Line partial discharge detecting and positioning system and method based on multi-terminal data fusion

Abstract

The invention discloses a line partial discharge detection positioning system and method based on multi-terminal data fusion, and relates to the field of line partial discharge detection positioning, and the system comprises a mobile device which is disposed on a cable, can move at a constant speed, and is used for integrating a detection device with a partial discharge detection function; establishing a moving space rectangular coordinate system for determining the moving distance of the mobile equipment and the information of the line partial discharge position; preliminarily determining the partial discharge position of the line according to an ultrasonic ranging principle; according to the preliminary line partial discharge positioning, controlling a high-definition camera to obtain cable full view information around the positioning point; and establishing a ground data processing platform for receiving and processing line partial discharge data detected by the mobile device. The method has the advantages that the partial discharge detection equipment is loaded through the movable equipment, remote line partial discharge is detected, the accuracy of partial discharge detection and positioning is effectively improved, and the method adapts to a complex external environment.

Description

Technical Field

[0001] The present invention relates to the field of line partial discharge detection and positioning, and in particular to a line partial discharge detection and positioning system and method based on multi-terminal data fusion. Background Art

[0002] Partial discharge will damage the service life of line insulation materials. Due to partial discharge corrosion, insulation aging and degradation are accelerated. Through partial discharge detection, these potential problems can be discovered and dealt with in a timely manner, malignant faults can be prevented, and large-scale power outages and economic losses can be avoided. For near-point detection areas such as high-voltage switchgear, transformers, GIS and overhead lines, existing ultrasonic detection, UHF detection, acoustic imagers and double-end detection technologies can effectively solve the problem of line partial discharge detection and positioning. However, for long-distance line partial discharge detection and positioning, due to the complex external environment, the signal may be attenuated and distorted during long-distance transmission, resulting in inaccurate partial discharge positioning information detected by existing partial discharge detection technology, making it difficult to solve the problem of long-distance line partial discharge detection and positioning. Therefore, it is very necessary to overcome the problem of long-distance line partial discharge detection and positioning and improve the accuracy of line partial discharge detection and positioning.

[0003] Existing long-distance line partial discharge detection and positioning technologies mainly focus on using ultrasonic waves to determine the location information of partial discharge through signal reflection and refraction inside the cable, or through a two-end detection method, by detecting the information difference of the partial discharge pulse moving distance signal to determine the location information of the line partial discharge. However, when this type of technology is used for long-distance detection, due to interference from the external environment or the cable material itself causing signal attenuation and distortion, the measured line partial discharge detection and positioning information is inaccurate, especially the longer the distance, the greater the impact, which makes the line partial discharge detection and positioning difficult, and the work of solving the line partial discharge problem becomes time-consuming and laborious. Summary of the invention

[0004] In order to solve the above technical problems, a line partial discharge detection and positioning system and method based on multi-terminal data fusion are provided. The technical solution solves the problem that the technology proposed in the above background technology is used for long-distance detection. Due to the interference of the external environment or the material of the cable itself, the signal is attenuated and distorted, making the measured line partial discharge detection and positioning information inaccurate. In particular, the longer the distance, the greater the impact, which makes the line partial discharge detection and positioning difficult, and the work of solving the line partial discharge problem becomes time-consuming and laborious.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] A method for detecting and locating partial discharge of a line based on multi-terminal data fusion, characterized by comprising:

[0007] A mobile device that can move at a constant speed and is arranged on the cable, and is used to integrate a detection device with a partial discharge detection function;

[0008] According to the Beidou positioning module, a mobile space rectangular coordinate system is established to determine the moving distance of the mobile equipment and the information of the partial discharge position of the line;

[0009] Based on the principle of ultrasonic ranging, the location of partial discharge of the line is preliminarily determined;

[0010] Based on the preliminary line partial discharge positioning, control the high-definition camera to obtain the overall information of the cables around the positioning point;

[0011] Establish a ground data processing platform to receive and process line partial discharge data detected by mobile equipment.

