A power line path finding system based on Beidou positioning

Abstract

The present invention discloses a power line path finding system based on Beidou positioning, comprising a path analysis module and a line planning module and a signal acquisition module interconnected therewith, relating to the technical field of power line path finding, and solving the technical problem that accurate line location information cannot be provided when finding the path of a power line due to the influence of the scouring of rivers or ocean currents on the bottom of a water area; by obtaining the path of a preset power line and installing a positioning terminal on the power path, a position map is obtained through the geographical location obtained by the positioning terminal, and a plurality of path trajectory curves are inferred based on historical path trajectory curves, and verified through coordinate points in the position map, and a path trajectory curve with the highest accuracy is selected according to the verification result. Compared with the fitting method through coordinate points in the prior art, the path trajectory curve has a higher degree of accuracy and can better reflect the real path of the power line, which is convenient for finding in the subsequent maintenance process.

Description

Technical Field

[0001] The present invention belongs to the field of circuit path finding, relates to Beidou positioning technology, and specifically is a power line path finding system based on Beidou positioning. Background Art

[0002] With the rapid development of my country's economy, the scale of the power industry is also expanding. As the crucial link between power plants and users, the safe and stable operation of power lines is crucial. However, during the operation of power lines, accidents such as line faults and short circuits often occur. These problems are often closely related to power line routing.

[0003] Currently, power line routing relies primarily on manual on-site inspections and map queries. Manual on-site inspections are time-consuming and, due to limitations in terrain and climate, make it difficult to accurately determine line status in real time. For example, when laying power lines on the bottom of water, the irregular shape of the water surface and the influence of river or ocean currents can cause the line path to differ from the planned path at the time of laying. Therefore, the planned path cannot provide accurate line location information. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes a power line path finding system based on Beidou positioning, which is used to solve the technical problem that the bottom of the water area may be affected by the erosion of rivers or ocean currents, resulting in the inability to provide accurate line location information when finding the path of the power line. The present invention obtains the path of a preset power line, installs a positioning terminal on the power path, and infers several path trajectory curves based on historical path trajectory curves, and verifies the trajectory curve obtained by the coordinate points in the position map.

[0005] To achieve the above objectives, the first aspect of the present invention provides a power line path finding system based on Beidou positioning, including: a line planning module, a signal acquisition module and a path analysis module

[0006] The line planning module is used to set the installation point of the positioning terminal according to the preset power line path when laying the power line; and to lay the power line according to the preset power line path;

[0007] The signal acquisition module is used to collect the geographical locations and signal strengths of several positioning terminals and then draw a location map; and

[0008] Determine whether the power line position needs to be corrected based on the signal strength. If so, correct the power line position of the corresponding positioning terminal; if not, maintain the power line position of the corresponding positioning terminal;

[0009] The path analysis module obtains a path trajectory curve Fi based on a historical path trajectory curve and a location map, wherein i is a positive integer and represents the trajectory curve of the power line searched for the i-th time.

[0010] It should be noted that the positioning terminal obtains geographic location and signal strength based on the positioning function of Beidou satellite.

[0011] Preferably, the step of setting the installation point of the positioning terminal according to the path planning of the preset power line includes:

[0012] Install the positioning terminal at the beginning of the power line and the positioning terminal at the end of the power line;

[0013] Measure the middle distance between the positioning start terminal and the positioning end terminal, divide the middle distance into several parts according to the preset number of equal divisions, and obtain equal division points;

[0014] Arrange the positioning terminal at each equally divided point.

[0015] Preferably, the collecting of the geographical locations and signal strengths of the plurality of positioning terminals and drawing a location map comprises:

[0016] The positioning receiving device obtains the latitude and longitude, signal strength, and altitude of the positioning starting terminal, positioning end terminal, and positioning terminal respectively, and records the signal strength of the positioning starting terminal, positioning end terminal, and positioning terminal;

[0017] Create a plane map with the positioning terminal as the origin, the east-west direction as the x-axis, the north-south direction as the y-axis, and the vertical direction of the sea level as the z-axis;

[0018] The positions of several positioning terminals are marked on a plane map according to their latitude, longitude and altitude, corresponding coordinate points are obtained, and signal strengths are marked on the corresponding coordinate points.

