Single Beidou RTK high-precision positioning method and system for transmission line condition monitoring

Abstract

The present invention discloses a single Beidou RTK high-precision positioning method and system for monitoring the working condition of a transmission line, relates to the field of transmission lines, solves the problem of poor positioning accuracy in the existing single Beidou RTK high-precision positioning method for monitoring the working condition of a transmission line, comprises step S1: dividing a target transmission line into a plurality of power monitoring sub-lines, respectively acquiring a line voltage monitoring coefficient and a circuit current monitoring coefficient of each power monitoring sub-area, and obtaining line power monitoring data, step S2: dividing the power monitoring area into a first type of circuit monitoring sub-area and a second type of circuit monitoring area, and marking a working condition positioning point of the first type of power monitoring sub-area, and obtaining working condition positioning point data, step S3: positioning each working condition positioning point in the target transmission line by analyzing the working condition positioning point data, the present invention can improve the pertinence of the positioning process and the accuracy of the positioning result.

Description

Technical Field

[0001] The present invention belongs to the field of power transmission lines and relates to RTK positioning technology, in particular to a single Beidou RTK high-precision positioning method and system for power transmission line working condition monitoring. Background Art

[0002] The existing transmission line condition monitoring and positioning methods have the following specific defects when performing monitoring and positioning:

[0003] 1. The existing transmission line condition monitoring and positioning methods cannot remotely and accurately locate the abnormal position of the transmission line condition monitoring during monitoring, resulting in the lack of application value of the condition monitoring results;

[0004] 2. The existing transmission line condition monitoring and positioning methods can often only locate large line areas through longitude and latitude during positioning, which has the problem of low positioning accuracy, resulting in a lack of accuracy in the positioning results.

[0005] To this end, we propose a single Beidou RTK high-precision positioning method and system for transmission line condition monitoring. Summary of the invention

[0006] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a single Beidou RTK high-precision positioning method and system for monitoring the working conditions of power transmission lines. The present invention aims to improve the accuracy of locating fault points in power supply lines.

[0007] In order to achieve the above object, the present invention adopts the following technical solution: a single Beidou RTK high-precision positioning method for transmission line condition monitoring, comprising the following specific steps:

[0008] Step S1: Divide the target transmission line into several power monitoring sub-lines, monitor the current data of each power monitoring sub-area to obtain the line current monitoring coefficient, monitor the voltage data of each power monitoring sub-area to obtain the line voltage monitoring coefficient, and define the line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data;

[0009] Step S2: Divide the power monitoring area into a first type circuit monitoring sub-area and a second type circuit monitoring area, and mark the working condition positioning point of the first type power monitoring sub-area to obtain working condition positioning point data;

[0010] Step S3: Locate each operating condition positioning point in the target transmission line by analyzing the operating condition positioning point data.

[0011] Furthermore, the step S1 further includes the following specific steps:

[0012] Step S11: acquiring circuit nodes in the target transmission line to obtain a plurality of circuit nodes;

[0013] Step S12: in the target transmission line, marking a transmission line area between two consecutive circuit nodes as a power monitoring sub-area, obtaining multiple power monitoring sub-areas, and selecting a sample power monitoring sub-area from the obtained multiple power monitoring sub-areas;

[0014] Step S13: in the process of monitoring the line condition of the target transmission line, the time point corresponding to the current moment is marked as the first line monitoring characteristic time point, a second line monitoring characteristic time point is marked in the period before the first line monitoring characteristic time point, and the period between the first line monitoring characteristic time point and the second line monitoring characteristic time point is marked as the line condition monitoring period;

[0015] Step S14: performing current monitoring on the sample power monitoring sub-area in the line condition monitoring cycle to obtain the line current monitoring coefficient corresponding to the sample power monitoring sub-area;

[0016] Step S15: acquiring the line current monitoring coefficient corresponding to each power monitoring sub-area respectively;

[0017] Step S16: performing voltage monitoring on the sample power monitoring sub-area in the line condition monitoring cycle to obtain a line voltage monitoring coefficient corresponding to the sample power monitoring sub-area;

[0018] Step S17: acquiring the line voltage monitoring coefficient corresponding to each power monitoring sub-area respectively;

[0019] Step S18: defining the line voltage monitoring coefficient and the circuit current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data.

[0020] Furthermore, the step S14 further includes the following specific steps:

[0021] Step S141: randomly selecting a number of current monitoring time points within a line condition monitoring cycle, and naming the marked current monitoring time points in chronological order as the first current monitoring time point to the ath current monitoring time point;

[0022] Step S142: two circuit nodes at both ends of the sample power monitoring sub-area are named as a first current monitoring node and a second current monitoring node respectively;

[0023] Step S143: marking the current value of the first current monitoring node at the first current monitoring time point as the Y1 current value, marking the current value of the first current monitoring node at the second current monitoring time point as the Y2 current value, and so on, marking the current value of the first current monitoring node at the ath current monitoring time point as the Ya current value;

[0024] Step S144: marking the current value of the second current monitoring node at the first current monitoring time point as the E1 current value, marking the current value of the second current monitoring node at the second current monitoring time point as the E2 current value, and so on, marking the current value of the second current monitoring node at the a current monitoring time point as the Ea current value;

[0025] Step S145: Calculate the line current monitoring coefficient corresponding to the sample power monitoring sub-area by converting the Y1 current value to the Ya current value and the E1 current value to the Ea current value;

[0026] The line current monitoring coefficient corresponding to the sample power monitoring sub-area is calculated. The specific formula is as follows:

[0027] ;

[0028] Among them, Ijx is the line current monitoring coefficient corresponding to the sample power monitoring sub-area, Iyi is the Yi current value, and Iei is the Ei current value.