[0012] Preferably, the device that is arranged on the cable and can move at a uniform speed, and is used to integrate a detection device with a partial discharge detection function, specifically includes:

[0013] A mobile device that can move at a constant speed on a cable is used to integrate hardware devices that can control high-definition cameras, ultrasonic sensors, Beidou positioning modules, and support the normal operation of these detection equipment.

[0014] Preferably, the mobile space rectangular coordinate system is established according to the Beidou positioning module, and the information for determining the moving distance of the mobile device and the line partial discharge position specifically includes:

[0015] According to the geocentric rectangular coordinate conversion formula, the longitude, latitude and altitude received by the Beidou positioning module are converted into the geocentric rectangular coordinate system;

[0016] According to the station center coordinate system conversion formula, the obtained geocentric rectangular coordinate system is converted into the station center coordinate system, wherein the station center coordinate system is the required mobile space rectangular coordinate system;

[0017] According to the location coordinate information of the precise fixed point, the initial station center location information of the Beidou positioning module is updated to determine the coordinates of the starting point position of the mobile device;

[0018] According to the moving speed and moving time of the mobile device, the moving distance of the mobile device is calculated, and the specific location of the partial discharge of the line is determined according to the moving distance combined with the moving space rectangular coordinate system;

[0019] Based on big data acquisition and The trust interval of the difference and setting the threshold;

[0020] By judging and Whether the difference exceeds the threshold of the trustworthy interval. If so, it indicates that a positioning error occurs during the detection process or a problem occurs in the operation of the mobile device. If not, it indicates that the mobile device operates normally.

[0021] The geocentric rectangular coordinate conversion formula is:

[0022]

[0023] Where: are the position coordinates of the geocentric rectangular coordinate system, is the radius of curvature of the ellipsoid, is the eccentricity of the ellipsoid, is the altitude measured by GPS, is the longitude, is the latitude;

[0024] The station center coordinate system conversion formula is:

[0025]

[0026] In the formula, is the position coordinate of the Beidou positioning module in the station center coordinate system, is the coordinate of the observation point in the geocentric rectangular coordinate system;

[0027] The expression for calculating the moving distance of the mobile device is:

[0028]

[0029] In the formula, is the moving distance calculated based on the moving speed of the mobile device. is the moving distance calculated according to the rectangular coordinate system of the moving space, is the moving speed of the mobile device, is the mobile time of the mobile device, is the initial position information in the station center coordinate system.

[0030] Preferably, the preliminary determination of the location of partial discharge of the line based on the ultrasonic ranging principle specifically includes:

[0031] Three or more ultrasonic sensors are arranged at different positions of the mobile device, and accurate position information of the ultrasonic sensors is acquired in real time according to a rectangular coordinate system of the mobile space;

[0032] According to the ultrasonic ranging principle, calculate the distance from the ultrasonic sensor to the local discharge position;

[0033] According to the detection distance of multiple ultrasonic sensors, a circle is made with the distance as the radius, and the intersection information of multiple circles is calculated;

[0034] The location of partial discharge of the line is determined based on the intersection information. If there is only one intersection, then the intersection is the location coordinate of the partial discharge of the line.

[0035] If there are multiple intersections, the coordinates of each intersection are calculated, and the area with dense intersections is screened out according to the coordinate information. This area is the area interval of partial discharge of the line.

[0036] According to the preliminary results of ultrasonic sensor positioning, the partial discharge points or partial discharge areas are marked in the mobile space rectangular coordinate system;

[0037] The ultrasonic ranging expression is:

[0038]

[0039] In the formula, is the propagation speed of ultrasound in air, which is a fixed value. is the interval between two ultrasonic detections at the original position. For the The coordinates of the moving space rectangular coordinate system of the ultrasonic sensor, is the coordinate of the mobile space rectangular coordinate system of partial discharge of the line.

