Ground wire safety distance monitoring method and system, storage medium and electronic equipment

Abstract

The invention discloses a ground wire safety distance monitoring method and system, a storage medium and electronic equipment. The method comprises the following steps: acquiring a satellite signal; the satellite signals are preprocessed; error correction is carried out on the preprocessed satellite signals; calculating a three-dimensional coordinate of the wire-to-ground monitoring device based on the corrected satellite signal, and converting the three-dimensional coordinate into a local coordinate; and calculating a relative position relationship between the adjacent wires based on the local coordinates to obtain a safety distance between the adjacent wires. Satellite positioning signals are collected through the Beidou satellite antenna, and through preprocessing and error correction, the precision of calculation of the transmission conductor distance by the position of the transmission conductor ground monitoring device is remarkably improved; furthermore, the ionosphere and troposphere error difference in the propagation process is fully considered and corrected in the resolving process, so that the stability and reliability of the transmission conductor ground monitoring device under different environmental conditions are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission, and in particular to a method, system, storage medium and electronic equipment for monitoring the safe distance of a ground wire. Background Art

[0002] At present, during the operation of high-voltage transmission lines, the safe distance between conductors is crucial to ensure the stability and safety of the power system. Traditional monitoring methods, including ground measurement, manual inspections, and drone inspections, have certain limitations due to the restrictions of geographical environment and weather conditions, resulting in low accuracy in monitoring the distance between transmission conductors and ground wires. Summary of the invention

[0003] The purpose of the present invention is to provide a ground wire safety distance monitoring method, system, storage medium and electronic equipment, which can solve the problem of low monitoring accuracy of traditional monitoring methods.

[0004] The technical solution adopted by the present invention is:

[0005] A method for monitoring the safe distance of a ground wire comprises the following steps:

[0006] S10: Collecting satellite positioning signals through a satellite positioning module;

[0007] S20: pre-processing the satellite positioning signal;

[0008] S30: performing error correction on the preprocessed satellite positioning signal to obtain an error-corrected satellite positioning signal;

[0009] S40: acquiring the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system based on the error-corrected satellite positioning signal;

[0010] S50: converting the longitude and latitude coordinates of the transmission line-to-ground monitoring device in the global coordinate system into coordinates in the local coordinate system, and acquiring the distance between adjacent transmission lines based on the transmission line-to-ground monitoring device having the coordinates in the local coordinate system.

[0011] The step S2 specifically includes the following steps:

[0012] S201: screening the satellite signals: screening by setting a signal-to-noise ratio and a signal strength threshold;

[0013] S202: Filter the filtered satellite signals: filter the filtered satellite signals using sliding average data;

[0014] S203: De-noising the filtered satellite signal: Use a Kalman filter to smooth the filtered signal to remove high-frequency noise and random fluctuations in the signal.

[0015] The step S3 specifically includes the following steps:

[0016] S301: A reference station is set at a location with known precise coordinates. The reference station compares and analyzes the received satellite positioning signal with the known precise coordinates to calculate a corresponding error correction value. The error correction value can be calculated by the difference between the observed satellite position and the position of the reference value, which is specifically expressed as:

[0017] ΔP=P true –P obs

[0018] Where ΔP represents the error correction value, P true Indicates known precise coordinates, P obs Indicates the observed satellite position;

[0019] S302: superimposing the error correction value with the preprocessed satellite signal to obtain an error-corrected satellite signal;

[0020] The error correction is applied by mathematically adding the correction value to the original satellite signal, as calculated by the following formula:

[0021] P correct =P obs +ΔP

[0022] Among them, P correct Indicates the corrected satellite signal.

[0023] The step S4 specifically includes the following steps:

[0024] S401: Establish an error equation and perform linearization processing; the error equation is specifically expressed as follows: p = c·(t R -t s )+T+I

[0025] Where p is the geometric distance between the satellite and the ground monitoring device of the transmission line, t R It represents the receiving time of the satellite signal by the ground monitoring device of the transmission line, t s represents the sending time of the satellite transmission signal, c represents the speed of light, T represents the ionospheric correction number, and I represents the tropospheric correction number;

[0026] S402: Solve the linearized error equation to obtain the initial position coordinates of the transmission line ground monitoring device, and combine the initial position coordinates with the error-corrected satellite signal to obtain the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system.

