit satisfy the following relationship, the boundary line where the intersection coordinates are located is considered to pass through the triangle unit:

[0028]

[0029] Preferably, determining the area of ​​the subunits on both sides of the boundary line in each boundary triangle unit and assigning the corresponding boundary triangle unit to the subnet partition where the subunit with a large area is located includes:

[0030] For a sub-unit with a vertex number N equal to 3 in a boundary triangle unit, the area of ​​the corresponding sub-unit is calculated according to the coordinates of each vertex in the corresponding sub-unit by using the triangle area calculation formula;

[0031] For subunits in the boundary triangle unit whose vertex number N is greater than 3, the corresponding subunit is split into N-2 non-overlapping triangle parts. The area of ​​each triangle part is calculated according to the coordinates of each vertex in each triangle part by using the triangle area calculation formula and the sum is calculated to obtain the area of ​​the corresponding subunit; wherein the vertices of each triangle part come from the vertices of the subunit to which it belongs.

[0032] Preferably, the triangle area calculation formula is:

[0033]

[0034] Among them, A, B, and C are the three vertices of the triangle, (x A ,y A )、(x B ,y B )、(x C ,y C) are the coordinates of vertices A, B, and C respectively.

[0035] According to a second aspect of the present invention, there is provided a power Beidou partition networking and grid broadcasting device using the method of the first aspect of the present invention. The device comprises:

[0036] The network partitioning module is used to partition the entire network area, form multiple subnet partitions, and determine the boundary lines of each subnet partition;

[0037] The triangulation module is used to divide all sites in the entire network area into a Delaunay triangulation network including multiple triangular units;

[0038] A boundary triangle determination module is used to determine the boundary triangle units through which the boundary lines of each subnet partition pass;

[0039] The belonging determination module is used to determine the area of ​​each sub-unit obtained by dividing the boundary line in each boundary triangle unit, and to attribute the corresponding boundary triangle unit to the subnet partition where the sub-unit with the largest area is located;

[0040] The grid division module is used to divide each subnet partition into multiple grid points, divide each grid point into the subnet partition to which the triangle unit belongs, and generate virtual observation values ​​of the grid points according to the triangle unit and the corresponding subnet partition for subsequent grid broadcasting services.

[0041] According to a third aspect of the present invention, a power Beidou partition networking and grid broadcasting system is provided. The system includes a processor and a memory; the memory is used to store instructions; the processor is used to operate according to the instructions to execute the steps of the method according to the first aspect of the present invention.

[0042] Preferably, the system also includes a data processing center communicatively connected to the processor; the data processing center is used to broadcast virtual observation values ​​of corresponding grid points according to user GGA information.

[0043] According to a third aspect of the present invention, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and when the program is executed by a processor, the steps of the method described in the first aspect of the present invention are implemented.

[0044] Compared with the prior art, the beneficial effect of the present invention is that the large-scale zoning networking and grid broadcasting method and system of the electric power Beidou proposed by the present invention firstly organizes all the stations in the large area into triangular units according to the Delaunay triangulation principle to avoid the narrow and long network elements in the boundary area due to the separation of the stations; secondly, the area is divided according to the boundary line of the subnet partition to form a preliminary regular rectangular area, and at the same time, the triangles passing through the partition boundary are judged according to the boundary line equation and the vertices of each triangle; then, the network element passing through the partition boundary line is judged according to the area size to which it belongs, and the triangular network element passing through belongs to the partition where the part with the larger triangle area is located; finally, according to the virtual observation value generation method, the virtual observation value of each grid point is generated according to each partition network element unit. In this way, while realizing the zoning networking of the large-scale Beidou reference station network of the electric power, the present invention can ensure the optimal triangular unit shape of the boundary area, avoid destroying the original connection relationship of the stations on both sides of the boundary line, and thus ensure the optimal service of grid differential positioning in the whole area. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flow chart of the electric power Beidou partition networking and grid broadcasting method of the present invention;

[0046] Figure 2 It is a schematic diagram of the boundary triangle unit in the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The embodiments described in this application are only part of the embodiments of the present invention, not all of them. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the scope of protection of the present invention.

[0048] Example 1

[0049] The embodiment of the present invention provides a method for Beidou power area networking and grid broadcasting. Figure 1 The specific steps of this method are as follows:

[0050] Step 1: partition the entire network area into multiple subnet partitions and determine the boundary lines of each subnet partition.