[0040] Preferably, the establishment of a ground data processing platform for receiving and processing line partial discharge data detected by the mobile device specifically includes:

[0041] The full line information of the area where partial discharge occurs can be stored and transmitted through wireless devices or built-in memory cards;

[0042] Establish a ground data processing platform to receive the information of partial discharge of the line detected by the mobile device, and display the movement information of the mobile device and the information of partial discharge of the line through a visual chart;

[0043] According to the ground data processing platform, the map information of the line partial discharge detection area is loaded, and the coordinates of the line partial discharge position marked in the station center coordinate system are reversed into the coordinates in the Beidou coordinate system by means of the station center coordinate system inversion, and the point information is marked on the map to facilitate the subsequent navigation and positioning;

[0044] Based on the overall line information captured by the high-definition camera, determine whether there is obvious insulation material damage and abnormal phenomena on the line. If so, the line needs to be replaced and repaired in time. If not, choose an appropriate time to repair the line.

[0045] Furthermore, a line partial discharge detection and positioning system based on multi-terminal data fusion is proposed, which is used to implement the line partial discharge detection and positioning method based on multi-terminal data fusion as mentioned above, including:

[0046] A data acquisition module, the data acquisition module is used to be arranged on a mobile device that can move at a constant speed on the cable, and is used to integrate a detection device with a partial discharge detection function;

[0047] A partial discharge positioning module, which is used to establish a mobile space rectangular coordinate system according to the Beidou positioning module, and is used to determine the moving distance of the mobile device and the information of the partial discharge position of the line; based on the ultrasonic ranging principle, the position of the partial discharge of the line is preliminarily determined; based on the preliminary line partial discharge positioning, the high-definition camera is controlled to obtain the overall information of the cables around the positioning point;

[0048] A ground processing module is used to establish a ground data processing platform for receiving and processing line partial discharge data detected by a mobile device.

[0049] Preferably, the partial discharge positioning module specifically includes:

[0050] A coordinate system modeling unit, wherein the coordinate system modeling unit is used to establish a mobile space rectangular coordinate system according to a Beidou positioning module, so as to determine the moving distance of the mobile device and the information of the partial discharge position of the line;

[0051] An ultrasonic positioning unit, which is used to preliminarily determine the location of partial discharge of the line based on the ultrasonic ranging principle;

[0052] The image capture unit is used to control the high-definition camera to obtain the overall information of the cables around the positioning point according to the preliminary line partial discharge positioning.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] By loading partial discharge detection equipment on a movable device, partial discharge of long-distance lines is detected, and a mobile space rectangular coordinate system is established through coordinate conversion. The location information of the partial discharge of the line is determined according to the mobile data and mobile space coordinate position of the mobile device, and the moving distance is determined according to the moving speed and spatial position information of the device. The accuracy of the mobile device or positioning information is reflected by comparing the moving distance. Secondly, the line is detected at close range by an ultrasonic sensor, so as to achieve accurate positioning of the partial discharge detection of the line. Finally, the received data is analyzed and the coordinate system is inversely solved through the ground data processing platform, and corresponding solutions are taken according to the data analysis. This solution effectively improves the accuracy of line partial discharge detection and positioning and the ability to adapt to complex external environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a flow chart of a line partial discharge detection and positioning method based on multi-terminal data fusion of the present invention;

[0056] Figure 2 The present invention is an information flow chart of establishing a mobile space rectangular coordinate system according to the Beidou positioning module to determine the moving distance of the mobile device and the position of the partial discharge of the line;

[0057] Figure 3 This is a flow chart of preliminarily determining the position of partial discharge of a line according to the ultrasonic ranging principle of the present invention; DETAILED DESCRIPTION

[0058] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0059] Reference Figure 1 As shown, a line partial discharge detection and positioning method based on multi-terminal data fusion includes:

[0060] A mobile device that can move at a constant speed and is arranged on the cable, and is used to integrate a detection device with a partial discharge detection function;

[0061] According to the Beidou positioning module, a mobile space rectangular coordinate system is established to determine the moving distance of the mobile equipment and the information of the partial discharge position of the line;

[0062] Based on the principle of ultrasonic ranging, the location of partial discharge of the line is preliminarily determined;

[0063] Based on the preliminary line partial discharge positioning, control the high-definition camera to obtain the overall information of the cables around the positioning point;

[0064] Establish a ground data processing platform to receive and process line partial discharge data detected by mobile equipment.