[0029] Furthermore, the step S16 further includes the following specific steps:

[0030] Step S161: randomly selecting a number of voltage monitoring time points within a line condition monitoring cycle, and naming the marked voltage monitoring time points in chronological order as the first voltage monitoring time point to the bth voltage monitoring time point;

[0031] Step S162: two circuit nodes at both ends of the sample power monitoring sub-area are named as a first voltage monitoring node and a second voltage monitoring node respectively;

[0032] Step S163: marking the voltage value of the first voltage monitoring node at the first voltage monitoring time point as a Y1 voltage value, marking the voltage value of the first voltage monitoring node at the second voltage monitoring time point as a Y2 voltage value, and so on, marking the voltage value of the first voltage monitoring node at the b voltage monitoring time point as a Yb voltage value;

[0033] Step S164: marking the voltage value of the second voltage monitoring node at the first voltage monitoring time point as the E1 voltage value, marking the voltage value of the second voltage monitoring node at the second voltage monitoring time point as the E2 voltage value, and so on, marking the voltage value of the second voltage monitoring node at the b voltage monitoring time point as the Eb voltage value;

[0034] Step S165: Calculate the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area by converting the voltage value of Y1 to the voltage value of Yb and the voltage value of E1 to the voltage value of Eb;

[0035] ;

[0036] Among them, Vjx is the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area, Vyi is the Yi voltage value, and Vei is the Ei voltage value.

[0037] Furthermore, the step S2 further includes the following specific steps:

[0038] Step S21: Acquire line power monitoring data, and acquire the line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each circuit monitoring sub-area according to the line power monitoring data;

[0039] Step S22: Calculating the line voltage monitoring coefficient and the circuit current monitoring coefficient corresponding to the same circuit monitoring sub-area to obtain a preliminary circuit operating condition monitoring coefficient;

[0040] The preliminary monitoring coefficient of the circuit working condition is calculated, and the specific formula is as follows:

[0041] ;

[0042] Among them, Kgc is the preliminary monitoring coefficient of the circuit condition, Vjx is the line voltage monitoring coefficient, and Ijx is the line current monitoring coefficient;

[0043] Step S23: obtaining a threshold value of a preliminary monitoring coefficient of a circuit condition, comparing the preliminary monitoring coefficient of the circuit condition with the threshold value of the preliminary monitoring coefficient of the circuit condition, and dividing the circuit monitoring sub-area into a first type of circuit monitoring sub-area and a second type of circuit monitoring sub-area according to the comparison result;

[0044] Step S24: marking the operating condition positioning point of the first type of power monitoring sub-area to obtain operating condition positioning point data.

[0045] Furthermore, the step S23 further includes the following specific steps:

[0046] Step S231: respectively obtaining a line voltage monitoring coefficient threshold and a circuit current monitoring coefficient threshold;

[0047] Step S232: Calculate the line voltage monitoring coefficient threshold and the circuit current monitoring coefficient threshold to obtain a circuit operating condition preliminary monitoring coefficient threshold;

[0048] The threshold value of the preliminary monitoring coefficient of the circuit working condition is calculated, and the specific formula is as follows:

[0049] ;

[0050] Among them, Kgcy is the preliminary monitoring coefficient threshold of the circuit condition, Vjxy is the line voltage monitoring coefficient threshold, and Ijxy is the line current monitoring coefficient threshold;

[0051] Step S233: if the circuit condition preliminary monitoring coefficient is greater than or equal to the circuit condition preliminary monitoring coefficient threshold, the corresponding circuit monitoring sub-area is divided into a first type of circuit monitoring sub-area;

[0052] Step S234: if the preliminary circuit condition monitoring coefficient is less than the preliminary circuit condition monitoring coefficient threshold, the corresponding circuit monitoring sub-area is divided into a second type of circuit monitoring sub-area.

[0053] Furthermore, the step S24 further includes the following specific steps:

[0054] Step S241: acquiring infrared detection images corresponding to each first-type circuit monitoring sub-area respectively through the flight equipment to obtain a plurality of circuit area infrared images, and selecting a sample circuit area infrared image from the plurality of circuit area infrared images acquired;

[0055] Step S242: in the sample circuit region infrared image, fill the image region corresponding to the circuit monitoring sub-region with pixels, and name the pixels filled in the circuit monitoring sub-region as feature pixels;

[0056] Step S243: acquiring the brightness value corresponding to each characteristic pixel point respectively to obtain brightness values ​​of multiple pixel points;

[0057] Step S244: obtaining a pixel brightness reference interval, if the pixel brightness value is within the pixel brightness reference interval, marking the corresponding pixel as a working condition positioning point, if the pixel brightness value is not within the pixel brightness reference interval, marking the corresponding pixel as a non-working condition positioning point;

[0058] Step S245: marking the working condition positioning points in each circuit area infrared image respectively to obtain a plurality of working condition positioning points;

[0059] Step S246: define multiple operating condition positioning points as operating condition positioning point data.

[0060] Furthermore, the step S3 further includes the following specific steps:

[0061] Step S31: acquiring operating condition positioning point data, acquiring each operating condition positioning point in the target transmission line according to the operating condition positioning point data, and selecting a sample operating condition positioning point from the acquired multiple operating condition positioning points;

[0062] Step S32: locating the sample working condition positioning point to obtain position data corresponding to the sample working condition positioning point;

[0063] Step S33: positioning each working condition positioning point respectively.

[0064] Furthermore, the step S32 further includes the following specific steps:

[0065] Step S321: obtaining the flight position of the flight equipment when acquiring the infrared image of the circuit area corresponding to the sample working condition positioning point, and obtaining the first characteristic position;

[0066] Step S322: using the first characteristic position as the center of the coordinate circle, establishing a three-dimensional plane coordinate system to obtain a characteristic three-dimensional coordinate system, marking the sample working condition positioning point in the characteristic three-dimensional coordinate system, and obtaining the three-dimensional coordinates corresponding to the sample working condition positioning point to obtain the three-dimensional coordinates of the positioning point;

[0067] Step S323: acquiring the position data corresponding to the flight equipment control base station to obtain the flight equipment base station position point, marking the flight equipment base station position point in the characteristic three-dimensional coordinate system to obtain the three-dimensional coordinates of the base station;

[0068] Step S324: In the characteristic three-dimensional coordinate system, the flight equipment base station position point is converted into a coordinate origin to obtain an RTK three-dimensional coordinate system, and the three-dimensional coordinates of the positioning point are acquired in the RTK three-dimensional coordinate system to obtain the position data corresponding to the sample working condition positioning point.