[0051] The whole network area refers to the entire network area. Partition networking refers to dividing the entire network area into multiple subnet partitions (or subnets), each of which has its own network structure and resource allocation. Partition networking plays an important role in Beidou satellite navigation. It improves the reliability and stability of the system, optimizes satellite resource allocation, enhances system security, supports multi-mode and multi-frequency navigation services, and facilitates system maintenance and upgrades.

[0052] When performing partition networking, the shape of each subnet partition is preferably a regular rectangle.

[0053] Step 2: Divide all sites in the entire network area into a Delaunay triangulation network including multiple triangular units.

[0054] In the division, each site is used as the vertex of the triangular unit. In addition, the division of each triangular unit follows the following principles:

[0055] ① The circumscribed circle of each triangular unit does not contain other sites;

[0056] ② Make each triangular unit have the shortest side as much as possible;

[0057] ③ The number of triangular units is equal to the limit number of independent triangles; an independent triangle is one that cannot be obtained by combining or transforming other triangles. For example, the four points of a square can be connected to form several triangles, but only two of them are independent.

[0058] ④ As the number of sites increases, the edges of the selected triangular units increase linearly with the number of triangular units.

[0059] By dividing all sites in the entire network area into Delaunay triangulation, the appearance of narrow and long network elements in the boundary area due to site separation can be avoided.

[0060] Step 3: determine the boundary triangle units through which the boundary lines of each subnet partition pass.

[0061] This step includes the following sub-steps:

[0062] Step 31, construct the straight line equations of each side of the triangular unit according to the vertex coordinates of the triangular unit;

[0063] Step 32, according to the straight line equations of the sides of the triangular unit and the known boundary line equations, determine the coordinates of the intersections of the boundary line and the sides of the triangular unit;

[0064] Step 33: Determine whether the boundary line passes through the intersection coordinates of the triangle unit according to the intersection coordinates and the vertex coordinates.

[0065] The following is a detailed explanation using an example.

[0066] Assume that the vertices of the current boundary triangle unit are A(x1,y1), B(x2,y2), and C(x3,y3), and then determine the parametric equation of the edge. Taking edge AB as an example, the equation of the edge can be expressed as y=m AB x+c AB , where m AB is the slope of side AB, c AB is the side AB intercept.

[0067] Assume that the equation of the straight line corresponding to the boundary line is Ax+By+C=0.

[0068] According to the equation of the edge, the intersection point of the boundary line and the AB edge in the triangle unit can be calculated according to the following formula (1):

[0069]

[0070] By solving equation (1), we can obtain the intersection coordinates (x, y).

[0071] Whether the boundary line passes through the triangle unit is determined by judging whether the intersection point is on the edge of the triangle unit. Specifically, according to formula (2), whether the intersection point is on the edge AB is determined

[0072]

[0073] When the intersection coordinates (x, y) simultaneously satisfy the two conditions in equation (2), it is considered that the boundary line passes through the side AB of the triangle unit.

[0074] The same method is used to judge the edges AC and BC.

[0075] Step 4: determine the area of ​​the sub-units on both sides of the boundary line of each boundary triangle unit, and assign the corresponding boundary triangle unit to the subnet partition where the sub-unit with a larger area is located.

[0076] Specifically, for a subunit in a boundary triangle unit with a vertex number N equal to 3, the area of ​​the corresponding subunit can be calculated according to the coordinates of each vertex in the corresponding subunit using the triangle area calculation formula. For a subunit in a boundary triangle unit with a vertex number N greater than 3, the corresponding subunit is split into N-2 non-overlapping triangle parts, and the area of ​​each triangle part is calculated and summed according to the coordinates of each vertex in each triangle part using the triangle area calculation formula to obtain the area of ​​the corresponding subunit; wherein the vertices of each triangle part are from the vertices of the subunit to which it belongs.

[0077] The following describes this using specific examples.

[0078] According to the method for determining the intersection point in step 3 above, the two intersection points of the boundary line and the two sides AB and AC of the boundary triangle unit ABC are obtained as P and Q, and the boundary line divides the boundary triangle ABC into a subunit APQ with three vertices and a subunit BCQP with four vertices. Since the number of vertices of the subunit BCQP is greater than 3, it is further divided into two triangle parts BPQ and CBQ.

[0079] Calculate the areas of triangles APQ, BPQ, and CBQ respectively. Take triangle APQ as an example. According to the endpoints (x A ,y A )、(x B ,y B )、(x C ,y C )The formula for calculating the area of ​​a triangle is:

[0080]

[0081] Similarly, the area S of triangle BPQ and triangle CBQ can be calculated ΔBPQ and S ΔCBQ .