[0065] It can be explained that this solution uses a movable device loaded with partial discharge detection equipment to detect partial discharge of long-distance lines, establishes a mobile space rectangular coordinate system through coordinate conversion, determines the location information of the partial discharge of the line based on the mobile data and mobile space coordinate position of the mobile device, and determines the moving distance based on the moving speed and spatial position information of the device. The accuracy of the mobile device or positioning information is reflected by comparing the moving distance. Secondly, the line is detected at close range through ultrasonic sensors, thereby achieving accurate positioning of partial discharge detection of the line. Finally, the received data is analyzed and the coordinate system is inversely solved through the ground data processing platform, and corresponding solutions are taken according to the data analysis.

[0066] Reference Figure 2 As shown, the mobile space rectangular coordinate system is established according to the Beidou positioning module, and the information used to determine the moving distance of the mobile device and the line partial discharge position specifically includes:

[0067] According to the geocentric rectangular coordinate conversion formula, the longitude, latitude and altitude received by the Beidou positioning module are converted into the geocentric rectangular coordinate system;

[0068] According to the station center coordinate system conversion formula, the obtained geocentric rectangular coordinate system is converted into the station center coordinate system, wherein the station center coordinate system is the required mobile space rectangular coordinate system;

[0069] According to the location coordinate information of the precise fixed point, the initial station center location information of the Beidou positioning module is updated to determine the coordinates of the starting point position of the mobile device;

[0070] According to the moving speed and moving time of the mobile device, the moving distance of the mobile device is calculated, and the specific location of the partial discharge of the line is determined according to the moving distance combined with the moving space rectangular coordinate system;

[0071] Based on big data acquisition and The trust interval of the difference and setting the threshold;

[0072] By judging and Whether the difference exceeds the threshold of the trustworthy interval. If so, it indicates that a positioning error occurs during the detection process or a problem occurs in the operation of the mobile device. If not, it indicates that the mobile device operates normally.

[0073] The geocentric rectangular coordinate conversion formula is:

[0074]

[0075] Where: are the position coordinates of the geocentric rectangular coordinate system, is the radius of curvature of the ellipsoid, is the eccentricity of the ellipsoid, is the altitude measured by GPS, is the longitude, is the latitude;

[0076] The station center coordinate system conversion formula is:

[0077]

[0078] In the formula, is the position coordinate of the Beidou positioning module in the station center coordinate system, is the coordinate of the observation point in the geocentric rectangular coordinate system;

[0079] The expression for calculating the moving distance of the mobile device is:

[0080]

[0081] In the formula, is the moving distance calculated based on the moving speed of the mobile device. is the moving distance calculated according to the rectangular coordinate system of the moving space, is the moving speed of the mobile device, is the mobile time of the mobile device, is the initial position information in the station center coordinate system.

[0082] It can be explained that when determining the positioning information of the mobile device, starting points are set at different points for mobile detection operations, and the original coordinate information positioned according to the Beidou coordinate system is difficult to apply, which is not conducive to refreshing the starting position information of the mobile device. Therefore, it is necessary to convert the Beidou coordinate system into the station center coordinate system through coordinate conversion. By updating the station center coordinate system at the starting point, the distance can be solved according to the spatial distance formula. According to the actual detection and positioning situation, the coordinate data of the positioning information is recorded. The position of the line partial discharge mark area in the Beidou coordinate system can be obtained through the inverse solution of the ground platform, thereby realizing the precise positioning of the line partial discharge. Secondly, the moving distance can be determined according to the moving speed and spatial position information of the equipment, and the abnormality of the mobile device or positioning information can be reflected by comparing the moving distance.

