Fan tower center track correction method based on Beidou receiver

Abstract

The invention relates to a Beidou receiver-based fan tower center track correction method, which comprises the following steps of: 1, constructing a geometric parameter set, respectively arranging a first antenna and a second antenna at a first position and a second position of the top of a tower, arranging the antennas on a bracket which is fixedly arranged at the top of the tower, the first position and the second position are at the first end and the second end of the bracket; step 2, acquiring a Beidou positioning data set of the first antenna and a Beidou positioning data set of the second antenna according to the data of the Beidou receiver received by the first antenna and the second antenna; 3, calculating and obtaining an initial coordinate of an axial cross section of the tower drum according to the Beidou positioning data set and the geometric parameter set of the first antenna; 4, the coordinate track of the selected center position, the coordinate track of the selected center position and the geometric parameter set are obtained according to the data received by the first antenna and the second antenna and received by the Beidou receiver, and the shaking track of the axial section of the tower is determined.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a method for correcting a wind turbine tower center trajectory based on a Beidou receiver. Background Art

[0002] During operation, a wind turbine (also known as a wind turbine) will continue to be affected by wind loads, causing the blades to move due to aerodynamic forces, converting the potential energy of the blades driven by wind into stored energy. In order to maximize the energy received by the blades from the wind, it is usually necessary to accurately analyze the position of the blades to obtain the prepared blade adjustment data. However, the loads on the blades are very complex. As the capacity of a single wind turbine increases and the installed capacity continues to expand, the position detection and analysis of the tower is very important for correcting the precise position of the blades to obtain accurate adjustment. In this way, the position of the blades relative to the tower can be analyzed and resolved, so that the high-precision acquisition of the position of the tower itself can obtain the precise position adjustment of the blades. Summary of the invention

[0003] In order to solve the technical problem of high-precision detection of the above-mentioned tower center motion trajectory, the present invention provides a wind turbine tower center trajectory correction method based on a Beidou receiver to realize the correction of the wind turbine tower center trajectory.

[0004] The present invention proposes a method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver, wherein the trajectory correction method comprises:

[0005] Step 1: construct a geometric parameter set, including a first geometric parameter, a second geometric parameter, and a third geometric parameter;

[0006] A first antenna and a second antenna are respectively arranged at a first position and a second position on the top of the tower, and the antennas are arranged on a bracket fixedly mounted on the top of the tower, and the first position and the second position are at a first end and a second end of the bracket;

[0007] The first geometric parameter is obtained by: externally installing a first antenna at a first position in the tower, and obtaining a first distance from the first antenna to a first axis;

[0008] The second geometric parameter is obtained by: installing a second antenna externally at a second position in the tower, obtaining a projection distance between the first antenna and the second antenna on the first axis,

[0009] Acquire a second distance from the projection distance to a second axis, where the second distance is the second geometric parameter;

[0010] The third geometric parameter is obtained by: the sum of the height from the first antenna to an axial section of the tower and the height from the first antenna to the top surface of the tower;

[0011] The first axis is a line passing through a point on the bracket and located on the top surface of the tower, and the position of the point corresponds to the projection point of the first antenna and the second antenna when they are not subject to wind load; the second axis is the central axis of the top of the tower corresponding to an axial section parallel to the tower;

[0012] Step 2: Acquire the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna using the data of the Beidou receiver received by the first antenna and the second antenna; and correct the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna using data acquired by a base station with fixed coordinates;

[0013] Step 3: using the Beidou positioning data set of the first antenna and the geometric parameter set to calculate and obtain the initial coordinates of an axial section of the tower; using the Beidou positioning data set of the second antenna to verify the initial coordinates;

[0014] Step 4: Determine the shaking trajectory of an axial section of the tower using the coordinate trajectory of the selected center position between the data acquired by the Beidou receiver received by the first antenna and the second antenna, the coordinate trajectory of the selected center position and the geometric parameter set.

[0015] The step 2 also includes:

[0016] A third antenna is built into an axial section of the tower;

[0017] A Beidou positioning data set of the third antenna is obtained, and the Beidou positioning data set of the third antenna is corrected by using data obtained by a base station with fixed coordinates.