[0027] The step S401 also includes the following optimization steps:

[0028] S4011, considering the influence of ionosphere and troposphere, the nonlinear error equation can be further expressed as:

[0029]

[0030] Where p represents the geometric distance from the satellite to the ground monitoring device of the transmission line, X s represents the coordinate of the satellite in the X-axis direction, X represents the coordinate of the transmission line ground monitoring device in the X-axis direction, Y s represents the coordinate of the satellite in the Y-axis direction, Y represents the coordinate of the transmission line ground monitoring device in the Y direction, Z s represents the coordinate of the satellite in the z-axis direction, and Z represents the coordinate of the transmission line ground monitoring device in the z-axis direction.

[0031] S4012, further, since the error equation shown above is nonlinear, in order to better solve the unknowns, it is necessary to linearize the error equation using Taylor series expansion, and the linearized equation is expressed as:

[0032]

[0033] in, The Taylor series order refers to the order used when performing a Taylor series expansion on a nonlinear equation to linearize it.

[0034] S4013, such as the coefficient:

[0035] Among them, l x Indicates the length or distance in the X-axis direction, m x The coefficients of higher-order terms related to length or distance in the Y direction, n x The coefficients of higher-order terms related to length or distance in the x-axis direction;

[0036] The linearized error equation is expressed as:

[0037]

[0038] Among them, V x Indicates the speed in the X-axis direction, Vy Indicates the velocity in the Y-axis direction, V z Indicates the speed in the Z-axis direction.

[0039] The step S5 specifically includes the following steps:

[0040] S501: Convert the three-dimensional coordinates into a spatial rectangular coordinate system. The specific conversion formula is as follows:

[0041] X=(N(φ)+h)cosφcosλ

[0042] Y=(N(φ)+h)cosφsinλ

[0043] Z=(b2 / a2N(φ)+h)sinφ

[0044] Where N(φ) is the meridian radius at latitude φ, h is the altitude, λ is the longitude, φ is the latitude, and a and b are the equatorial and polar radii of the Earth ellipsoid, respectively;

[0045] S502: Convert the spatial rectangular coordinate system into a local coordinate system, which can be specifically converted using the following formula:

[0046] x 地方 =R xz X+R yz Y+R zz Z+T x

[0047] y 地方 =R xy X+R yy Y+R zy Z+T y

[0048] z 地方 =R xz X+R yz Y+R zz Z+T z

[0049] Among them, R ij is the element of the rotation matrix, T x ,T y ,T z are the components of the translation vector;

[0050] S503: Calculate the relative position relationship between adjacent wires using the following formula:

[0051]

[0052] Among them, (x1, y1, z1) is the local coordinate of wire P1, and (x2, y2, z2) is the local coordinate of wire P2.

[0053] A system for monitoring the distance between adjacent transmission lines, comprising:

[0054] An acquisition module is used to acquire satellite positioning signals;

[0055] A preprocessing module, used for preprocessing the collected satellite positioning signals;

[0056] A correction module, used for performing error correction on the preprocessed satellite positioning signal to obtain an error-corrected satellite positioning signal;

[0057] A coordinate acquisition module, used for acquiring the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system based on the error-corrected satellite positioning signal;

[0058] The distance acquisition module is used to convert the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system into coordinates in the local coordinate system, and obtain the distance between adjacent transmission lines based on the transmission line ground monitoring device with coordinates in the local coordinate system.

[0059] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the device where the computer-readable storage medium is located executes the ground wire safety distance monitoring method.

[0060] An electronic device comprises: a memory and a processor, wherein the memory stores a program that can be run on the processor, and the processor implements the ground wire safety distance monitoring method when executing the program.

