Wind tower center coordinate dynamic compensation and deviation rectification method and system based on Beidou positioning

Abstract

The invention relates to the technical field of wind power generation, in particular to a wind tower center coordinate dynamic compensation and deviation rectification method and system based on Beidou positioning. The dynamic compensation and correction method comprises the following steps: monitoring top position information and attitude information of a wind tower in real time through a Beidou receiver and a data acquisition module; after fusion processing, obtaining a preliminary estimation value of the center coordinate of the wind tower; and performing dynamic compensation and deviation correction on the initial estimation value of the center coordinate of the wind tower based on the top position information and the attitude information of the wind tower in combination with a wind tower motion model, and outputting the center coordinate value of the wind tower subjected to dynamic compensation and deviation correction. The Beidou high-precision positioning technology is utilized, a unique wind tower motion model and a dynamic compensation and deviation correction algorithm are combined, real-time monitoring, accurate calculation and dynamic adjustment of the center coordinates of the wind tower are achieved, and the accuracy and reliability of wind turbine foundation safety monitoring are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and in particular to a method and system for dynamic compensation and deviation correction of wind tower center coordinates based on Beidou positioning. Background Art

[0002] Traditional wind turbine foundation monitoring methods mainly rely on technologies such as laser ranging, GPS measurement and closed leveling. However, these methods have problems such as high cost, limited accuracy and complex installation in practical applications. Especially in complex terrain and harsh climatic conditions, the monitoring effects of these methods are often unsatisfactory.

[0003] As a global satellite navigation system independently developed by my country, the Beidou satellite navigation system has significant advantages such as high precision, all-weather, all-day, and global coverage. In recent years, with the continuous development and improvement of Beidou technology, its application in the field of wind power generation has become increasingly extensive. Using Beidou high-precision positioning technology to conduct real-time monitoring of wind turbine foundations has become a feasible solution.

[0004] However, relying solely on Beidou positioning technology cannot completely solve all problems in wind turbine foundation safety monitoring. Since the wind tower will be affected by wind load, temperature and other factors during operation, its center coordinates will be offset to a certain extent. Therefore, the existing technology that relies solely on Beidou positioning technology for pre-planning monitoring of wind turbine foundations has errors.

[0005] In summary, there is an urgent need for a method and system that is easy to operate and can monitor wind towers with high precision to solve the problems existing in the prior art. Summary of the invention

[0006] The object of the present invention is to provide a method and system for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning, which is easy to operate and can monitor wind towers with high precision. The specific technical scheme is as follows:

[0007] A method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning includes the following steps:

[0008] Step 1: Use the Beidou receiver and data acquisition module to monitor the top position and attitude information of the wind tower in real time; after fusion processing, obtain the preliminary estimate of the center coordinates of the wind tower;

[0009] Step 2: Based on the top position information and posture information of the wind tower obtained in step 1 and the wind tower motion model, the preliminary estimated value of the wind tower center coordinate is dynamically compensated and corrected, and the dynamically compensated and corrected wind tower center coordinate value is output;

[0010] The method for obtaining the wind tower motion model is as follows:

[0011] A wind tower motion model is established based on the structural parameters and environmental information of the wind tower. The wind tower motion model includes:

[0012] The calculation formulas for the horizontal displacement Δx and torsional displacement θ of the motion model under wind load are as follows:

[0013]

[0014] Where: P is the pressure generated by wind; L is the height of the tower; E is the elastic modulus of the tower material; I is the moment of inertia of the tower section;

[0015]

[0016] Where: T is the torque; G is the shear modulus of the tower material; J is the polar moment of inertia of the tower section;

[0017] The expansion and contraction deformation ΔL of the motion model under temperature change is calculated using the following formula:

[0018] ΔL=αLΔT;

[0019] Where: α is the thermal expansion coefficient of the tower material; ΔT is the temperature change.