[0069] The single Beidou RTK high-precision positioning system for transmission line condition monitoring includes:

[0070] Data acquisition module: used to divide the target transmission line into several power monitoring sub-lines, monitor the current data of each power monitoring sub-area to obtain the line current monitoring coefficient, monitor the voltage data of each power monitoring sub-area to obtain the line voltage monitoring coefficient, and define the line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data;

[0071] Positioning point module: used to divide the power monitoring area into a first type circuit monitoring sub-area and a second type circuit monitoring area, and mark the working condition positioning point of the first type power monitoring sub-area to obtain working condition positioning point data;

[0072] Abnormal positioning module: used to locate each operating condition positioning point in the target transmission line by analyzing the operating condition positioning point data.

[0073] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0074] 1. The present invention obtains the line current monitoring coefficient by monitoring the current data of each power monitoring sub-area, obtains the line voltage monitoring coefficient by monitoring the voltage data of each power monitoring sub-area, and monitors the line condition according to the line current monitoring coefficient and the line voltage monitoring coefficient, which can effectively improve the accuracy of the monitoring results.

[0075] 2. The present invention marks the operating condition positioning points of the first type of power monitoring sub-area, obtains the operating condition positioning point data, marks the operating condition positioning points according to the monitoring results, and locates the abnormal area according to the marking results, which can improve the pertinence of the positioning process and the accuracy of the positioning results. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings:

[0077] Figure 1 It is a diagram of the implementation steps of the present invention;

[0078] Figure 2 It is the overall system block diagram of the present invention. DETAILED DESCRIPTION

[0079] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. 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.

[0080] Embodiment 1

[0081] See also Figure 1 The present invention provides a technical solution: a single Beidou RTK high-precision positioning method for monitoring the working condition of a power transmission line, comprising the following specific steps:

[0082] Step S1: Divide the target transmission line into several power monitoring sub-lines, monitor the current data of each power monitoring sub-area to obtain the line current monitoring coefficient, monitor the voltage data of each power monitoring sub-area to obtain the line voltage monitoring coefficient, and define the line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data;

[0083] The step S1 further includes the following specific steps:

[0084] Step S11: acquiring circuit nodes in the target transmission line to obtain a plurality of circuit nodes;

[0085] Step S12: in the target transmission line, marking a transmission line area between two consecutive circuit nodes as a power monitoring sub-area, obtaining multiple power monitoring sub-areas, and selecting a sample power monitoring sub-area from the obtained multiple power monitoring sub-areas;

[0086] Step S13: In the process of line condition monitoring of the target transmission line, the time point corresponding to the current moment is marked as the first line monitoring characteristic time point, and a second line monitoring characteristic time point is marked in the time period before the first line monitoring characteristic time point, and the time period between the first line monitoring characteristic time point and the second line monitoring characteristic time point is marked as the line condition monitoring cycle.

[0087] Step S14: performing current monitoring on the sample power monitoring sub-area in the line condition monitoring cycle to obtain the line current monitoring coefficient corresponding to the sample power monitoring sub-area;

[0088] The step S14 further includes the following specific steps:

[0089] Step S141: randomly selecting a number of current monitoring time points within a line condition monitoring cycle, and naming the marked current monitoring time points in chronological order as the first current monitoring time point to the ath current monitoring time point;

[0090] Step S142: two circuit nodes at both ends of the sample power monitoring sub-area are named as a first current monitoring node and a second current monitoring node respectively;

[0091] Step S143: marking the current value of the first current monitoring node at the first current monitoring time point as the Y1 current value, marking the current value of the first current monitoring node at the second current monitoring time point as the Y2 current value, and so on, marking the current value of the first current monitoring node at the ath current monitoring time point as the Ya current value;

[0092] Step S144: marking the current value of the second current monitoring node at the first current monitoring time point as the E1 current value, marking the current value of the second current monitoring node at the second current monitoring time point as the E2 current value, and so on, marking the current value of the second current monitoring node at the a current monitoring time point as the Ea current value;

[0093] Step S145: Calculate the line current monitoring coefficient corresponding to the sample power monitoring sub-area by converting the Y1 current value to the Ya current value and the E1 current value to the Ea current value;

[0094] The line current monitoring coefficient corresponding to the sample power monitoring sub-area is calculated. The specific formula is as follows:

[0095] ;

[0096] Among them, Ijx is the line current monitoring coefficient corresponding to the sample power monitoring sub-area, Iyi is the Yi current value, and Iei is the Ei current value;

[0097] Step S15: acquiring the line current monitoring coefficient corresponding to each power monitoring sub-area respectively;

[0098] Step S16: performing voltage monitoring on the sample power monitoring sub-area in the line condition monitoring cycle to obtain a line voltage monitoring coefficient corresponding to the sample power monitoring sub-area;

[0099] The step S16 further includes the following specific steps:

[0100] Step S161: randomly selecting a number of voltage monitoring time points within a line condition monitoring cycle, and naming the marked voltage monitoring time points in chronological order as the first voltage monitoring time point to the bth voltage monitoring time point;

[0101] Step S162: two circuit nodes at both ends of the sample power monitoring sub-area are named as a first voltage monitoring node and a second voltage monitoring node respectively;

[0102] Step S163: marking the voltage value of the first voltage monitoring node at the first voltage monitoring time point as a Y1 voltage value, marking the voltage value of the first voltage monitoring node at the second voltage monitoring time point as a Y2 voltage value, and so on, marking the voltage value of the first voltage monitoring node at the b voltage monitoring time point as a Yb voltage value;