[0061] The present invention collects satellite positioning signals through Beidou satellite antennas, and through preprocessing, error correction and other steps, can significantly improve the accuracy of the transmission line distance calculation of the position of the transmission line ground monitoring device; further, considering the ionosphere and troposphere errors in the propagation process of satellite signals, the present invention fully considers and corrects these errors in the solution process, thereby improving the stability and reliability of the transmission line ground monitoring device under different environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative work.

[0063] Figure 1 is a flow chart of the present invention;

[0064] Figure 2 It is a structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] Figure 1 A method for monitoring the safe distance of a ground wire is provided by an exemplary embodiment of the present disclosure. Figure 1 As shown, the method includes:

[0067] S10: Collect satellite signals; in actual use, directly receive satellite RTK positioning signals through the K803 GNSS module.

[0068] S20: pre-processing the satellite signal;

[0069] S30: performing error correction on the preprocessed satellite signal to obtain an error-corrected satellite signal;

[0070] S40: Acquiring the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system based on the error-corrected satellite signal;

[0071] S50: converting the longitude and latitude coordinates of the transmission line-to-ground monitoring device in the global coordinate system into coordinates in the local coordinate system, and acquiring the distance between adjacent transmission lines based on the transmission line-to-ground monitoring device having the coordinates in the local coordinate system.

[0072] In another exemplary embodiment, in step S20, preprocessing the satellite signal includes the following steps:

[0073] S201: screening the satellite signals;

[0074] In this step, it is necessary to screen out satellite signals that meet the requirements based on indicators such as the signal-to-noise ratio and signal strength of the satellite signal. Specifically, it is first necessary to set a minimum signal-to-noise ratio threshold (the higher the signal-to-noise ratio, the better the signal quality and the stronger the anti-interference ability. Only satellite signals with a signal-to-noise ratio higher than this threshold will be retained) and a minimum signal strength threshold (the signal strength represents the strength of the satellite signal. The higher the signal strength, the more stable the received satellite signal). Secondly, all received satellite signals are traversed to check whether the signal-to-noise ratio and strength of each satellite signal are higher than the set threshold. If not, the signal is marked as not meeting the requirements and removed from the candidate list.

[0075] For example, in a typical GNSS (Global Navigation Satellite System) application environment, the threshold of the signal-to-noise ratio (C / N0) is set to 40dB-Hz, because below this value, the signal may be interfered by too much noise, resulting in reduced positioning accuracy. The threshold of the signal strength can be set to -130dBm, because too low a signal strength will make it difficult for the receiver to lock onto the satellite signal.

[0076] Specifically, the present disclosure collects a group of satellite signals as shown in Table 1:

[0077] Table 1

[0078] Satellite number Signal-to-noise ratio (C / N0) Signal strength (dBm) SV01 42 -128 SV02 38 -132 SV03 41 -127 SV04 43 -130 SV05 39 -131 SV06 44 -129 SV07 40 -130 SV08 37 -133 SV09 42 -128

[0079] The satellite signals in Table 1 are screened according to the thresholds set above:

[0080] SV01: signal-to-noise ratio 42dB-Hz>40dB-Hz, signal strength -128dBm>-130dBm, meets the requirements;

[0081] SV02: signal-to-noise ratio 38dB-Hz < 40dB-Hz, signal strength -132dBm < -130dBm, not meeting the requirements;

[0082] SV03: signal-to-noise ratio 41dB-Hz>40dB-Hz, signal strength -127dBm>-130dBm, meets the requirements;

[0083] SV04: signal-to-noise ratio 43dB-Hz>40dB-Hz, signal strength -130dBm=-130dBm, meets the requirements;

[0084] SV05: signal-to-noise ratio 39dB-Hz < 40dB-Hz, signal strength -131dBm < -130dBm, not meeting the requirements;

[0085] SV06: signal-to-noise ratio 44dB-Hz>40dB-Hz, signal strength -129dBm>-130dBm, meets the requirements;

[0086] SV07: Signal-to-noise ratio 40dB-Hz = 40dB-Hz, signal strength -130dBm = -130dBm, meets the requirements;

[0087] SV08: Signal-to-noise ratio 37dB-Hz < 40dB-Hz, signal strength -133dBm < -130dBm, not meeting the requirements;

[0088] SV09: signal-to-noise ratio 42dB-Hz>40dB-Hz, signal strength -128dBm>-130dBm, meets the requirements;

[0089] The satellite signals retained after screening are: SV01, SV03, SV04, SV06, SV07, SV09, and the remaining signals are removed because they do not reach the set threshold. Through screening, it can be ensured that the satellite signals used have good quality and stability, thereby improving the accuracy of the positioning of the transmission line to the ground monitoring device.