[0018] The method further comprises step 5:

[0019] Using the Beidou positioning data set of the first antenna, the Beidou positioning data set of the second antenna, and the Beidou positioning data set of the third antenna, the geometric parameter set is corrected in real time;

[0020] The sway trajectory of an axial section of the tower is updated and determined using the modified geometric parameter set.

[0021] The method further comprises step 6:

[0022] Determining a coordinate trajectory of the selected center position using the motion trajectories of the first antenna and the second antenna;

[0023] Correcting the motion trajectories of the first antenna and the second antenna using the coordinate trajectory of the selected center position to obtain the influence of wind load on the first antenna and the second antenna;

[0024] Based on the influence of wind load on the first antenna and the second antenna, the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna are updated, and the geometric parameter set is corrected in real time.

[0025] A wind turbine tower center trajectory correction system based on Beidou receiver, characterized in that:

[0026] The above system includes:

[0027] The antenna system comprises a first antenna set, which is arranged in the outer space of the top surface of the tower, and is used to move with the movement of the wind load of the tower, and has its own wind load movement; the first antenna set has a first relationship with the position of the top surface of the tower; the second antenna set is arranged in the inner space of an axial section of the tower, and is used to move with the movement of the wind load of the tower;

[0028] A BeiDou receiver, used to receive BeiDou signals collected by the antenna system and perform base station signal-based correction on the BeiDou signals;

[0029] The central station control system is used to receive the signal of the antenna system sent by the Beidou receiver, perform data analysis based on the signal, and draw the center trajectory of the tower in combination with the correction method described in any one of claims 1 to 4.

[0030] The first antenna set is configured as follows:

[0031] The first antenna and the second antenna are arranged in the external space at the top of the tower and on a bracket installed and fixed at the top of the tower. The first position and the second position are at the first end and the second end of the bracket. The first axis is set as a line passing through a point on the bracket and located on the surface of the top of the tower. The position of the point corresponds to the projection point of the first antenna and the second antenna under no wind load; the second axis is set as the central axis of the top of the tower corresponding to an axial section parallel to the tower.

[0032] The middle station control system includes:

[0033] A first antenna set trajectory operation generating submodule is configured to draw a movement trajectory of the first antenna set with the first axis as a base point;

[0034] The tower center trajectory generating submodule is used to draw the moving trajectory of the tower center with the second axis as the base point.

[0035] It is characterized in that

[0036] The second antenna set is antennas distributed inside multiple axial sections of the tower, so as to obtain the center trajectory of the tower at different height positions.

[0037] A server, characterized in that:

[0038] The server comprises:

[0039] at least one processor; and

[0040] a memory communicatively connected to the at least one processor; wherein,

[0041] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver.

[0042] The present invention establishes the position of the Beidou signal collection point on the tower, establishes the system coordinates of the tower absolute position and mobile position detection system, and performs analytical analysis based on the data of the above two absolute geometric positions and relative positions to obtain the precise position of the tower center trajectory, thereby improving the stability and reliability of the monitoring results.

[0043] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 It is the setting position of the geometric position antenna set of the wind turbine tower center trajectory correction system based on Beidou receiver in the present invention;

[0046] Figure 2 According to the geometric position antenna set of the wind turbine tower center trajectory correction system based on Beidou receiver in the present invention, under the action of wind load, the tower position and antenna position are affected differently by the wind load;

[0047] Figure 3 It is a flow chart of a method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver according to the present invention;

[0048] Figure 4 It is a schematic diagram of a process embodiment of a method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver according to the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] The existing technology of wind turbines includes a tower, a generator, a gearbox, a nacelle, and one or more rotor blades. The blades capture kinetic energy from the wind using the known airfoil principle and transfer the kinetic energy through rotational energy. The blades are connected to the gearbox or directly to the generator with a rotating shaft. The monitoring and tracking of tower deflection is an important monitoring parameter and tool for operational control of mechanical loads and power capture.

[0052] like Figure 1-2 As shown in , it is a modeling diagram of the trajectory correction signal source system established when the wind turbine tower center trajectory correction system based on the tower top structure Beidou receiver in the present invention is set at a fixed position and subjected to wind load, as shown in Figure 1 As shown in, the antenna system in the present invention first includes a first antenna system arranged on the top surface of the tower. The above-mentioned antenna system first includes a bracket fixed to the top surface of the tower. In this way, the position of the bracket and the top surface of the tower are kept close and fixed, and the influence of wind loads on both is basically the same. Since the position of the top surface of the tower is also closely related to the position of the blades, the acquisition of the motion trajectory of the center trajectory of the top surface of the tower provides effective information for accurately adjusting the position of the blades.