[0103] Step S164: marking the voltage value of the second voltage monitoring node at the first voltage monitoring time point as the E1 voltage value, marking the voltage value of the second voltage monitoring node at the second voltage monitoring time point as the E2 voltage value, and so on, marking the voltage value of the second voltage monitoring node at the b voltage monitoring time point as the Eb voltage value;

[0104] Step S165: Calculate the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area by converting the voltage value of Y1 to the voltage value of Yb and the voltage value of E1 to the voltage value of Eb;

[0105] ;

[0106] Among them, Vjx is the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area, Vyi is the Yi voltage value, and Vei is the Ei voltage value;

[0107] Step S17: acquiring the line voltage monitoring coefficient corresponding to each power monitoring sub-area respectively;

[0108] Step S18: defining the line voltage monitoring coefficient and the circuit current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data;

[0109] Step S2: Conduct circuit engineering monitoring on each power monitoring sub-area by analyzing the line power monitoring data, mark the working condition positioning point according to the monitoring results, and obtain the working condition positioning point data;

[0110] The step S2 further includes the following specific steps:

[0111] Step S21: Acquire line power monitoring data, and acquire the line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each circuit monitoring sub-area according to the line power monitoring data;

[0112] Step S22: Calculating the line voltage monitoring coefficient and the circuit current monitoring coefficient corresponding to the same circuit monitoring sub-area to obtain a preliminary circuit operating condition monitoring coefficient;

[0113] The preliminary monitoring coefficient of the circuit working condition is calculated, and the specific formula is as follows:

[0114] ;

[0115] Among them, Kgc is the preliminary monitoring coefficient of the circuit condition, Vjx is the line voltage monitoring coefficient, and Ijx is the line current monitoring coefficient;

[0116] Step S23: obtaining a threshold value of a preliminary monitoring coefficient of a circuit condition, comparing the preliminary monitoring coefficient of the circuit condition with the threshold value of the preliminary monitoring coefficient of the circuit condition, and dividing the circuit monitoring sub-area into a first type of circuit monitoring sub-area and a second type of circuit monitoring sub-area according to the comparison result;

[0117] The step S23 further includes the following specific steps:

[0118] Step S231: respectively obtaining a line voltage monitoring coefficient threshold and a circuit current monitoring coefficient threshold;

[0119] Step S232: Calculate the line voltage monitoring coefficient threshold and the circuit current monitoring coefficient threshold to obtain a circuit operating condition preliminary monitoring coefficient threshold;

[0120] The threshold value of the preliminary monitoring coefficient of the circuit working condition is calculated, and the specific formula is as follows:

[0121] ;

[0122] Among them, Kgcy is the preliminary monitoring coefficient threshold of the circuit condition, Vjxy is the line voltage monitoring coefficient threshold, and Ijxy is the line current monitoring coefficient threshold;

[0123] Step S233: if the circuit condition preliminary monitoring coefficient is greater than or equal to the circuit condition preliminary monitoring coefficient threshold, the corresponding circuit monitoring sub-area is divided into a first type of circuit monitoring sub-area;

[0124] Step S234: if the circuit operating condition preliminary monitoring coefficient is less than the circuit operating condition preliminary monitoring coefficient threshold, the corresponding circuit monitoring sub-area is divided into a second type of circuit monitoring sub-area;

[0125] Step S24: marking the operating condition positioning point of the first type of power monitoring sub-area to obtain operating condition positioning point data;

[0126] The step S24 further includes the following specific steps:

[0127] Step S241: acquiring infrared detection images corresponding to each first-type circuit monitoring sub-area respectively through the flight equipment to obtain a plurality of circuit area infrared images, and selecting a sample circuit area infrared image from the plurality of circuit area infrared images acquired;

[0128] Step S242: in the sample circuit region infrared image, fill the image region corresponding to the circuit monitoring sub-region with pixels, and name the pixels filled in the circuit monitoring sub-region as feature pixels;

[0129] Step S243: acquiring the brightness value corresponding to each characteristic pixel point respectively to obtain brightness values ​​of multiple pixel points;

[0130] Step S244: obtaining a pixel brightness reference interval, if the pixel brightness value is within the pixel brightness reference interval, marking the corresponding pixel as a working condition positioning point, if the pixel brightness value is not within the pixel brightness reference interval, marking the corresponding pixel as a non-working condition positioning point;

[0131] Step S245: marking the working condition positioning points in each circuit area infrared image respectively to obtain a plurality of working condition positioning points;

[0132] Step S246: defining a plurality of operating condition positioning points as operating condition positioning point data;

[0133] Step S3: locating each operating condition positioning point in the target transmission line by analyzing the operating condition positioning point data;

[0134] The step S3 further includes the following specific steps:

[0135] Step S31: acquiring operating condition positioning point data, acquiring each operating condition positioning point in the target transmission line according to the operating condition positioning point data, and selecting a sample operating condition positioning point from the acquired multiple operating condition positioning points;

[0136] Step S32: locating the sample working condition positioning point to obtain position data corresponding to the sample working condition positioning point;

[0137] The step S32 further includes the following specific steps:

[0138] Step S321: obtaining the flight position of the flight equipment when acquiring the infrared image of the circuit area corresponding to the sample working condition positioning point, and obtaining the first characteristic position;

[0139] Step S322: using the first characteristic position as the center of the coordinate circle, establishing a three-dimensional plane coordinate system to obtain a characteristic three-dimensional coordinate system, marking the sample working condition positioning point in the characteristic three-dimensional coordinate system, and obtaining the three-dimensional coordinates corresponding to the sample working condition positioning point to obtain the three-dimensional coordinates of the positioning point;

[0140] Step S323: acquiring the position data corresponding to the flight equipment control base station to obtain the flight equipment base station position point, marking the flight equipment base station position point in the characteristic three-dimensional coordinate system to obtain the three-dimensional coordinates of the base station;

[0141] Step S324: in the characteristic three-dimensional coordinate system, the flight equipment base station position point is converted into a coordinate origin to obtain an RTK three-dimensional coordinate system, and the three-dimensional coordinates of the positioning point are obtained in the RTK three-dimensional coordinate system to obtain the position data corresponding to the sample working condition positioning point;

[0142] Step S33: positioning each working condition positioning point respectively.