[0090] S202: filtering the screened satellite signals;

[0091] In this step, the sliding average data can be used to filter the screened satellite signals, which specifically includes the following steps:

[0092] 1. Determine the window size of the sliding average, that is, the number of data points included in each average calculation. It should be noted that the choice of window size depends on the characteristics of the outliers that need to be removed. A larger window can smooth out longer signal fluctuations, but it may also lead to a loss of signal details.

[0093] For example, the distance values ​​of the filtered satellite signals SV01, SV03, SV04, SV06, SV07, and SV09 are [101, 102, 98, 105, 99, 100]

[0094] Selecting a window size of 3 means that each time the average is calculated, three consecutive data points are taken.

[0095] 2. Starting from the first data point of the satellite signal sequence, select the data points in the window and calculate their sliding average. Then, move the window to the right by one data point and repeat the sliding average calculation until the entire data sequence is traversed.

[0096] Starting from the first data point, take the first three points to calculate the average, then move the window and repeat this process until the last data point. The calculation process is as follows:

[0097] Sliding window [101, 102, 98] -> average = (101 + 102 + 98) / 3 = 100.33

[0098] Sliding window [102,98,105] -> average = (102+98+105) / 3 = 101.67

[0099] Sliding window [98, 105, 99] -> average = (98 + 105 + 99) / 3 = 100.33

[0100] Sliding window [105,99,100]->average = (105+99+100) / 3 = 101.33

[0101] 3. Replace the original satellite signal sequence with the calculated sliding average sequence to retain some details of the original signal.

[0102] New satellite signal = [100.33, 101.67, 100.33, 101.33]

[0103] By filtering the selected satellite signals, a smoother signal sequence can be obtained, thereby reducing the impact of transient noise on the signal, thereby improving the reliability and stability of the data. The filtered satellite signals will then be used in subsequent processing steps to further improve the positioning accuracy of the transmission line ground monitoring device.

[0104] S203: De-noising the filtered satellite signal.

[0105] In this step, the filtered signal can be smoothed by using a Kalman filter to remove high-frequency noise and random fluctuations in the signal.

[0106] In another exemplary embodiment, in step S30, performing error correction on the preprocessed satellite signal includes the following steps:

[0107] S301: Setting a reference station at a location with known precise coordinates, wherein the reference station compares and analyzes the received satellite signal with the known precise coordinates, finds out the error part in the signal through comparison, and calculates the corresponding error correction value;

[0108] In this step, the error correction value can be calculated by the difference between the observed satellite position and the reference value, which is specifically expressed as:

[0109] ΔP=P true –P obs

[0110] Where ΔP represents the error correction value, P trueIndicates known precise coordinates, P obs Represents the observed satellite position.

[0111] S302: Superimpose the calculated error correction value with the satellite signal to be corrected.

[0112] In this step, the error correction value is applied by adding the correction value to the original satellite signal through mathematical operation, which is calculated by the following formula:

[0113] P correct =P obs +ΔP

[0114] Among them, P correct Indicates the corrected satellite signal.

[0115] Below, the present disclosure uses specific data to exemplify the above error correction process:

[0116] Assume that the reference station has accurate coordinates (P true )for:

[0117] Longitude (λ) = 108.92°

[0118] Latitude (φ) = 34.05°

[0119] Altitude (h) = 1000 meters

[0120] The observed satellite position is (P obs ) is: (108.9195°, 34.0495°, 999.7 meters), then:

[0121] ΔP=P true –P obs =(108.92°-108.9195°,34.05°-34.0495°,1000m-999.7

[0122] meters) = (0.0005°, 0.0005°, 0.3 meters)

[0123] The corrected satellite signal is:

[0124] P correct =P obs +ΔP=(108.9195°+0.0005°,34.0495°+0.0005°,999.7m+

[0125] 0.3 meters) = (108.92°, 34.05°, 1000 meters).