[0019] Preferably, the determining whether the power line position needs to be corrected based on the signal strength includes:

[0020] Step 1: Obtain the historical signal strength of each positioning terminal and compare the signal strength of the last acquired signal from the positioning terminal with the strength threshold. If the signal strength of the last acquired signal is greater than the strength threshold, jump to step 2. Otherwise, mark the power line corresponding to the positioning terminal as requiring correction.

[0021] Step 2: Perform linear fitting on the historical signal strength of the positioning terminal to obtain a strength change curve; obtain the derivative of the signal strength collected last time by taking the derivative of the strength change curve to obtain the change amount;

[0022] Step 3: Compare the change amount with the change threshold. When the change amount is less than the change threshold, mark the power line corresponding to the positioning terminal as not requiring correction; otherwise, mark the power line corresponding to the positioning terminal as requiring correction.

[0023] It should be noted that when correcting the power line corresponding to the positioning terminal, the preset power line can be used as a reference to correct this part of the power line, or the power line position of the last positioning terminal can be used as a reference to correct this part of the power line. The correction of the power line corresponding to the positioning terminal can be to extend the power line area of 100-5000m on both sides with the positioning terminal as the center as the power line of this part of the positioning terminal.

[0024] The signal strength change trend measured multiple times can reflect the change trend of the power line location and whether the signal cannot be found in subsequent measurements and searches.

[0025] Preferably, the acquiring of the path trajectory curve based on the historical path trajectory curve and the location map includes:

[0026] Extract the historical path trajectory curve F(i-1);

[0027] According to the power line parameters and the historical path trajectory curve F(i-1) input into the water environment model, the water environment model is run n times according to the historical path trajectory curve F(i-1) and the time node of the current power line path search to obtain n simulation curves Fj; where n and j are both positive integers, and j∈n, and the water environment model is obtained by simulation based on the orcaflex software;

[0028] According to the position graph, several simulation curves Fj are verified to obtain the path trajectory curve Fi.

[0029] It should be noted that the historical path trajectory curve F0 is the path of the preset power line.

[0030] Preferably, the verifying of the plurality of simulation curves Fj according to the position diagram includes:

[0031] Extract the coordinate points of m positioning terminals from the location map, and sequentially substitute the coordinate points of the m positioning terminals into m simulation curves Fj for verification to determine whether the coordinate points of the positioning terminals conform to the simulation curves Fj; where m is a positive integer, and m is less than or equal to the total number of coordinate points in the location map;

[0032] The accuracy of the m coordinate points in the n simulation curves Fj is counted and arranged in descending order to obtain the arrangement result; the first simulation curve Fj in the arrangement result is marked as the path trajectory curve Fi.

[0033] Compared with the existing technology, the beneficial effects of the present invention are: by obtaining the path of a preset power line and installing a positioning terminal on the power path, a location map is obtained through the geographical location obtained by the positioning terminal, and several path trajectory curves are inferred based on the historical path trajectory curve, and verified through the coordinate points in the location map, and a path trajectory curve with the highest accuracy is selected according to the verification result. Compared with the fitting method through coordinate points in the existing technology, the accuracy is higher, and it can better reflect the real path of the power line, which is convenient for the subsequent maintenance process to find. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0035] Figure 1 This is a flow chart of the power line path finding system based on Beidou positioning of the present invention;

[0036] Figure 2 This is a schematic diagram of the connection of modules in the power line path finding system based on Beidou positioning of the present invention. DETAILED DESCRIPTION