[0053] On the basis of the above-mentioned bracket, the present invention installs a first antenna at the first end of the bracket and installs a second antenna at the second end of the bracket. In this way, a bracket with fixed geometric parameters establishes a coordinate system with fixed geometric parameters between the first antenna and the second antenna, wherein the first antenna has a first geometric height h1, and the second antenna has a second geometric height h2, wherein the above-mentioned geometric height is the height compared to the top surface of the tower, and the above-mentioned height may be affected in posture by the influence of the wind load that may occur on the first antenna and the second antenna, such as Figure 2 As shown in , the first geometric height h1 of the first antenna may be adjusted to h1', and the second geometric height h2 of the second antenna may be adjusted to h2'.

[0054] Among them, on the basis of maintaining the above-mentioned brackets and antennas, a geometric parameter set system is established on the physical structure of the tower top surface to facilitate the formation of a mutually corrected calculation system in the subsequent coordinate system simulation, so as to improve the accuracy of the tower trajectory correction calculation system.

[0055] like Figure 3 As shown in the present invention, a method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver is proposed, and the steps of the method include:

[0056] Construct a geometric parameter set, including a first geometric parameter A, a second geometric parameter B, and a third geometric parameter H1+h1; A is obtained as follows: install the first antenna externally at the first position in the tower, obtain the projection points of the first antenna and the second antenna on the bracket, use the projection point as the intersection point, draw a line perpendicular to the bracket on the top surface of the tower to obtain the projection point axis, A is the distance from the projection point of the antenna on the tower to the projection point axis; the projection point height at this time is h1.

[0057] B is obtained as follows: a second antenna is externally installed at a second position on the top surface of the tower, and the projection points of the first antenna and the second antenna on the bracket are obtained. The projection point is taken as the intersection point, and the distance B from the projection point to the physical center of the axial section of the tower is. At this time, the height of the projection point of the second antenna on the top surface of the tower is h2.

[0058] H1+h1 is obtained as: the sum of the height from the axis of the projection point to the vertical line of the physical center of an axial section of the tower and the height from the first antenna to the top surface of the tower; in other embodiments, H1+h2 can also be obtained as: the sum of the height from the axis of the projection point to the vertical line of the physical center of an axial section of the tower and the height from the second antenna to the top surface of the tower.

[0059] The antenna system also includes a third antenna located in the internal structure of the tower at the physical center of an axial section of the tower. The above antenna mainly receives the posture information of the current position at the physical center of an axial section of the tower. Since the above posture information is not affected by the deformation of its own wind load, the inclination and change of the posture mainly reflects the movement of the third antenna at the current position along with the common posture of this part of the tower.

[0060] It is worth noting that due to the high height of the tower, the displacement and deformation of the wind load on each part are not the same. The position of the third antenna inside the tower capacity should not be set too high on the top surface of the tower, and the gap between the two should not exceed the axial height of the blade hub structure.

[0061] like Figure 2 As shown in , it can be seen that with the change of wind load, the posture of the tower part actually drives the posture of the antenna to change, and the posture height of the antenna will change as it is affected by the wind load, including the first geometric parameter A, the second geometric parameter B, and the third geometric parameter H1+h1. As the posture of the antenna itself changes due to the wind load, in fact, A and B will not change (in fact, the posture of the collected data will change, but based on the setting definition of its position, its value itself will not change absolutely). At this time, the third geometric parameter becomes H1+h1', and this change is related to the change caused by the posture change of only the first antenna or the second antenna, although the changed data at this time actually includes the common changes of the posture change of the antenna wind load and the current tower posture change.

[0062] Step 2: Acquire the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna using the data of the Beidou receiver received by the first antenna and the second antenna; correct the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna using data acquired by a base station with fixed coordinates; and embed a third antenna in an axial section of the tower;

[0063] A Beidou positioning data set of the third antenna is obtained, and the Beidou positioning data set of the third antenna is corrected by using data obtained by a base station with fixed coordinates.