[0083] Reference Figure 3 As shown, the preliminary determination of the location of partial discharge of the line based on the ultrasonic ranging principle specifically includes:

[0084] Three or more ultrasonic sensors are arranged at different positions of the mobile device, and accurate position information of the ultrasonic sensors is acquired in real time according to a rectangular coordinate system of the mobile space;

[0085] According to the ultrasonic ranging principle, calculate the distance from the ultrasonic sensor to the local discharge position;

[0086] According to the detection distance of multiple ultrasonic sensors, a circle is made with the distance as the radius, and the intersection information of multiple circles is calculated;

[0087] The location of partial discharge of the line is determined based on the intersection information. If there is only one intersection, then the intersection is the location coordinate of the partial discharge of the line.

[0088] If there are multiple intersections, the coordinates of each intersection are calculated, and the area with dense intersections is screened out according to the coordinate information. This area is the area interval of partial discharge of the line.

[0089] According to the preliminary results of ultrasonic sensor positioning, the partial discharge points or partial discharge areas are marked in the mobile space rectangular coordinate system;

[0090] The ultrasonic ranging expression is:

[0091]

[0092] In the formula, is the propagation speed of ultrasound in air, which is a fixed value. is the interval between two ultrasonic detections at the original position. For the The coordinates of the moving space rectangular coordinate system of the ultrasonic sensor, is the coordinate of the mobile space rectangular coordinate system of partial discharge of the line.

[0093] It can be explained that, according to the principle of ultrasonic ranging, in theory, three ultrasonic sensors can solve the specific location information of partial discharge of the line. However, since ultrasonic waves are affected by external environmental factors during air propagation, the ultrasonic signal is attenuated and interfered by noise during the reception process, which prolongs the time of receiving ultrasonic waves twice at the same position, which is unstable, resulting in jitter error in the distance between the ultrasonic sensor and the partial discharge position, which easily leads to the result of the ranging algorithm of the three ultrasonic sensors being unsolvable. Therefore, by adding one or more ultrasonic sensors, the fault tolerance of positioning can be effectively increased. Secondly, according to the solution of the intersection coordinates, the areas with dense intersections can be screened out, so as to determine the regional interval of partial discharge of the line, effectively reducing the complexity of subsequent line inspections and the waste of resources.

[0094] Further, based on the same inventive concept as the above-mentioned line partial discharge detection and positioning method based on multi-terminal data fusion, the present solution also proposes a line partial discharge detection and positioning system based on multi-terminal data fusion, comprising:

[0095] A data acquisition module, the data acquisition module is used to be arranged on a mobile device that can move at a constant speed on the cable, and is used to integrate a detection device with a partial discharge detection function;

[0096] A partial discharge positioning module, which is used to establish a mobile space rectangular coordinate system according to the Beidou positioning module, and is used to determine the moving distance of the mobile device and the information of the partial discharge position of the line; based on the ultrasonic ranging principle, the position of the partial discharge of the line is preliminarily determined; based on the preliminary line partial discharge positioning, the high-definition camera is controlled to obtain the overall information of the cables around the positioning point;

[0097] A ground processing module, the ground processing module is used to establish a ground data processing platform for receiving and processing line partial discharge data detected by the mobile device;

[0098] The partial discharge positioning module specifically includes:

[0099] A coordinate system modeling unit, wherein the coordinate system modeling unit is used to establish a mobile space rectangular coordinate system according to a Beidou positioning module, so as to determine the moving distance of the mobile device and the information of the partial discharge position of the line;

[0100] An ultrasonic positioning unit, which is used to preliminarily determine the location of partial discharge of the line based on the ultrasonic ranging principle;

[0101] The image capture unit is used to control the high-definition camera to obtain the overall information of the cables around the positioning point according to the preliminary line partial discharge positioning.