[0126] In another exemplary embodiment, in step S40, obtaining the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system based on the error-corrected satellite signal includes the following steps:

[0127] S401: Establish an error equation and perform linearization processing;

[0128] Satellite signals are affected by the ionosphere and troposphere during propagation. This effect is mainly due to the fact that satellite signals are refracted when passing through the atmosphere, which causes the actual propagation path of the satellite signals to become longer, thereby affecting the accuracy of ranging. If the effect of the ionosphere and troposphere on the propagation of satellite signals is not considered, there will be a deviation between the calculated distance and the actual distance. In order to accurately calculate the propagation time of satellite signals, the present disclosure establishes a nonlinear error equation that can take these errors into account. The specific expression of the equation is as follows:

[0129] p=c·(t R -t s )+T+I

[0130] Where p is the geometric distance between the satellite and the ground monitoring device of the transmission line, t R It represents the receiving time of the satellite signal by the ground monitoring device of the transmission line, t s represents the sending time of the satellite signal, c represents the speed of light, T represents the ionospheric correction number, and I represents the tropospheric correction number.

[0131] The above error equations reflect the effect of these errors on satellite signal propagation by adding ionospheric corrections T and tropospheric corrections I to the distance equation. The ionospheric corrections T and tropospheric corrections I are used to correct the additional length of the satellite signal propagation path caused by these atmospheric layers. Since these errors are nonlinear, that is, they vary from signal path to signal path, it is necessary to use nonlinear equations as shown above to build the model.

[0132] Taking into account the influence of the ionosphere and troposphere, the above nonlinear error equation can be further expressed as:

[0133]

[0134] Where p represents the geometric distance from the satellite to the ground monitoring device of the transmission line, X s represents the coordinate of the satellite in the X-axis direction, X represents the coordinate of the transmission line ground monitoring device in the X-axis direction, Y s represents the coordinate of the satellite in the Y-axis direction, Y represents the coordinate of the transmission line ground monitoring device in the Y direction, Z s represents the coordinate of the satellite in the z-axis direction, and Z represents the coordinate of the transmission line ground monitoring device in the z-axis direction.

[0135] Furthermore, since the error equation shown above is nonlinear, in order to better solve the unknowns, it is necessary to use Taylor series expansion to linearize the error equation above, and the linearized equation is expressed as:

[0136]

[0137] in, Represents the order of the Taylor series, specifically the order used when performing a Taylor series expansion on a nonlinear equation to linearize it.

[0138] For example, let the coefficient:

[0139]

[0140] Among them, l x Indicates the length or distance in the X-axis direction, m x The coefficients of higher-order terms related to length or distance in the Y direction, n x The coefficients of higher-order terms related to length or distance in the x-axis direction.

[0141] The linearized error equation is expressed as:

[0142]

[0143] Among them, V x Indicates the speed in the X-axis direction, V y Indicates the velocity in the Y-axis direction, V z Indicates the speed in the Z-axis direction.

[0144] S402: Solve the linearized error equation to obtain the initial position coordinates of the transmission line ground monitoring device, and combine the initial position coordinates with the error-corrected satellite signal to obtain the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system.

[0145] In this step, since the linearized error equation contains four unknowns, at least four satellites are needed to list enough error equations to solve the four unknowns (V x 、V y 、V z ,t R ), the initial position coordinates of the input conductor-to-ground monitoring device can be obtained according to the least squares principle. Specific process description

[0146] 1. Error correction process:

[0147] The initial position coordinates of the monitoring device can be obtained through geometric calculations of the satellite signal propagation path. These initial position coordinates usually have errors, which may come from the influence of the ionosphere and troposphere on the satellite signal during the propagation process, satellite clock errors, orbit errors, etc.

[0148] When performing error correction, a correction value (ΔP) associated with these errors is calculated. This correction value is usually calculated from the location of a reference station or other known precise coordinates. This error correction value will be in three-dimensional form, corresponding to the coordinates in the X, Y, and Z directions respectively.