[0143] In this application, if corresponding calculation formulas appear, the above calculation formulas are all dimensionless and take their numerical calculations. The weight coefficients, proportional coefficients and other coefficients in the formulas are set to a result value obtained by quantifying each parameter. The size of the weight coefficient and the proportional coefficient can be determined as long as it does not affect the proportional relationship between the parameter and the result value.

[0144] Embodiment 2

[0145] See also Figure 2 , based on another concept of the same invention, a single Beidou RTK high-precision positioning system for monitoring the working condition of a power transmission line is proposed, comprising a data acquisition module, a positioning point module, an abnormal positioning module and a server, wherein the data acquisition module, the positioning point module and the abnormal positioning module are respectively connected to the server, and the server controls the data acquisition module, the positioning point module and the abnormal positioning module respectively;

[0146] The data acquisition module divides the target transmission line into several power monitoring sub-lines, monitors the current data of each power monitoring sub-area to obtain the line current monitoring coefficient, monitors the voltage data of each power monitoring sub-area to obtain the line voltage monitoring coefficient, and defines the line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data;

[0147] Acquire circuit nodes in the target transmission line to obtain multiple circuit nodes;

[0148] It should be noted here that:

[0149] In this application, the target transmission line referred to herein is a transmission line for which operating condition monitoring is performed;

[0150] In the present application, the power node involved here is specifically a support point for supporting the conductor in the transmission line, and the physical power equipment corresponding to the circuit node may be an insulator and a crossarm;

[0151] In the target transmission line, a transmission line area between two consecutive circuit nodes is marked as a power monitoring sub-area, a plurality of power monitoring sub-areas are obtained, and a sample power monitoring sub-area is selected from the obtained plurality of power monitoring sub-areas;

[0152] In the process of monitoring the line condition of the target transmission line, the time point corresponding to the current moment is marked as the first line monitoring characteristic time point, a second line monitoring characteristic time point is marked in the period before the first line monitoring characteristic time point, and the period between the first line monitoring characteristic time point and the second line monitoring characteristic time point is marked as the line condition monitoring cycle;

[0153] It should be noted here that:

[0154] In the present application, as the time value corresponding to the current moment changes, the first line monitoring characteristic time point and the second line monitoring characteristic time point change, thereby realizing dynamic update of the line condition monitoring cycle.

[0155] Performing current monitoring on a sample power monitoring sub-area in a line condition monitoring cycle to obtain a line current monitoring coefficient corresponding to the sample power monitoring sub-area;

[0156] The details are as follows:

[0157] In the line condition monitoring cycle, a number of current monitoring time points are randomly selected, and the marked current monitoring times are named in chronological order as the first current monitoring time point to the ath current monitoring time point;

[0158] It should be noted here that:

[0159] In this application, a is the quantity value corresponding to the current monitoring time point;

[0160] The two circuit nodes at both ends of the sample power monitoring sub-area are named as a first current monitoring node and a second current monitoring node respectively;

[0161] The current value of the first current monitoring node at the first current monitoring time point is marked as the Y1 current value, the current value of the first current monitoring node at the second current monitoring time point is marked as the Y2 current value, and so on, the current value of the first current monitoring node at the ath current monitoring time point is marked as the Ya current value;

[0162] The current value of the second current monitoring node at the first current monitoring time point is marked as the E1 current value, the current value of the second current monitoring node at the second current monitoring time point is marked as the E2 current value, and so on, the current value of the second current monitoring node at the a current monitoring time point is marked as the Ea current value;

[0163] The line current monitoring coefficient corresponding to the sample power monitoring sub-area is obtained by calculating the Y1 current value to the Ya current value and the E1 current value to the Ea current value;

[0164] The line current monitoring coefficient corresponding to the sample power monitoring sub-area is calculated. The specific formula is as follows:

[0165] ;

[0166] Among them, Ijx is the line current monitoring coefficient corresponding to the sample power monitoring sub-area, Iyi is the Yi current value, and Iei is the Ei current value;

[0167] It should be noted here that:

[0168] In the present application, the Yi current value involved here can be any current value from the Y1 current value to the Ya current value, and the Ei current value involved here can be any current value from the E1 current value to the Ea current value.

[0169] Repeat the process of obtaining the line current monitoring coefficient corresponding to the sample power monitoring sub-area, and obtain the line current monitoring coefficient corresponding to each power monitoring sub-area respectively;

[0170] Performing voltage monitoring on a sample power monitoring sub-area in a line condition monitoring cycle to obtain a line voltage monitoring coefficient corresponding to the sample power monitoring sub-area;

[0171] The details are as follows:

[0172] In the line condition monitoring cycle, a number of voltage monitoring time points are randomly selected, and the marked voltage monitoring times are named from the first voltage monitoring time point to the bth voltage monitoring time point in chronological order;

[0173] It should be noted here that:

[0174] In this application, b is the quantity value corresponding to the voltage monitoring time point;

[0175] The two circuit nodes at both ends of the sample power monitoring sub-area are named as a first voltage monitoring node and a second voltage monitoring node respectively;

[0176] The voltage value of the first voltage monitoring node at the first voltage monitoring time point is marked as a Y1 voltage value, the voltage value of the first voltage monitoring node at the second voltage monitoring time point is marked as a Y2 voltage value, and so on, the voltage value of the first voltage monitoring node at the b voltage monitoring time point is marked as a Yb voltage value;

[0177] The voltage value of the second voltage monitoring node at the first voltage monitoring time point is marked as E1 voltage value, the voltage value of the second voltage monitoring node at the second voltage monitoring time point is marked as E2 voltage value, and so on, the voltage value of the second voltage monitoring node at the b voltage monitoring time point is marked as Eb voltage value;

[0178] The line voltage monitoring coefficient corresponding to the sample power monitoring sub-area is obtained by calculating the Y1 voltage value to the Yb voltage value and the E1 voltage value to the Eb voltage value;

[0179] ;

[0180] Among them, Vjx is the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area, Vyi is the Yi voltage value, and Vei is the Ei voltage value;

[0181] It should be noted here that:

[0182] In the present application, the Yi voltage value involved here can be any voltage value from the Y1 voltage value to the Yb voltage value, and the Ei voltage value involved here can be any voltage value from the E1 voltage value to the Eb voltage value.