[0037] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] See also Figure 1-Figure 2 , the first embodiment of the present invention provides a power line path finding system based on Beidou positioning, including: a path analysis module and a line planning module and a signal acquisition module interconnected therewith;

[0039] The line planning module is used to set the installation point of the positioning terminal according to the preset power line path when laying the power line; and to lay the power line according to the preset power line path;

[0040] The signal acquisition module is used to collect the geographical locations and signal strengths of several positioning terminals and then draw a location map; and

[0041] Determine whether the power line position needs to be corrected based on the signal strength. If so, correct the power line position of the corresponding positioning terminal; if not, maintain the power line position of the corresponding positioning terminal;

[0042] The path analysis module obtains a path trajectory curve Fi based on the historical path trajectory curve and the location map; wherein i is a positive integer. For example, when i=2, it indicates the second search for the power line trajectory curve.

[0043] The positioning terminal in this embodiment obtains the geographical location and signal strength based on the positioning function of the Beidou satellite.

[0044] In this embodiment, the installation point of the positioning terminal is set according to the path planning of the preset power line, including:

[0045] Install the positioning terminal at the beginning of the power line and the positioning terminal at the end of the power line;

[0046] Measure the middle distance between the positioning start terminal and the positioning end terminal, divide the middle distance into several parts according to the preset number of equal divisions, and obtain equal division points;

[0047] Arrange the positioning terminal at each equally divided point.

[0048] For example, there is a 300km power line from A to B. First, positioning terminals are installed at both ends of the power line to obtain the positioning start terminal and the positioning end terminal, and positioning terminals are installed at intervals of 1km to obtain the positioning middle terminal.

[0049] Furthermore, after collecting the geographical locations and signal strengths of several positioning terminals, a location map is drawn, including:

[0050] The positioning receiving device obtains the latitude and longitude, signal strength, and altitude of the positioning starting terminal, positioning end terminal, and positioning terminal respectively, and records the signal strength of the positioning starting terminal, positioning end terminal, and positioning terminal;

[0051] Create a plane map with the positioning terminal as the origin, the east-west direction as the x-axis, the north-south direction as the y-axis, and the vertical direction of the sea level as the z-axis;

[0052] The positions of several positioning terminals are marked on a plane map according to their latitude, longitude and altitude, corresponding coordinate points are obtained, and signal strengths are marked on the corresponding coordinate points.

[0053] In order to ensure that the signal transmitted by the positioning terminal on the power line can be normally received next time, in this embodiment, judging whether the position of the power line needs to be corrected according to the signal strength includes:

[0054] Step 1: Obtain the historical signal strength of each positioning terminal and compare the signal strength of the last acquired signal from the positioning terminal with the strength threshold. If the signal strength of the last acquired signal is greater than the strength threshold, jump to step 2. Otherwise, mark the power line corresponding to the positioning terminal as requiring correction.

[0055] Step 2: Perform linear fitting on the historical signal strength of the positioning terminal to obtain a strength change curve; obtain the derivative of the signal strength collected last time by taking the derivative of the strength change curve to obtain the change amount;

[0056] Step 3: Compare the change amount with the change threshold. When the change amount is less than the change threshold, mark the power line corresponding to the positioning terminal as not requiring correction; otherwise, mark the power line corresponding to the positioning terminal as requiring correction.

[0057] It should be noted that when correcting the power line corresponding to the positioning terminal, the preset power line can be used as a reference to correct this part of the power line, or the power line position of the last positioning terminal can be used as a reference to correct this part of the power line. In addition, the correction of the power line corresponding to the positioning terminal described in this embodiment can be to extend the power line area of 3000m on both sides with the positioning terminal as the center as the power line of the part corresponding to the positioning terminal. In another embodiment, the entire power line can also be used as the power line of the corresponding positioning terminal.

[0058] The signal strength change trend measured multiple times can reflect the change trend of the power line location and whether the signal cannot be found in subsequent measurements and searches.