[0149] 2. Combine the error value into the initial position coordinates:

[0150] The initial position coordinates are usually expressed as (X, Y, Z) in the global coordinate system, and the correction value is also in the form of (ΔX, ΔY, ΔZ). The final correction process is to add the corresponding error correction value to each coordinate of the initial position to obtain the corrected accurate position coordinates. The corresponding formula is:

[0151] X_"corrected"=X_"initial"+ΔX

[0152] Y_"corrected"=Y_"initial"+ΔY

[0153] Z_"corrected"=Z_"initial"+ΔZ

[0154] This means that the error correction is superimposed on the initial position coordinates in the form of a vector. This is further explained by an example as follows:

[0155] Assume that in an example, the known precise coordinates of the base station are:

[0156] Longitude (λ) = 108.92°

[0157] Latitude (φ) = 34.05°

[0158] Altitude (h) = 1000 meters

[0159] Before the satellite signal correction, the observed initial coordinates are:

[0160] Xinitial=108.9195°

[0161] Y Initial = 34.0495°

[0162] Z initial = 999.7 meters

[0163] The error value calculated by error correction is:

[0164] ΔX=0.0005°

[0165] ΔY=0.0005°

[0166] ΔZ=0.3m

[0167] According to the error correction formula above, the corrected coordinates are:

[0168] X correction = 108.9195° + 0.0005° = 108.92°

[0169] Y correction=34.0495°+0.0005°=34.05°

[0170] Z correction = 999.7 meters + 0.3 meters = 1000 meters

[0171] Through this correction process, more accurate latitude and longitude coordinates in the global coordinate system are obtained. In another exemplary embodiment, in step S50, the three-dimensional coordinates of the wire-to-ground monitoring device are converted into local coordinates by the following formula:

[0172] S501: Convert the three-dimensional coordinates into a spatial rectangular coordinate system. The specific conversion formula is as follows:

[0173] X=(N(φ)+h)cosφcosλ

[0174] Y=(N(φ)+h)cosφsinλ

[0175] Z=(b2 / a2N(φ)+h)sinφ

[0176] where N(φ) is the meridian radius at latitude φ, h is the altitude, λ is the longitude, φ is the latitude, and a and b are the equatorial and polar radii of the Earth ellipsoid, respectively.

[0177] S502: Convert the spatial rectangular coordinate system into a local coordinate system, which can be specifically converted using the following formula:

[0178] x 地方 =R xz X+R yz Y+R zz Z+T x

[0179] y 地方 =R xy X+R yy Y+R zy Z+T y

[0180] z 地方 =R xz X+R yz Y+R zz Z+Tz

[0181] Among them, R ij is the element of the rotation matrix, T x ,T y ,T z are the components of the translation vector.

[0182] In this embodiment, it is assumed that the known parameters are:

[0183] Longitude λ = 108.92°

[0184] Latitude φ=34.05°

[0185] Height h = 1000.7 m

[0186] The equatorial radius of the Earth's ellipsoid is a = 6378137 meters

[0187] The polar radius of the Earth's ellipsoid b = 6356752.3142 meters

[0188] Meridian radius N(φ) = 7156668 meters

[0189] Substituting into the formula in step S401, we can get:

[0190] The coordinates in the spatial rectangular coordinate system are: (X, Y, Z) ≈ (-1728457.9, 6152971.6, 3698333.5) meters.

[0191] In another exemplary embodiment, the relative position relationship between adjacent wires is calculated based on the local coordinates:

[0192] In this step, the relative position relationship between adjacent wires can be calculated by the following formula:

[0193]

[0194] Among them, (x1, y1, z1) is the local coordinate of wire P1, and (x2, y2, z2) is the local coordinate of wire P2.

[0195] After calculating the distance d between adjacent wires, it is necessary to compare it with the safety distance. If d is greater than the specified safety distance, the distance between the two wires is considered safe. If d is less than the specified safety distance, measures need to be taken to adjust the position of the wires or take other safety measures.