[0064] Step 3: Calculate and obtain the initial coordinates of an axial section of the tower using the Beidou positioning data set and geometric parameter set of the first antenna; verify the initial coordinates using the Beidou positioning data set of the second antenna;

[0065] Step 4: Determine the shaking trajectory of an axial section of the tower by acquiring the coordinate trajectory of the selected center position between the data of the Beidou receiver received by the first antenna and the second antenna, the coordinate trajectory of the selected center position and the geometric parameter set.

[0066] Step 5: Using the Beidou positioning data set of the first antenna, the Beidou positioning data set of the second antenna, and the Beidou positioning data set of the third antenna, correct the geometric parameter set in real time;

[0067] The sway trajectory of an axial section of the tower is updated and determined using the revised geometric parameter set.

[0068] Step 6: Determine the coordinate trajectory of the selected center position using the motion trajectories of the first antenna and the second antenna; correct the motion trajectories of the first antenna and the second antenna using the coordinate trajectory of the selected center position to obtain the influence of the wind load on the first antenna and the second antenna;

[0069] Based on the influence of wind load on the first antenna and the second antenna, the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna are updated, and the geometric parameter set is corrected in real time.

[0070] Embodiment 1

[0071] Specifically, the first embodiment of the present invention provides a method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver. This embodiment can be applied to an information collection system that uses absolute and relative position settings for the tower trajectory, and makes full use of absolute and relative information to correct the trajectory center, thereby obtaining the center position of the tower top surface. The method includes:

[0072] Step 2-1: Acquire the data of the Beidou receiver received by the first antenna and the second antenna. At this time, the received data includes the posture information of the first antenna and the second antenna.

[0073] In fact, the above-mentioned posture information includes the clock deviation of the Beidou navigation system, the posture change of the antenna itself under wind load, and the posture change of the tower top surface under wind load.

[0074] Therefore, with this,

[0075] Step 2-2, obtain the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna; firstly, the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna are corrected using data obtained by a base station with fixed coordinates, and the acquired posture information only includes the posture changes of the antenna itself under wind load, and the posture changes of the tower top surface under wind load.

[0076] Step 3: Using the Beidou positioning data set of the first antenna (containing only the posture change of the first antenna + the posture change information of the tower) and the geometric parameter set (A, B, H1+h1'), calculate and obtain the initial coordinates of an axial section of the tower (those skilled in the art can know that the relative information is obtained by subtracting the absolute information from the relative information); verify the initial coordinates using the Beidou positioning data set of the second antenna;

[0077] As the verification information in this embodiment, at this time, the Beidou positioning data set of the second antenna (containing only the posture change of the second antenna + the posture change information of the tower) and the geometric parameter set (A, B, H1+h2'),

[0078] h1' and h2' only extract information about changes in one dimensional direction, and further verify it with the information deviation of the other two dimensions between them, such as the change of the lateral position, and the relationship between the absolute coordinate system for further verification.

[0079] Step 4: Determine the shaking trajectory of an axial section of the tower by using the coordinate trajectory of the selected center position between the data acquired by the Beidou receiver received by the first antenna and the second antenna, and the coordinate trajectory of the selected center position and the geometric parameter set.

[0080] The physical projection points of the first antenna and the second antenna on the tower top surface will not change, but their projection positions relative to the tower top will change after their positions change.

[0081] In this way, the position change information of each physical projection point is obtained through the posture change information of the third antenna, and the position change information of each physical projection point is further obtained through the geometric parameter set. The physical information of the first end of the first antenna is obtained with the information of the physical projection point and the geometric information A. In this way, the absolute information of the antenna posture change of the first antenna is obtained through the relative posture information measured by the antenna and the physical information of the first end. In this way, the absolute value information of h1' and h2' is obtained, and the posture change information of the tower itself can be further verified.

[0082] Embodiment 2

[0083] Embodiment 2 of the present invention provides a method for updating and correcting information in the process of correcting absolute information and relative information in Embodiment 1. The method includes:

[0084] Step 5:

[0085] The geometric parameter set is corrected in real time using the Beidou positioning data set of the first antenna, the Beidou positioning data set of the second antenna, and the Beidou positioning data set of the third antenna;

[0086] In this embodiment, the geometric parameter is a value that can be corrected by relative changes. In this case, the position of the projection point is defined as the projection point of a bracket on the tower top surface. In fact, the first antenna and the second antenna are simultaneously projected on the tower top surface. At this time, the initial positions of the two antennas do not form a relative relationship, and themselves form an initial state of a certain posture. The absolute point on the tower top surface determined by the projection point position is not on the bracket and the tower top plane. The relative data value of the third antenna needs to be used to obtain the relative data of the first antenna and the second antenna respectively. At this time, in addition to the changes in h1' and h2', the information of A and B is also updated and changed.