[0059] In order to improve the accuracy of power path search, the path trajectory curve is obtained based on the historical path trajectory curve and the location map in this embodiment, including:

[0060] Extract the historical path trajectory curve F(i-1);

[0061] According to the power line parameters and the historical path trajectory curve F(i-1) input into the water environment model, the water environment model is run n times according to the historical path trajectory curve F(i-1) and the time node of the current power line path search to obtain n simulation curves Fj; where n and j are both positive integers, and j∈n, and the water environment model is obtained by simulation based on the orcaflex software;

[0062] According to the position graph, several simulation curves Fj are verified to obtain the path trajectory curve Fi.

[0063] It should be noted that the historical path trajectory curve F0 is the path of the preset power line.

[0064] Furthermore, several simulation curves Fj are verified according to the position diagram, including:

[0065] Extract the coordinate points of m positioning terminals from the location map, and sequentially substitute the coordinate points of the m positioning terminals into m simulation curves Fj for verification to determine whether the coordinate points of the positioning terminals conform to the simulation curves Fj; where m is a positive integer, and m is less than or equal to the total number of coordinate points in the location map;

[0066] The accuracy of the m coordinate points in the n simulation curves Fj is counted and arranged in descending order to obtain the arrangement result; the first simulation curve Fj in the arrangement result is marked as the path trajectory curve Fi.

[0067] As another preferred embodiment of the present invention, in order to further improve the accuracy of power path search, the coordinate points of m positioning terminals can be extracted to verify the simulation curve Fj output by the water environment model until each coordinate point is verified to be correct.

[0068] This embodiment can be applied in rivers, lakes and oceans.

[0069] As another embodiment of the present invention: During the laying of power lines, the external environment is usually used as a reference to determine the approximate location of the cable. However, due to the rapid development of cities and the significant changes in urban appearance, the pre-set route planning of power lines is difficult to query. When the area above the cable is covered by relatively large and dense buildings, the signal sent by the positioning terminal on the power line will be erroneous. Therefore, the location of the underground power line cannot be determined due to the changes in the surface city.

[0070] Since the geographic location sent by the positioning terminal at this time is no longer an accurate location, when correcting the power line location corresponding to the positioning terminal in this embodiment, since the position of the power line path on the ground rarely changes, this embodiment determines the location based on the shape of the preset power line path;

[0071] Therefore, the difference from the above embodiment is that: the signal acquisition module is used to collect the geographical locations and signal strengths of several positioning terminals and then draw a location map; and

[0072] Determine whether the power line position needs to be corrected based on the signal strength. If so, correct the power line position of the corresponding positioning terminal; if not, maintain the power line position of the corresponding positioning terminal;

[0073] Specifically, the power line position of the corresponding positioning terminal is corrected, including:

[0074] Obtain the path of the preset power line, extract the longitude, latitude and altitude marked by several positioning terminals as uncorrected, and since the position of the power line on the surface will not change, match the path of the preset power line with the longitude, latitude and altitude that do not require correction as the base point, so that several positioning terminals that do not require correction coincide with the path of the preset power line, and use the Beidou positioning terminal to locate the current power line position in real time, and match it with the longitude, latitude and altitude of the power line in real time, so as to find the position of the underground power line.

[0075] The working principle of the present invention is as follows: when laying a power line, the installation point of the positioning terminal is set according to the preset power line path planning, and the power line is laid according to the preset power line path. The preset power line path is used as the basis for the first search for the power line path, which is more in line with reality; when searching for the power line path, the geographical locations and signal strengths of several positioning terminals are collected and then a location map is drawn, and the path trajectory curve Fi is obtained based on the historical path trajectory curve and the location map; and in order to prevent the positioning terminal on the power line from being washed to the bottom end with strong signal blocking ability by rivers or ocean currents in the water environment, it is judged whether the power line position needs to be corrected according to the signal strength. If yes, the power line position of the corresponding positioning terminal is corrected; if not, the power line position of the corresponding positioning terminal is maintained.