[0082] For example, point A is on one side, and points B and C are on one side. By comparing the area S of the subunit APQ ΔAPQ and the area S of the subunit BCQP ΔBPQ +S ΔCBQ The size of determines which subnet partition the triangle unit belongs to. ΔAPQ >S ΔBPQ +S ΔCBQ , then the triangular network element belongs to the subnet partition where site A is located (that is, the subnet partition where subunit APQ is located), otherwise it belongs to the subnet partition where sites B and C are located (that is, the subnet partition where subunit BCQP is located). It should be noted that when belonging to the subnet partition where sites B and C are located, site A is not deleted from another partition, and site A still participates in the triangular networking of its sub-area. The above process is described in the attached Figure 2 shown.

[0083] By splitting the irregularly shaped polygonal sub-units in the boundary triangle unit into multiple triangle parts, respectively calculating the area of ​​each triangle part and summing them up, the area of ​​each sub-unit can be calculated more conveniently and quickly, thereby improving the calculation efficiency.

[0084] Step 5, divide each subnet partition into multiple grid points, divide each grid point into the subnet partition corresponding to the triangle unit, and generate virtual observation values ​​of the grid point according to the triangle unit and the corresponding subnet partition for subsequent grid broadcasting services.

[0085] Among them, the virtual observation value is a new combined observation value obtained by taking the difference of the GPS carrier phase observation values ​​of the same frequency in a certain way. This kind of observation value can eliminate some unimportant parameters or weaken the influence of some factors that have a greater negative impact on the determination of the parameters to be determined.

[0086] Virtual observations can usually be generated by interpolation methods. On the basis of grid division, interpolation calculation can be used to generate virtual observations. Specifically, grid division is a requirement of the service model. Generally, the service area is evenly divided into grids at a certain distance, such as Figure 2 As shown in the small squares in the figure, the vertices of each small square are grid points. Users can select the grid point closest to them as virtual base stations according to their own positions. By determining which triangular unit the user belongs to, the baseline formed by the three stations in the triangular unit can be used to model the atmospheric error. Among the three stations, one is the main base station A, and the other two are slave base stations B and C. The atmospheric error values ​​of the two baselines AB and AC can be calculated. The atmospheric error of user U relative to A, that is, the error on AU, can be interpolated using these two baseline atmospheric error values. Finally, the virtual observation value at U is broadcasted to the user. The method used can be to obtain the virtual observation value of U by geometric reduction of the observation value of A (the position of U and the atmospheric error on AU need to be considered).

[0087] By dividing each grid point into the subgrid partition corresponding to the triangular unit and generating virtual observation values ​​of the grid points, it is possible to achieve the partitioned networking of the electric power Beidou base station network while avoiding destroying the original connection relationship between the stations on both sides of the dividing line, thereby ensuring the optimal service of grid differential positioning in the entire region.

[0088] Example 2.

[0089] Embodiment 2 of the present invention provides a power Beidou partition networking and grid broadcasting device. The device utilizes the method described in embodiment 1 and includes:

[0090] The network partitioning module is used to partition the entire network area, form multiple subnet partitions, and determine the boundary lines of each subnet partition;

[0091] The triangulation module is used to divide all sites in the entire network area into a Delaunay triangulation network including multiple triangular units;

[0092] A boundary triangle determination module is used to determine the boundary triangle units through which the boundary lines of each subnet partition pass;

[0093] The belonging determination module is used to determine the area of ​​each sub-unit obtained by dividing the boundary line in each boundary triangle unit, and to attribute the corresponding boundary triangle unit to the subnet partition where the sub-unit with the largest area is located;

[0094] The grid division module is used to divide each subnet partition into multiple grid points, divide each grid point into the subnet partition to which the triangle unit belongs, and generate virtual observation values ​​of the grid points according to the triangle unit and the corresponding subnet partition for subsequent grid broadcasting services.

[0095] Preferably, the triangulation network division module is also used to: divide the Delaunay triangulation network according to the following principles: take each site as the vertex of the triangular unit; the circumscribed circle of each triangular unit does not contain other sites; each triangular unit has the shortest side as much as possible; the number of triangular units is equal to the limited number of independent triangles; as the number of sites increases, the sides of the selected triangular units increase linearly with the number of triangular units.