[0020] The method for dynamic compensation and correction of the center coordinates of a wind tower based on Beidou positioning of the present invention comprises the following steps: real-time monitoring of the top position information and attitude information of the wind tower through a Beidou receiver and a data acquisition module; obtaining a preliminary estimate of the center coordinates of the wind tower after fusion processing; dynamically compensating and correcting the preliminary estimate of the center coordinates of the wind tower based on the top position information and attitude information of the wind tower combined with the wind tower motion model, and outputting the dynamically compensated and corrected center coordinates of the wind tower. By utilizing Beidou high-precision positioning technology, combined with a unique wind tower motion model and a dynamic compensation and correction algorithm, real-time monitoring, precise calculation and dynamic adjustment of the center coordinates of the wind tower are achieved, effectively improving the accuracy and reliability of wind turbine foundation safety monitoring.

[0021] Preferably, obtaining the preliminary estimated value of the wind tower center coordinates includes the following steps:

[0022] The Earth-centered Earth-fixed coordinates are calculated using the following formula:

[0023]

[0024] Among them: lon is the longitude information, lat is the latitude information, alt is the altitude information, f is the extreme flattening, and N is the curvature radius of the reference ellipsoid;

[0025] Convert the ECEF coordinates to the northeast celestial coordinate system ENU to obtain a preliminary estimate of the wind tower center coordinates. The conversion formula is as follows:

[0026] The origin of the ECEF coordinate system is the center of mass of the Earth, the x-axis extends through the intersection of the prime meridian and the equator, the z-axis extends through the North Pole, and the y-axis completes the right-hand coordinate system, passing through the equator and 90 degrees of longitude;

[0027] The coordinate origin P0 (x0, y0, z0), the target point P (x, y, z), the coordinates of the northeast celestial coordinate system with P0 as the coordinate origin (X0, Y0, Z0), the coordinates of the longitude and latitude coordinate system LLA0 (lon0, lat0, alt0), where S is the following orthogonal matrix:

[0028]

[0029] Preferably, the formula used for dynamic compensation and correction of the preliminary estimated value of the wind tower center coordinate is as follows:

[0030]

[0031] Where: X c , Y c , Z c is the center coordinate of the wind tower after dynamic compensation and correction; X0, Y0, Z0 are the preliminary estimated values ​​of the center coordinate of the wind tower; ΔX model , ΔY model , ΔZ model is the displacement calculated according to the wind tower motion model; ΔX env , ΔY env , ΔZ env is the displacement calculated based on the environmental information.

[0032] Preferably, the displacement calculated according to the wind tower motion model is as follows:

[0033] ΔY model =0; ΔZ model =0;

[0034] The displacement calculated based on the environmental information is as follows:

[0035] ΔX env =0; ΔY env =0; ΔZ env =α*H*ΔT;

[0036] Among them: F x is the wind load in the x direction, and H is the height of the wind tower.

[0037] Preferably, for a cylindrical tower, the moment of inertia I of the tower section is calculated using the following formula:

[0038]

[0039] For cylindrical towers, the polar moment of inertia J of the tower section is calculated using the following formula:

[0040]

[0041] Where: D is the tower cross-section diameter.

[0042] Preferably, the method further comprises step three, wherein step three specifically comprises: outputting the wind tower center coordinate values ​​after dynamic compensation and correction to a display module for visual display.

[0043] The present invention also discloses a wind tower center coordinate dynamic compensation and correction system, which uses the above-mentioned wind tower center coordinate dynamic compensation and correction method based on Beidou positioning to dynamically compensate and correct the wind tower center coordinate, and includes a Beidou receiver, a data acquisition module, a data processing module, a dynamic compensation and correction module and a display module;

[0044] The Beidou receiver is arranged on the wind tower, and is used to receive the positioning signal sent by the Beidou satellite and calculate the position information of the top center of the wind tower;

[0045] The data acquisition module is used to collect attitude information and environmental information at the top of the wind tower;