[0076] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A power line path finding system based on Beidou positioning, characterized in that: include: Route planning module, signal acquisition module and path analysis module The line planning module is used to set the installation point of the positioning terminal according to the preset power line path when laying the power line; and to lay the power line according to the preset power line path; The signal acquisition module is used to collect the geographical locations and signal strengths of several positioning terminals and then draw a location map; as well as, Determine whether the power line position needs to be corrected based on the signal strength. If so, correct the power line position of the corresponding positioning terminal. If not, the power line position corresponding to the positioning terminal is maintained; The path analysis module: obtains a path trajectory curve Fi based on the historical path trajectory curve and the location map; wherein i is a positive integer and i represents the trajectory curve of the power line searched for the i-th time; The determining whether the power line position needs to be corrected according to the signal strength includes: Step 1: Obtain the historical signal strength of each positioning terminal and compare the signal strength of the last acquired signal from the positioning terminal with the strength threshold. If the signal strength of the last acquired signal is greater than the strength threshold, jump to step 2. Otherwise, mark the power line corresponding to the positioning terminal as requiring correction. Step 2: Perform linear fitting on the historical signal strength of the positioning terminal to obtain a strength change curve; obtain the derivative of the signal strength collected last time by taking the derivative of the strength change curve to obtain the change amount; Step 3: Compare the change amount with the change threshold. If the change amount is less than the change threshold, mark the power line corresponding to the positioning terminal as not requiring correction; otherwise, mark the power line corresponding to the positioning terminal as requiring correction. The obtaining of the path trajectory curve based on the historical path trajectory curve and the location map includes: Extract the historical path trajectory curve F(i-1); According to the power line parameters and the historical path trajectory curve F(i-1) input into the water environment model, the water environment model is run n times according to the historical path trajectory curve F(i-1) and the time node of the current power line path search to obtain n simulation curves Fj; where n and j are both positive integers, and j∈n; According to the position graph, several simulation curves Fj are verified to obtain the path trajectory curve Fi.

2. The power line path finding system based on Beidou positioning according to claim 1, characterized in that: The step of setting the installation point of the positioning terminal according to the path planning of the preset power line includes: Install the positioning terminal at the beginning of the power line and the positioning terminal at the end of the power line; Measure the middle distance between the positioning start terminal and the positioning end terminal, divide the middle distance into several parts according to the preset number of equal divisions, and obtain equal division points; Arrange the positioning terminal at each equally divided point.

3. The power line path finding system based on Beidou positioning according to claim 1, characterized in that: The collecting of the geographical locations and signal strengths of the plurality of positioning terminals and drawing a location map includes: The positioning receiving device obtains the latitude and longitude, signal strength, and altitude of the positioning starting terminal, positioning end terminal, and positioning terminal respectively, and records the signal strength of the positioning starting terminal, positioning end terminal, and positioning terminal; Create a plane map with the positioning terminal as the origin, the east-west direction as the x-axis, the north-south direction as the y-axis, and the vertical direction of the sea level as the z-axis; The positions of several positioning terminals are marked on a plane map according to their latitude, longitude and altitude, corresponding coordinate points are obtained, and signal strengths are marked on the corresponding coordinate points.

4. The power line path finding system based on Beidou positioning according to claim 1, characterized in that: The verification of the plurality of simulation curves Fj according to the position diagram includes: Extract the coordinate points of m positioning terminals from the location map, and sequentially substitute the coordinate points of the m positioning terminals into the m simulation curves Fj for verification to determine whether the coordinate points of the positioning terminals conform to the simulation curves Fj; where m is a positive integer, and m is less than or equal to the total number of coordinate points in the location map; The accuracy of the m coordinate points in the n simulation curves Fj is counted and arranged in descending order to obtain the arrangement result; the first simulation curve Fj in the arrangement result is marked as the path trajectory curve Fi.

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