[0096] Preferably, the boundary triangle determination module is also used to: construct the straight line equations of each side of the triangle unit based on the vertex coordinates of the triangle unit; determine the intersection coordinates of the straight line where the boundary line is located and the straight line where the edges of the triangle unit are located based on the straight line equations of each side of the triangle unit and the known boundary line equations; and determine whether the boundary line passes through the triangle unit based on the intersection coordinates and the vertex coordinates.

[0097] Preferably, the boundary triangle determination module is further used to: represent the intersection coordinates as (x, y), and represent the coordinates of any two vertices in the triangle unit as (x1, y1) and (x2, y2) respectively; when the intersection coordinates and the coordinates of any two vertices in the triangle unit satisfy the following relationship, it is considered that the boundary line where the intersection coordinates are located passes through the triangle unit:

[0098]

[0099] Preferably, the attribution determination module is also used for: for a sub-unit in a boundary triangle unit whose number of vertices N is equal to 3, calculating the area of ​​the corresponding sub-unit according to the coordinates of each vertex in the corresponding sub-unit by using the triangle area calculation formula; for a sub-unit in a boundary triangle unit whose number of vertices N is greater than 3, splitting the corresponding sub-unit into N-2 non-overlapping triangle parts, calculating the area of ​​each triangle part according to the coordinates of each vertex in each triangle part by using the triangle area calculation formula and summing them up to obtain the area of ​​the corresponding sub-unit; wherein the vertices of each triangle part are from the vertices of the sub-unit to which it belongs.

[0100] The calculation formula for the triangle area is:

[0101]

[0102] Among them, A, B, and C are the three vertices of the triangle, (x A ,y A )、(xB ,y B )、(x C ,y C ) are the coordinates of vertices A, B, and C respectively.

[0103] Example 3

[0104] This embodiment 3 is a power Beidou zone networking and grid broadcasting system. The system stores a program, and when the program is executed by a processor, the steps in the power Beidou zone networking and grid broadcasting method as described in embodiment 1 of the present invention are implemented.

[0105] The detailed steps are the same as the power Beidou partition networking and grid broadcasting method provided in Example 1, and will not be repeated here.

[0106] Furthermore, the system also includes a data processing center in communication with the processor. The data processing center is used to broadcast virtual observation values ​​of corresponding grid points according to user GGA (Global Positioning System Fix Data) information.

[0107] Among them, GGA data contains information such as the longitude, latitude, altitude, positioning time and positioning quality indication of the positioning device, and is an important type of GPS positioning data format. It provides key information such as location, time, positioning quality indication, etc., which is crucial to improving positioning accuracy and reliability.

[0108] Example 4.

[0109] Embodiment 4 of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the program is executed by a processor, the steps of the method described in Embodiment 1 are implemented.

[0110] The detailed steps are the same as the power Beidou partition networking and grid broadcasting method provided in Example 1, and will not be repeated here.

[0111] The beneficial effect of the present invention is that, compared with the prior art, the large-scale zoning networking and grid broadcasting method and system of the electric power Beidou proposed by the present invention firstly organizes all the stations in the large area into triangular units according to the Delaunay triangulation principle to avoid the narrow and long network elements in the boundary area due to the separation of the stations; secondly, the area is divided according to the boundary line of the subnet partition to form a preliminary regular rectangular area, and at the same time, the triangles passing through the partition boundary are judged according to the boundary line equation and the vertices of each triangle; then, the network element passing through the partition boundary line is judged according to the area size to which it belongs, and the triangular network element passing through belongs to the partition where the part with the larger triangle area is located; finally, according to the virtual observation value generation method, the virtual observation value of each grid point is generated according to each partition network element unit. In this way, while realizing the zoning networking of the large-scale Beidou reference station network of the electric power, the present invention can ensure the optimal network element shape in the boundary area, avoid destroying the original connection relationship of the stations on both sides of the boundary line, and thus ensure the optimal service of grid differential positioning in the whole area. 。

[0112] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0113] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0114] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0115] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for electric power Beidou partition networking and grid broadcasting, characterized in that: The following steps are involved: Divide the entire network area into multiple subnets and determine the boundaries of each subnet. Divide all sites in the entire network area into a Delaunay triangulation network consisting of multiple triangular units; Determine the boundary triangle units through which the boundary lines of each subnet partition pass; Determine the area of ​​each sub-unit obtained by dividing the boundary line in each boundary triangle unit, and assign the corresponding boundary triangle unit to the subnet partition where the sub-unit with the largest area is located; Each subnet partition is divided into multiple grid points, and each grid point is divided into the subnet partition corresponding to the triangle unit. The virtual observation value of the grid point is generated according to the triangle unit and the corresponding subnet partition for subsequent grid broadcasting services.