[0046] The Beidou receiver and the data acquisition module are both connected to the data processing module, and the data processing module is used to fuse the position information calculated by the Beidou receiver and the attitude information collected by the data acquisition module, and obtain a preliminary estimate of the center coordinates of the wind tower after the geocentric and earth-fixed coordinates are converted;

[0047] The dynamic compensation and correction module is connected to the data processing module, and the dynamic compensation and correction module is provided with a wind tower motion model, which is used to dynamically compensate and correct the preliminary estimated value of the wind tower center coordinate according to the operating state and environmental information of the wind tower, and obtain the wind tower center coordinate value after dynamic compensation and correction;

[0048] The display module is connected to the dynamic compensation and correction module, and the display module is used to visually display the wind tower center coordinate values ​​of dynamic compensation and correction.

[0049] Preferably, the data acquisition module includes an attitude angle sensor and a micro-meteorological sensor. The attitude angle sensor is used to collect attitude information of the top of the wind tower, and the attitude information includes pitch angle, roll angle and heading angle; the micro-meteorological sensor is used to collect environmental information, and the environmental information includes wind speed, wind direction, temperature and humidity.

[0050] The wind tower center coordinate dynamic compensation and correction system of the present invention includes a Beidou receiver, a data acquisition module, a data processing module, a dynamic compensation and correction module and a display module. The overall structure is streamlined. The high precision of Beidou is fully utilized by the Beidou receiver for data acquisition. Combined with the design of the dynamic compensation and correction module, the real-time monitoring and precise adjustment of the wind tower center coordinates can be achieved, effectively improving the accuracy and reliability of wind turbine foundation safety monitoring. Compared with traditional monitoring methods, the present invention does not need to install a large number of sensors and measuring equipment on the wind tower, reducing the monitoring cost.

[0051] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0053] Figure 1 It is a structural schematic diagram of a wind tower center coordinate dynamic compensation and correction system in a preferred embodiment of the present invention;

[0054] Among them, 1. Beidou receiver, 2. data acquisition module, 3. data processing module, 4. dynamic compensation and correction module, 5. display module, 6. wind tower. DETAILED DESCRIPTION

[0055] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0056] Example:

[0057] See also Figure 1 , a wind tower center coordinate dynamic compensation and correction system, which includes a Beidou receiver 1, a data acquisition module 2, a data processing module 3, a dynamic compensation and correction module 4 and a display module 5;

[0058] The Beidou receiver 1 is arranged on the wind tower, and is used for receiving the positioning signal sent by the Beidou satellite and calculating the position information of the top center of the wind tower.

[0059] The data acquisition module 2 is used to collect the attitude information and environmental information of the top of the wind tower. In this embodiment, preferably, the data acquisition module 2 includes an attitude angle sensor and a micro-meteorological sensor. The attitude angle sensor is used to collect the attitude information of the top of the wind tower, and the attitude information includes the pitch angle, roll angle and heading angle; the micro-meteorological sensor is used to collect environmental information, and the environmental information includes wind speed, wind direction, temperature and humidity.

[0060] The Beidou receiver 1 and the data acquisition module 2 are both connected to the data processing module 3, and the data processing module 3 is used to fuse the position information calculated by the Beidou receiver and the attitude information collected by the data acquisition module, and obtain a preliminary estimate of the wind tower center coordinates after the geocentric Earth-fixed coordinate conversion.

[0061] The dynamic compensation and correction module 4 is connected to the data processing module 3. The dynamic compensation and correction module 4 is provided with a wind tower motion model, which is used to dynamically compensate and correct the preliminary estimated value of the wind tower center coordinate according to the operating status and environmental information (i.e., external environmental factors) of the wind tower to obtain the dynamically compensated and corrected wind tower center coordinate value.

[0062] The display module 5 is connected to the dynamic compensation and correction module 4. The display module 5 is used to visualize the wind tower center coordinate values ​​of dynamic compensation and correction. The operator can monitor the operating status and deformation of the wind turbine in real time by observing the data and information on the display module.