[0102] In summary, the advantages of the present invention are: by loading the partial discharge detection equipment on a movable device, the partial discharge of the line at a long distance is detected, and a mobile space rectangular coordinate system is established through coordinate conversion. According to the mobile data and the mobile space coordinate position of the mobile device, the position information of the partial discharge of the line is determined, and the moving distance is determined according to the moving speed and spatial position information of the device. The accuracy of the mobile device or positioning information is reflected by comparing the moving distance. Secondly, the line is detected at a close distance by an ultrasonic sensor, so as to realize the precise positioning of the partial discharge detection of the line. Finally, the received data is analyzed and the coordinate system is inversely solved by the ground data processing platform, and corresponding solutions are taken according to the analysis of the data. This scheme effectively improves the accuracy of the local discharge detection and positioning of the line and the ability to adapt to complex external environments.

[0103] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A line partial discharge detection and positioning method based on multi-terminal data fusion, characterized in that: include: A mobile device that can move at a constant speed and is arranged on the cable, and is used to integrate a detection device with a partial discharge detection function; According to the Beidou positioning module, a mobile space rectangular coordinate system is established to determine the moving distance of the mobile equipment and the information of the partial discharge position of the line; Based on the principle of ultrasonic ranging, the location of partial discharge of the line is preliminarily determined; Based on the preliminary line partial discharge positioning, control the high-definition camera to obtain the overall information of the cables around the positioning point; Establish a ground data processing platform to receive and process line partial discharge data detected by mobile equipment.

2. A line partial discharge detection and positioning method based on multi-terminal data fusion according to claim 1, characterized in that: The device that can move at a uniform speed and is arranged on the cable and is used to integrate the detection device with the function of detecting partial discharge specifically includes: A mobile device that can move at a constant speed on a cable is used to integrate hardware devices that can control high-definition cameras, ultrasonic sensors, Beidou positioning modules, and support the normal operation of these detection equipment.

3. A line partial discharge detection and positioning method based on multi-terminal data fusion according to claim 2, characterized in that: The mobile space rectangular coordinate system is established according to the Beidou positioning module, and the information used to determine the moving distance of the mobile device and the position of the partial discharge of the line specifically includes: According to the geocentric rectangular coordinate conversion formula, the longitude, latitude and altitude received by the Beidou positioning module are converted into the geocentric rectangular coordinate system; According to the station center coordinate system conversion formula, the obtained geocentric rectangular coordinate system is converted into the station center coordinate system, wherein the station center coordinate system is the required mobile space rectangular coordinate system; According to the location coordinate information of the precise fixed point, the initial station center location information of the Beidou positioning module is updated to determine the coordinates of the starting point position of the mobile device; According to the moving speed and moving time of the mobile device, the moving distance of the mobile device is calculated, and the specific location of the partial discharge of the line is determined according to the moving distance combined with the moving space rectangular coordinate system; Based on big data acquisition and The trust interval of the difference and setting the threshold; By judging and Whether the difference exceeds the threshold of the trustworthy interval. If so, it indicates that a positioning error occurs during the detection process or a problem occurs in the operation of the mobile device. If not, it indicates that the mobile device operates normally. The geocentric rectangular coordinate conversion formula is: ， Where: are the position coordinates of the geocentric rectangular coordinate system, is the radius of curvature of the ellipsoid, is the eccentricity of the ellipsoid, is the altitude measured by GPS, is the longitude, is the latitude; The station center coordinate system conversion formula is: ， In the formula, is the position coordinate of the Beidou positioning module in the station center coordinate system, is the coordinate of the observation point in the geocentric rectangular coordinate system; The expression for calculating the moving distance of the mobile device is: ， In the formula, is the moving distance calculated based on the moving speed of the mobile device. is the moving distance calculated according to the rectangular coordinate system of the moving space, is the moving speed of the mobile device, is the mobile time of the mobile device, is the initial position information in the station center coordinate system.