[0183] Repeat the process of obtaining the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area, and obtain the line voltage monitoring coefficient corresponding to each power monitoring sub-area respectively;

[0184] The line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each power monitoring sub-area are defined as line power monitoring data;

[0185] The data acquisition module acquires the line power monitoring data and transmits it to the positioning point module;

[0186] The positioning point module performs circuit engineering monitoring on each power monitoring sub-area by analyzing the line power monitoring data, marks the working condition positioning point according to the monitoring results, and obtains the working condition positioning point data;

[0187] Acquire line power monitoring data, and acquire the line voltage monitoring coefficient and circuit current monitoring coefficient corresponding to each circuit monitoring sub-area according to the line power monitoring data;

[0188] The line voltage monitoring coefficient and the circuit current monitoring coefficient corresponding to the same circuit monitoring sub-area are calculated to obtain the preliminary monitoring coefficient of the circuit working condition;

[0189] The preliminary monitoring coefficient of the circuit working condition is calculated, and the specific formula is as follows:

[0190] ;

[0191] Among them, Kgc is the preliminary monitoring coefficient of the circuit condition, Vjx is the line voltage monitoring coefficient, and Ijx is the line current monitoring coefficient;

[0192] Obtaining a threshold value of a preliminary monitoring coefficient of a circuit condition, performing a numerical comparison between the preliminary monitoring coefficient of the circuit condition and the threshold value of the preliminary monitoring coefficient of the circuit condition, and dividing the circuit monitoring sub-area into a first type of circuit monitoring sub-area and a second type of circuit monitoring area according to the numerical comparison result;

[0193] The details are as follows:

[0194] respectively obtaining a line voltage monitoring coefficient threshold and a circuit current monitoring coefficient threshold;

[0195] The line voltage monitoring coefficient threshold and the circuit current monitoring coefficient threshold are calculated to obtain the circuit working condition preliminary monitoring coefficient threshold;

[0196] It should be noted here that:

[0197] In the present application, the line voltage monitoring coefficient threshold and the circuit current monitoring coefficient threshold involved here are respectively the maximum line voltage monitoring coefficient and the maximum circuit current monitoring coefficient corresponding to the second type circuit monitoring sub-area.

[0198] The threshold value of the preliminary monitoring coefficient of the circuit working condition is calculated, and the specific formula is as follows:

[0199] ;

[0200] Among them, Kgcy is the preliminary monitoring coefficient threshold of the circuit condition, Vjxy is the line voltage monitoring coefficient threshold, and Ijxy is the line current monitoring coefficient threshold;

[0201] If the circuit condition preliminary monitoring coefficient is greater than or equal to the circuit condition preliminary monitoring coefficient threshold, the corresponding circuit monitoring sub-area is divided into a first type of circuit monitoring sub-area;

[0202] If the circuit condition preliminary monitoring coefficient is less than the circuit condition preliminary monitoring coefficient threshold, the corresponding circuit monitoring sub-area is divided into a second type of circuit monitoring sub-area;

[0203] It should be noted here that:

[0204] In the present application, the first type of circuit monitoring sub-area involved here is a circuit monitoring sub-area in which power data anomalies exist in the initial operating condition monitoring, and the second type of circuit monitoring sub-area involved here is a circuit monitoring sub-area in which power data anomalies do not exist in the initial operating condition monitoring.

[0205] Marking the working condition positioning point of the first type of power monitoring sub-area to obtain working condition positioning point data;

[0206] The details are as follows:

[0207] Acquire infrared detection images corresponding to each first-type circuit monitoring sub-area through the flight equipment to obtain multiple circuit area infrared images, and select a sample circuit area infrared image from the multiple circuit area infrared images acquired;

[0208] In the infrared image of the sample circuit area, pixel points are filled in the image area corresponding to the circuit monitoring sub-area, and the pixel points filled in the circuit monitoring sub-area are named as characteristic pixel points;

[0209] The brightness value corresponding to each characteristic pixel point is obtained respectively to obtain brightness values ​​of multiple pixel points;

[0210] Obtain the pixel brightness reference interval. If the pixel brightness value is within the pixel brightness reference interval, mark the corresponding pixel as a working condition positioning point. If the pixel brightness value is not within the pixel brightness reference interval, mark the corresponding pixel as a non-working condition positioning point.

[0211] It should be noted here that:

[0212] In this application, the working condition positioning points involved here include the boundaries of the pixel brightness reference interval;

[0213] In the present application, the pixel brightness reference interval involved here is the pixel brightness interval corresponding to the power line with abnormal operating conditions;

[0214] Repeat the process of marking the working condition positioning points of the infrared image of the sample circuit area, respectively mark the working condition positioning points in the infrared image of each circuit area, and obtain multiple working condition positioning points;

[0215] Define multiple working condition positioning points as working condition positioning point data;

[0216] The positioning point module acquires the working condition positioning point data and transmits it to the abnormal positioning module;

[0217] The abnormal location module locates each working condition location point in the target transmission line by analyzing the working condition location point data;

[0218] The details are as follows:

[0219] Acquire the working condition positioning point data, acquire each working condition positioning point in the target transmission line according to the working condition positioning point data, and select a sample working condition positioning point from the acquired multiple working condition positioning points;

[0220] Locate the sample working condition positioning point to obtain the position data corresponding to the sample working condition positioning point;

[0221] The details are as follows:

[0222] Obtaining a flight position of the flight device when acquiring an infrared image of a circuit area corresponding to a sample operating condition positioning point, to obtain a first characteristic position;

[0223] Taking the first characteristic position as the center of the coordinate circle, establishing a three-dimensional plane coordinate system to obtain a characteristic three-dimensional coordinate system, marking the sample working condition positioning point in the characteristic three-dimensional coordinate system, and obtaining the three-dimensional coordinates corresponding to the sample working condition positioning point to obtain the three-dimensional coordinates of the positioning point;

[0224] Acquire the position data corresponding to the flight equipment control base station to obtain the flight equipment base station position point, mark the flight equipment base station position point in the characteristic three-dimensional coordinate system, and obtain the three-dimensional coordinates of the base station;

[0225] It should be noted here that:

[0226] The flight equipment control base station involved here is also an RTK base station;

[0227] In the characteristic three-dimensional coordinate system, the base station position point of the flight equipment is converted into the coordinate origin to obtain the RTK three-dimensional coordinate system. The three-dimensional coordinates of the positioning point are obtained in the RTK three-dimensional coordinate system to obtain the position data corresponding to the positioning point of the sample working condition;

[0228] Repeat the process of locating the sample working condition positioning points, and locate each working condition positioning point separately.

[0229] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A single Beidou RTK high-precision positioning method for transmission line condition monitoring, characterized in that: include: Step S1: Divide the target transmission line into several power monitoring sub-lines, monitor the current data of each power monitoring sub-area to obtain the line current monitoring coefficient, monitor the voltage data of each power monitoring sub-area to obtain the line voltage monitoring coefficient, and define the line voltage monitoring coefficient and line current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data; Step S2: dividing the power monitoring area into a first type of power monitoring sub-area and a second type of power monitoring sub-area by analyzing the line power monitoring data, and marking the working condition positioning points of the first type of power monitoring sub-area to obtain working condition positioning point data; Step S3: locating each operating condition positioning point in the target transmission line by analyzing the operating condition positioning point data; The step S2 further includes the following specific steps: Step S21: acquiring line power monitoring data, and acquiring a line voltage monitoring coefficient and a line current monitoring coefficient corresponding to each power monitoring sub-area according to the line power monitoring data; Step S22: Calculating the line voltage monitoring coefficient and the line current monitoring coefficient corresponding to the same power monitoring sub-area to obtain a preliminary monitoring coefficient of the circuit working condition; The preliminary monitoring coefficient of the circuit working condition is calculated, and the specific formula is as follows: ； Among them, Kgc is the preliminary monitoring coefficient of the circuit condition, Vjx is the line voltage monitoring coefficient, and Ijx is the line current monitoring coefficient; Step S23: obtaining a threshold value of a preliminary monitoring coefficient of a circuit condition, comparing the preliminary monitoring coefficient of the circuit condition with the threshold value of the preliminary monitoring coefficient of the circuit condition, and dividing the power monitoring sub-area into a first type of power monitoring sub-area and a second type of power monitoring sub-area according to the result of the numerical comparison; Step S24: marking the operating condition positioning point of the first type of power monitoring sub-area to obtain operating condition positioning point data; The step S24 further includes the following specific steps: Step S241: acquiring infrared detection images corresponding to each first-type power monitoring sub-area respectively through the flight equipment to obtain a plurality of circuit area infrared images, and selecting a sample circuit area infrared image from the plurality of circuit area infrared images acquired; Step S242: in the infrared image of the sample circuit area, pixel points are filled in the image area corresponding to the power monitoring sub-area, and the pixel points filled in the power monitoring sub-area are named as characteristic pixel points; Step S243: acquiring the brightness value corresponding to each characteristic pixel point respectively to obtain brightness values ​​of multiple pixel points; Step S244: obtaining a pixel brightness reference interval, if the pixel brightness value is within the pixel brightness reference interval, marking the corresponding pixel as a working condition positioning point, if the pixel brightness value is not within the pixel brightness reference interval, marking the corresponding pixel as a non-working condition positioning point; Step S245: marking the working condition positioning points in each circuit area infrared image respectively to obtain a plurality of working condition positioning points; Step S246: define multiple operating condition positioning points as operating condition positioning point data.

2. The single Beidou RTK high-precision positioning method for power transmission line condition monitoring according to claim 1 is characterized in that: The step S1 further includes the following specific steps: Step S11: acquiring circuit nodes in the target transmission line to obtain a plurality of circuit nodes; Step S12: in the target transmission line, marking a transmission line area between two consecutive circuit nodes as a power monitoring sub-area, obtaining multiple power monitoring sub-areas, and selecting a sample power monitoring sub-area from the obtained multiple power monitoring sub-areas; Step S13: in the process of monitoring the line condition of the target transmission line, marking a line condition monitoring cycle; Step S14: performing current monitoring on the sample power monitoring sub-area in the line condition monitoring cycle to obtain the line current monitoring coefficient corresponding to the sample power monitoring sub-area; Step S15: acquiring the line current monitoring coefficient corresponding to each power monitoring sub-area respectively; Step S16: performing voltage monitoring on the sample power monitoring sub-area in the line condition monitoring cycle to obtain a line voltage monitoring coefficient corresponding to the sample power monitoring sub-area; Step S17: acquiring the line voltage monitoring coefficient corresponding to each power monitoring sub-area respectively; Step S18: defining the line voltage monitoring coefficient and the line current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data.