[0087] The shaking trajectory of an axial section of the tower is updated and determined with the revised geometric parameter set. At this time, the update and the change in the volume of the data body are larger.

[0088] Step 6:

[0089] The coordinate trajectory of the selected center position is determined by the motion trajectory of the first antenna and the second antenna; at this time, the selected center position is the absolute position of the intersection of the first antenna and the top surface of the tower, or the absolute position of the intersection of the tail end of the second antenna and the top surface of the tower. At this time, the coordinate trajectories of the two center positions are drawn, and the weighted average of the data can be performed to obtain more accurate tower center trajectory correction data.

[0090] Reversely correcting the motion trajectories of the first antenna and the second antenna using the coordinate trajectory of the selected center position to obtain the influence of the wind load on the first antenna and the second antenna;

[0091] The influence of wind load on the first antenna and the second antenna is used to update the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna, and the geometric parameter set is corrected in real time, thereby forming a cycle to obtain a more accurate trajectory correction result updated in real time.

[0092] The present invention also discloses a wind turbine tower center trajectory correction system based on a Beidou receiver, which is characterized in that:

[0093] The above system includes:

[0094] The antenna system includes a first antenna set, which is arranged in an external space on the top surface of the tower, and is used to move with the movement of the wind load of the tower, and has its own wind load movement; the first antenna set has a first relationship with the position of the top surface of the tower; the second antenna set is arranged in an internal space of an axial section of the tower, and is used to move with the movement of the wind load of the tower;

[0095] A BeiDou receiver is used to receive BeiDou signals collected by the antenna system and perform corrections on the BeiDou signals based on base station signals;

[0096] The central control system is used to receive the signal of the antenna system sent by the Beidou receiver, perform data analysis based on the signal, and draw the tower center trajectory in combination with the vehicle repair method in the embodiment.

[0097] The middle-office control system includes:

[0098] A first antenna set trajectory operation generating submodule draws a movement trajectory of the first antenna set with the first axis as a base point;

[0099] The tower center trajectory generation submodule is used to draw the moving trajectory of the tower center with the second axis as the base point. The second antenna set is an antenna distributed inside multiple axial sections of the tower, so as to obtain the center trajectory of the tower at different height positions.

[0100] Through the above method, the data of the antenna and the moving object under the action of wind can be effectively associated and corrected, thereby improving the accuracy and reliability of positioning. In practical applications, it may be necessary to select an appropriate method or a combination of multiple methods according to the specific situation.

[0101] In some embodiments, the trajectory correction method of the tower in a wind turbine can be implemented as a combination of a computer program and hardware for signal acquisition, reception and processing. The systems and techniques described herein can be implemented in a computing system including backend components (for example, as a data server), or a computing system including middleware components (for example, an application server), or a computing system including front-end components (for example, a user computer with a graphical user interface or a web browser, through which a user can interact with implementations of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or front-end components.