4. A line partial discharge detection and positioning method based on multi-terminal data fusion according to claim 3, characterized in that: The preliminary determination of the location of partial discharge of the line based on the ultrasonic ranging principle specifically includes: Three or more ultrasonic sensors are arranged at different positions of the mobile device, and accurate position information of the ultrasonic sensors is acquired in real time according to a rectangular coordinate system of the mobile space; According to the ultrasonic ranging principle, calculate the distance from the ultrasonic sensor to the local discharge position; According to the detection distance of multiple ultrasonic sensors, a circle is made with the distance as the radius, and the intersection information of multiple circles is calculated; The location of partial discharge of the line is determined based on the intersection information. If there is only one intersection, then the intersection is the location coordinate of the partial discharge of the line. If there are multiple intersections, the coordinates of each intersection are calculated, and the area with dense intersections is screened out according to the coordinate information. This area is the area interval of partial discharge of the line. According to the preliminary results of ultrasonic sensor positioning, the partial discharge points or partial discharge areas are marked in the mobile space rectangular coordinate system; The ultrasonic ranging expression is: ， In the formula, is the propagation speed of ultrasound in air, which is a fixed value. is the interval between two ultrasonic detections at the original position. For the The coordinates of the moving space rectangular coordinate system of the ultrasonic sensor, is the coordinate of the mobile space rectangular coordinate system of partial discharge of the line.

5. A line partial discharge detection and positioning method based on multi-terminal data fusion according to claim 4, characterized in that: The establishment of a ground data processing platform for receiving and processing line partial discharge data detected by the mobile device specifically includes: The overall line information of the area where partial discharge occurs can be stored and transmitted through wireless devices or built-in memory cards; Establish a ground data processing platform to receive the information of line partial discharge detected by the mobile device and display the movement information of the mobile device and the information of line partial discharge through visual charts; According to the ground data processing platform, the map information of the line partial discharge detection area is loaded, and the coordinates of the line partial discharge position marked in the station center coordinate system are reversed into the coordinates in the Beidou coordinate system by means of the station center coordinate system inversion, and the point information is marked on the map to facilitate the subsequent navigation and positioning; Based on the overall line information captured by the high-definition camera, determine whether there is obvious insulation material damage and abnormal phenomena on the line. If so, the line needs to be replaced and repaired in time. If not, choose an appropriate time to repair the line.

6. A line partial discharge detection and positioning system based on multi-terminal data fusion, used to implement the line partial discharge detection and positioning method based on multi-terminal data fusion as described in any one of claims 1 to 5, characterized in that: include: A data acquisition module, the data acquisition module is used to be arranged on a mobile device that can move at a constant speed on the cable, and is used to integrate a detection device with a partial discharge detection function; A partial discharge positioning module, which is used to establish a mobile space rectangular coordinate system according to the Beidou positioning module, and is used to determine the moving distance of the mobile device and the information of the partial discharge position of the line; based on the ultrasonic ranging principle, the position of the partial discharge of the line is preliminarily determined; based on the preliminary line partial discharge positioning, the high-definition camera is controlled to obtain the overall information of the cables around the positioning point; A ground processing module is used to establish a ground data processing platform for receiving and processing line partial discharge data detected by a mobile device.

7. A line partial discharge detection and positioning system based on multi-terminal data fusion according to claim 6, characterized in that: The partial discharge positioning module specifically includes: A coordinate system modeling unit, wherein the coordinate system modeling unit is used to establish a mobile space rectangular coordinate system according to a Beidou positioning module, so as to determine the moving distance of the mobile device and the information of the partial discharge position of the line; An ultrasonic positioning unit, which is used to preliminarily determine the location of partial discharge of the line based on the ultrasonic ranging principle; The image capture unit is used to control the high-definition camera to obtain the overall information of the cables around the positioning point according to the preliminary line partial discharge positioning.

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