3. The single Beidou RTK high-precision positioning method for power transmission line condition monitoring according to claim 2 is characterized in that: The step S14 further includes the following specific steps: Step S141: randomly selecting a number of current monitoring time points within a line condition monitoring cycle, and naming the marked current monitoring time points in chronological order as the first current monitoring time point to the ath current monitoring time point; Step S142: the circuit nodes at both ends of the sample power monitoring sub-area are named as a first current monitoring node and a second current monitoring node respectively; Step S143: marking the current value of the first current monitoring node at the first current monitoring time point as the Y1 current value, marking the current value of the first current monitoring node at the second current monitoring time point as the Y2 current value, and so on, marking the current value of the first current monitoring node at the ath current monitoring time point as the Ya current value; Step S144: marking the current value of the second current monitoring node at the first current monitoring time point as the E1 current value, marking the current value of the second current monitoring node at the second current monitoring time point as the E2 current value, and so on, marking the current value of the second current monitoring node at the a current monitoring time point as the Ea current value; Step S145: Calculate the line current monitoring coefficient corresponding to the sample power monitoring sub-area by converting the Y1 current value to the Ya current value and the E1 current value to the Ea current value; The line current monitoring coefficient corresponding to the sample power monitoring sub-area is calculated. The specific formula is as follows: ； Among them, Ijx is the line current monitoring coefficient corresponding to the sample power monitoring sub-area, Iyi is the Yi current value, and Iei is the Ei current value.

4. The single Beidou RTK high-precision positioning method for power transmission line condition monitoring according to claim 2 is characterized in that: The step S16 further includes the following specific steps: Step S161: randomly selecting a number of voltage monitoring time points within a line condition monitoring cycle, and naming the marked voltage monitoring time points in chronological order as the first voltage monitoring time point to the bth voltage monitoring time point; Step S162: two circuit nodes at both ends of the sample power monitoring sub-area are named as a first voltage monitoring node and a second voltage monitoring node respectively; Step S163: marking the voltage value of the first voltage monitoring node at the first voltage monitoring time point as a Y1 voltage value, marking the voltage value of the first voltage monitoring node at the second voltage monitoring time point as a Y2 voltage value, and so on, marking the voltage value of the first voltage monitoring node at the b voltage monitoring time point as a Yb voltage value; Step S164: marking the voltage value of the second voltage monitoring node at the first voltage monitoring time point as the E1 voltage value, marking the voltage value of the second voltage monitoring node at the second voltage monitoring time point as the E2 voltage value, and so on, marking the voltage value of the second voltage monitoring node at the b voltage monitoring time point as the Eb voltage value; Step S165: Calculate the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area by converting the voltage value of Y1 to the voltage value of Yb and the voltage value of E1 to the voltage value of Eb; ； Among them, Vjx is the line voltage monitoring coefficient corresponding to the sample power monitoring sub-area, Vyi is the Yi voltage value, and Vei is the Ei voltage value.

5. The single Beidou RTK high-precision positioning method for power transmission line condition monitoring according to claim 1, characterized in that: The step S23 further includes the following specific steps: Step S231: respectively obtaining a line voltage monitoring coefficient threshold and a line current monitoring coefficient threshold; Step S232: Calculating the line voltage monitoring coefficient threshold and the line current monitoring coefficient threshold to obtain a circuit operating condition preliminary monitoring coefficient threshold; Step S233: if the circuit condition preliminary monitoring coefficient is greater than or equal to the circuit condition preliminary monitoring coefficient threshold, the corresponding power monitoring sub-area is divided into a first type of power monitoring sub-area; Step S234: If the preliminary monitoring coefficient of the circuit condition is less than the preliminary monitoring coefficient threshold of the circuit condition, the corresponding power monitoring sub-area is divided into a second type of power monitoring sub-area.

6. The single Beidou RTK high-precision positioning method for power transmission line condition monitoring according to claim 1, characterized in that: The step S3 further includes the following specific steps: Step S31: acquiring operating condition positioning point data, acquiring each operating condition positioning point in the target transmission line according to the operating condition positioning point data, and selecting a sample operating condition positioning point from the acquired multiple operating condition positioning points; Step S32: locating the sample working condition positioning point to obtain position data corresponding to the sample working condition positioning point; Step S33: positioning each working condition positioning point respectively.

7. The single Beidou RTK high-precision positioning method for power transmission line condition monitoring according to claim 6, characterized in that: The step S32 further includes the following specific steps: Step S321: obtaining the flight position of the flight equipment when acquiring the infrared image of the circuit area corresponding to the sample working condition positioning point, and obtaining the first characteristic position; Step S322: taking the first characteristic position as the center of the coordinate circle, establishing a three-dimensional plane coordinate system to obtain a characteristic three-dimensional coordinate system, marking the sample working condition positioning point in the characteristic three-dimensional coordinate system, and obtaining the three-dimensional coordinates corresponding to the sample working condition positioning point to obtain the three-dimensional coordinates of the positioning point; Step S323: acquiring the position data corresponding to the flight equipment control base station to obtain the flight equipment base station position point, marking the flight equipment base station position point in the characteristic three-dimensional coordinate system to obtain the three-dimensional coordinates of the base station; Step S324: In the characteristic three-dimensional coordinate system, the flight equipment base station position point is converted into a coordinate origin to obtain an RTK three-dimensional coordinate system, and the three-dimensional coordinates of the positioning point are acquired in the RTK three-dimensional coordinate system to obtain the position data corresponding to the sample working condition positioning point.

8. A single Beidou RTK high-precision positioning system for monitoring the working condition of a power transmission line, applicable to the single Beidou RTK high-precision positioning method for monitoring the working condition of a power transmission line as claimed in any one of claims 1 to 7, characterized in that: The high-precision positioning system comprises: Data acquisition module: used to divide the target transmission line into several power monitoring sub-lines, monitor the current data of each power monitoring sub-area to obtain the line current monitoring coefficient, monitor the voltage data of each power monitoring sub-area to obtain the line voltage monitoring coefficient, and define the line voltage monitoring coefficient and line current monitoring coefficient corresponding to each power monitoring sub-area as line power monitoring data; Positioning point module: used to divide the power monitoring area into a first type of power monitoring sub-area and a second type of power monitoring sub-area by analyzing the line power monitoring data, and mark the working condition positioning point of the first type of power monitoring sub-area to obtain working condition positioning point data; Abnormal positioning module: used to locate each operating condition positioning point in the target transmission line by analyzing the operating condition positioning point data.

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