2. The method for electric power Beidou partition networking and grid broadcasting as claimed in claim 1, characterized in that: Divide all sites in the entire network area into a Delaunay triangulation network consisting of multiple triangular units, including: The Delaunay triangulation is divided according to the following principles: Each site is regarded as the vertex of a triangular unit; The circumscribed circle of each triangular unit does not contain other sites; Make each triangular unit have the shortest side as much as possible; The number of triangle elements is equal to the number of independent triangle limits; As the number of sites increases, the edges of the selected triangle elements increase linearly with the number of triangle elements.

3. The method for electric power Beidou partition networking and grid broadcasting as claimed in claim 1, characterized in that: Determine the boundary triangle units through which the boundary lines of each subnet partition pass, including: According to the vertex coordinates of the triangular unit, the straight line equations of the sides of the triangular unit are constructed; According to the straight line equations of the sides of the triangular unit and the known boundary line equations, the coordinates of the intersections of the straight line where the boundary line is located and the straight line where the sides of the triangular unit are located are determined; According to the intersection point coordinates and vertex coordinates, determine whether the boundary line passes through the triangle unit.

4. The method for electric power Beidou partition networking and grid broadcasting as claimed in claim 3, characterized in that: According to the intersection point coordinates and vertex coordinates, determine whether the boundary line passes through the triangle unit, including: The coordinates of the intersection point are expressed as (x, y), and the coordinates of any two vertices in the triangle unit are expressed as (x1, y1) and (x2, y2) respectively; When the intersection coordinates and the coordinates of any two vertices in the triangle unit satisfy the following relationship, the boundary line where the intersection coordinates are located is considered to pass through the triangle unit:

5. The method for electric power Beidou partition networking and grid broadcasting as claimed in claim 1, characterized in that: Determine the sub-unit area on both sides of the boundary line of each boundary triangle unit, and assign the corresponding boundary triangle unit to the subnet partition where the sub-unit with a larger area is located, including: For a sub-unit with a vertex number N equal to 3 in a boundary triangle unit, the area of ​​the corresponding sub-unit is calculated according to the coordinates of each vertex in the corresponding sub-unit by using the triangle area calculation formula; For subunits in the boundary triangle unit whose vertex number N is greater than 3, the corresponding subunit is split into N-2 non-overlapping triangle parts. The area of ​​each triangle part is calculated according to the coordinates of each vertex in each triangle part by using the triangle area calculation formula and the sum is calculated to obtain the area of ​​the corresponding subunit; wherein the vertices of each triangle part come from the vertices of the subunit to which it belongs.

6. The method for electric power Beidou partition networking and grid broadcasting as claimed in claim 5, characterized in that: The triangle area calculation formula is: Among them, A, B, and C are the three vertices of the triangle, (x A ,y A )、(x B ,y B )、(x C ,y C ) are the coordinates of vertices A, B, and C respectively.

7. A power Beidou partition networking and grid broadcasting device using the method described in any one of claims 1 to 6, characterized in that: include: The network partitioning module is used to partition the entire network area, form multiple subnet partitions, and determine the boundary lines of each subnet partition; The triangulation module is used to divide all sites in the entire network area into a Delaunay triangulation network including multiple triangular units; A boundary triangle determination module is used to determine the boundary triangle units through which the boundary lines of each subnet partition pass; The belonging determination module is used to determine the area of ​​each sub-unit obtained by dividing the boundary line in each boundary triangle unit, and to attribute the corresponding boundary triangle unit to the subnet partition where the sub-unit with the largest area is located; The grid division module is used to divide each subnet partition into multiple grid points, divide each grid point into the subnet partition to which the triangle unit belongs, and generate virtual observation values ​​of the grid points according to the triangle unit and the corresponding subnet partition for subsequent grid broadcasting services.

8. A power Beidou partition networking and grid broadcasting system, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store instructions; and the processor is used to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 6.

9. The electric power Beidou partition networking and grid broadcasting system as claimed in claim 8, characterized in that: It also includes a data processing center that is communicatively connected to the processor; the data processing center is used to broadcast virtual observation values ​​of corresponding grid points according to user GGA information.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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