[0102] The middle station control system may include a client and a server. The client and the server are generally remote from each other and can interact with each other via a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of the present invention can be achieved. The antenna set can also be set in one or more groups according to the same principle to cross-validate the data, and the position of the one-axis section of the tower can also be set in multiple groups to cross-validate the data.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver, characterized in that: The trajectory correction method comprises: Step 1: construct a geometric parameter set, including a first geometric parameter, a second geometric parameter, and a third geometric parameter; A first antenna and a second antenna are respectively arranged at a first position and a second position on the top of the tower, and the antennas are arranged on a bracket fixedly mounted on the top of the tower, and the first position and the second position are at a first end and a second end of the bracket; The first geometric parameter is obtained by: externally installing a first antenna at a first position in the tower, and obtaining a first distance from the first antenna to a first axis; The second geometric parameter is obtained by: installing a second antenna externally at a second position in the tower, obtaining a projection distance between the first antenna and the second antenna on the first axis, Acquire a second distance from the projection distance to a second axis, where the second distance is the second geometric parameter; The third geometric parameter is obtained by: the sum of the height from the first antenna to an axial section of the tower and the height from the first antenna to the top surface of the tower; The first axis is a line passing through a point on the bracket and located on the top surface of the tower, and the position of the point corresponds to the projection point of the first antenna and the second antenna when they are not subject to wind load; the second axis is the central axis of the top of the tower corresponding to an axial section parallel to the tower; Step 2: Acquire the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna using the data of the Beidou receiver received by the first antenna and the second antenna; and correct the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna using data acquired by a base station with fixed coordinates; Step 3: using the Beidou positioning data set of the first antenna and the geometric parameter set to calculate and obtain the initial coordinates of an axial section of the tower; using the Beidou positioning data set of the second antenna to verify the initial coordinates; Step 4: Determine the shaking trajectory of an axial section of the tower using the coordinate trajectory of the selected center position between the data acquired by the Beidou receiver received by the first antenna and the second antenna, the coordinate trajectory of the selected center position and the geometric parameter set.

2. The method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver according to claim 1, characterized in that: The step 2 also includes: A third antenna is built into an axial section of the tower; A Beidou positioning data set of the third antenna is obtained, and the Beidou positioning data set of the third antenna is corrected by using data obtained by a base station with fixed coordinates.

3. The method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver according to claim 2 is characterized in that: The method further comprises step 5: Using the Beidou positioning data set of the first antenna, the Beidou positioning data set of the second antenna, and the Beidou positioning data set of the third antenna, the geometric parameter set is corrected in real time; The sway trajectory of an axial section of the tower is updated and determined using the modified geometric parameter set.

4. The method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver according to claim 2 is characterized in that: The method further comprises step 6: Determining a coordinate trajectory of the selected center position using the motion trajectories of the first antenna and the second antenna; Correcting the motion trajectories of the first antenna and the second antenna using the coordinate trajectory of the selected center position to obtain the influence of wind load on the first antenna and the second antenna; Based on the influence of wind load on the first antenna and the second antenna, the Beidou positioning data set of the first antenna and the Beidou positioning data set of the second antenna are updated, and the geometric parameter set is corrected in real time.

5. A wind turbine tower center trajectory correction system based on Beidou receiver, characterized in that: The above system includes: The antenna system comprises a first antenna set, which is arranged in the outer space of the top surface of the tower, and is used to move with the movement of the wind load of the tower, and has its own wind load movement; the first antenna set has a first relationship with the position of the top surface of the tower; the second antenna set is arranged in the inner space of an axial section of the tower, and is used to move with the movement of the wind load of the tower; A BeiDou receiver, used to receive BeiDou signals collected by the antenna system and perform base station signal-based correction on the BeiDou signals; The central station control system is used to receive the signal of the antenna system sent by the Beidou receiver, perform data analysis based on the signal, and draw the center trajectory of the tower in combination with the correction method described in any one of claims 1 to 4.

6. The wind turbine tower center trajectory correction system based on Beidou receiver as described in claim 5, characterized in that: The first antenna set is configured as follows: The first antenna and the second antenna are arranged in the external space at the top of the tower and on a bracket installed and fixed at the top of the tower. The first position and the second position are at the first end and the second end of the bracket. The first axis is set as a line passing through a point on the bracket and located on the surface of the top of the tower. The position of the point corresponds to the projection point of the first antenna and the second antenna under no wind load; the second axis is set as the central axis of the top of the tower corresponding to an axial section parallel to the tower.

7. The wind turbine tower center trajectory correction system based on Beidou receiver as described in claim 5, characterized in that: The middle station control system includes: A first antenna set trajectory operation generating submodule is configured to draw a movement trajectory of the first antenna set with the first axis as a base point; The tower center trajectory generating submodule is used to draw the moving trajectory of the tower center with the second axis as the base point.

8. The wind turbine tower center trajectory correction system based on Beidou receiver as described in claim 5, characterized in that: The second antenna set is antennas distributed inside multiple axial sections of the tower, so as to obtain the center trajectory of the tower at different height positions.

9. A server, characterized in that: The server comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for correcting the center trajectory of a wind turbine tower based on a Beidou receiver as described in any one of claims 1-5.

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