[0196] Assume that the coordinates of two adjacent wires in the local coordinate system are P1(x1,y1,z1) and P2(x2,y2,z2).

[0197] Calculate the distance between two points using the distance formula in three-dimensional space:

[0198]

[0199] It can be obtained that the d value is 20 meters, while the specified safety distance is 25 meters.

[0200] Because d is smaller than the specified safety distance, measures need to be taken to adjust the position of the conductor. For example, a crane or other lifting equipment can be used to fine-tune the conductor to achieve the specified safety distance.

[0201] In another exemplary embodiment, the present disclosure also provides a wire safety distance monitoring device, including: an acquisition module for acquiring satellite signals; a preprocessing module for preprocessing the satellite signals; a correction module for performing error correction on the preprocessed satellite signals; a coordinate calculation module for calculating the three-dimensional coordinates of the wire-to-ground monitoring device based on the corrected satellite signals, and converting the three-dimensional coordinates into local coordinates; and a distance calculation module for calculating the relative position relationship between adjacent wires based on the local coordinates to obtain a safety distance between adjacent wires.

[0202] In another exemplary embodiment, the present disclosure further provides a wire safety distance monitoring system, the system comprising the device as described above.

[0203] A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the device where the computer-readable storage medium is located executes the above-mentioned ground wire safety distance monitoring method. The computer program includes a computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory and other memories.

[0204] An electronic device comprises: a memory and a processor, wherein the memory stores a program that can be run on the processor, and when the processor executes the program, the above-mentioned ground wire safety distance monitoring method is implemented.

[0205] If the module / unit integrated in the electronic device described in this application is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware devices through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0206] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0207] The computer-readable storage medium stores computer-readable instructions, and the computer-readable instructions are executed by a processor in an electronic device to implement the ground wire safety distance monitoring method described in any of the above embodiments.

[0208] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0209] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0210] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

[0211] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0212] Note that the above are only preferred embodiments of the present invention and the principles of the application technology. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention is described in more detail through the above embodiments, the present invention is not limited to the specific embodiments described herein, and may include more other effective embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for monitoring the safe distance of a ground wire, characterized in that: The steps include: S10: Collecting satellite positioning signals through a satellite positioning module; S20: pre-processing the satellite positioning signal; S30: performing error correction on the preprocessed satellite positioning signal to obtain an error-corrected satellite positioning signal; S40: acquiring the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system based on the error-corrected satellite positioning signal; S50: converting the longitude and latitude coordinates of the transmission line-to-ground monitoring device in the global coordinate system into coordinates in the local coordinate system, and acquiring the distance between adjacent transmission lines based on the transmission line-to-ground monitoring device having the coordinates in the local coordinate system.

2. The method for monitoring the distance between adjacent transmission lines according to claim 1, characterized in that: The step S2 specifically includes the following steps: S201: screening the satellite signals: screening by setting a signal-to-noise ratio and a signal strength threshold; S202: Filter the filtered satellite signals: filter the filtered satellite signals using sliding average data; S203: De-noising the filtered satellite signal: Use a Kalman filter to smooth the filtered signal to remove high-frequency noise and random fluctuations in the signal.

3. The method for monitoring the distance between adjacent transmission lines according to claim 1, characterized in that: The step S3 specifically includes the following steps: S301: A reference station is set at a location with known precise coordinates. The reference station compares and analyzes the received satellite positioning signal with the known precise coordinates to calculate a corresponding error correction value. The error correction value can be calculated by the difference between the observed satellite position and the position of the reference value, which is specifically expressed as: ΔP=P true –P obs Where ΔP represents the error correction value, P true Indicates known precise coordinates, P obs Indicates the observed satellite position; S302: superimposing the error correction value with the preprocessed satellite signal to obtain an error-corrected satellite signal; The error correction is applied by mathematically adding the correction value to the original satellite signal, as calculated by the following formula: P correct =P obs +ΔP Among them, P correct Indicates the corrected satellite signal.

4. The method for monitoring the distance between adjacent transmission lines according to claim 1, characterized in that: The step S4 specifically includes the following steps: S401: Establish an error equation and perform linearization processing; the error equation is specifically expressed as follows: p = c·(t R -t s )+T+I Where p is the geometric distance between the satellite and the ground monitoring device of the transmission line, t R Indicates the reception time of the transmission line ground monitoring device for the satellite signal, t s represents the sending time of the satellite transmission signal, c represents the speed of light, T represents the ionospheric correction number, and I represents the tropospheric correction number; S402: Solve the linearized error equation to obtain the initial position coordinates of the transmission line ground monitoring device, and combine the initial position coordinates with the error-corrected satellite signal to obtain the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system.

5. The method for monitoring the safe distance of a ground conductor according to claim 1, characterized in that: The step S401 also includes the following optimization steps: S4011, considering the influence of ionosphere and troposphere, the nonlinear error equation can be further expressed as: Where p represents the geometric distance from the satellite to the ground monitoring device of the transmission line, X s represents the coordinate of the satellite in the X-axis direction, X represents the coordinate of the transmission line ground monitoring device in the X-axis direction, Y s represents the coordinate of the satellite in the Y-axis direction, Y represents the coordinate of the transmission line ground monitoring device in the Y direction, Z s represents the coordinate of the satellite in the z-axis direction, and Z represents the coordinate of the transmission line ground monitoring device in the z-axis direction. S4012, further, since the error equation shown above is nonlinear, in order to better solve the unknowns, it is necessary to linearize the error equation using Taylor series expansion, and the linearized equation is expressed as: in, The Taylor series order refers to the order used when performing a Taylor series expansion on a nonlinear equation to linearize it. S4013, such as the coefficient: Among them, l x Indicates the length or distance in the X-axis direction, m x The coefficients of higher-order terms related to length or distance in the Y direction, n x The coefficients of higher-order terms related to length or distance in the x-axis direction; The linearized error equation is expressed as: Among them, V x Indicates the speed in the X-axis direction, V y Indicates the velocity in the Y-axis direction, V z Indicates the speed in the Z-axis direction.

6. The method for monitoring the safe distance of a ground conductor according to claim 1, characterized in that: The step S5 specifically includes the following steps: S501: Convert the three-dimensional coordinates into a spatial rectangular coordinate system. The specific conversion formula is as follows: X=(N(φ)+h)cosφcosλ Y=(N(φ)+h)cosφsinλ Z=(b2 / a2N(φ)+h)sinφ Where N(φ) is the meridian radius at latitude φ, h is the altitude, λ is the longitude, φ is the latitude, and a and b are the equatorial and polar radii of the Earth ellipsoid, respectively; S502: Convert the spatial rectangular coordinate system to the local coordinate system. Specifically, the conversion can be performed using the following formula: 地方 =R xz X+R yz Y+R zz Z+T x y 地方 =R xy X+R yy Y+R zy Z+T y z 地方 =R xz X+R yz Y+R zz Z+T z Among them, R ij is the element of the rotation matrix, T x ,T y ,T z are the components of the translation vector; S503: Calculate the relative position relationship between adjacent wires using the following formula: Among them, (x1, y1, z1) is the local coordinate of wire P1, and (x2, y2, z2) is the local coordinate of wire P2.

7. A system for monitoring the distance between adjacent transmission lines, characterized in that: include: An acquisition module is used to acquire satellite positioning signals; A preprocessing module, used for preprocessing the collected satellite positioning signals; A correction module, used for performing error correction on the preprocessed satellite positioning signal to obtain an error-corrected satellite positioning signal; A coordinate acquisition module, used for acquiring the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system based on the error-corrected satellite positioning signal; The distance acquisition module is used to convert the longitude and latitude coordinates of the transmission line ground monitoring device in the global coordinate system into coordinates in the local coordinate system, and obtain the distance between adjacent transmission lines based on the transmission line ground monitoring device with coordinates in the local coordinate system.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the device where the computer-readable storage medium is located executes the ground wire safety distance monitoring method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores a program that can be run on the processor, and when the processor executes the program, the method for monitoring the safe distance of a ground wire as described in any one of claims 1-7 is implemented.

Images