[0063] The above wind tower center coordinate dynamic compensation and correction system is used to perform dynamic compensation and correction. The specific method includes the following steps:

[0064] Step 1: Monitor the top position information and attitude information of the wind tower in real time through the Beidou receiver and the data acquisition module, specifically: start the Beidou receiver 1 and the data acquisition module 2, start receiving the positioning signal sent by the Beidou satellite, and collect the attitude information and external environmental factors of the top of the wind tower;

[0065] The received positioning signal and the collected attitude information are input into the data processing module 3 for fusion processing to obtain a preliminary estimate of the wind tower center coordinates;

[0066] Step 2: Based on the top position information and posture information of the wind tower obtained in step 1 and the wind tower motion model, the preliminary estimated value of the wind tower center coordinate is dynamically compensated and corrected, and the dynamically compensated and corrected wind tower center coordinate value is output;

[0067] Step three: output the dynamically compensated and corrected wind tower center coordinate values ​​(i.e., the precise wind tower center coordinates) to the display module 5 for visual display. The operator monitors the operating status and deformation of the wind turbine in real time by observing the data and information on the display module, and makes corresponding adjustments and optimizations as needed.

[0068] The core of the dynamic compensation and correction module 4 is to accurately perform dynamic compensation and correction on the wind tower center coordinates based on the real-time monitored wind tower top center position information and posture information, as well as the wind tower's movement law and external environmental factors. The following are the specific implementation steps:

[0069] 1. Data preprocessing:

[0070] Receive the real-time position information (longitude, latitude, altitude) of the top of the wind tower provided by Beidou receiver 1; receive the attitude information of the top of the wind tower and the external environment information provided by data acquisition module 2. Pre-process these data, including data filtering, outlier detection and processing, to ensure the accuracy and reliability of the data;

[0071] 2. Establish wind tower motion model:

[0072] The method for obtaining the wind tower motion model is as follows:

[0073] A wind tower motion model is established based on the structural parameters of the wind tower (such as height, diameter, material properties, etc.) and environmental information (such as wind speed, wind direction, temperature, etc.). The model describes the deformation and displacement of the wind tower under the influence of external factors such as wind load and temperature. The above wind tower motion model includes:

[0074] ①. Motion model under wind load:

[0075] Under the action of wind load, the top of the wind tower will produce horizontal displacement. In order to simplify the model, the wind tower can be regarded as a cantilever beam structure, and the relevant formulas in structural mechanics can be used to calculate the displacement, as follows:

[0076] Calculation of horizontal displacement Δx:

[0077] The calculation formula of horizontal displacement Δx is as follows:

[0078]

[0079] Where: P is the pressure generated by wind (i.e. wind load), which can be calculated according to the existing technology based on parameters such as wind speed, wind pressure coefficient, and tower windward area; L is the tower height; E is the elastic modulus of the tower material; I is the moment of inertia of the tower section. For a cylindrical tower, the moment of inertia I of the tower section is calculated using the following formula: Where D is the cross-sectional diameter of the tower;

[0080] Calculation of torsional displacement θ:

[0081] Wind loads may also cause torsional displacement of the wind tower. The calculation formula for torsional displacement θ is relatively complex, and usually factors such as the torque effect of wind loads and the torsional stiffness of the tower need to be considered. In this embodiment, the following formula is used for calculation:

[0082]

[0083] Where: T is the torque, which can be calculated according to the wind load and the shape of the tower section in accordance with the existing technology; G is the shear modulus of the tower material; J is the polar moment of inertia of the tower section. For a cylindrical tower, the polar moment of inertia J of the tower section is calculated using the following formula:

[0084] ②Motion model under temperature change:

[0085] Temperature changes will cause the tower to expand and contract. In order to calculate this deformation, the thermal expansion formula can be applied, and the expansion and contraction deformation ΔL is calculated using the following formula:

[0086] ΔL=αLΔT;

[0087] Where: α is the thermal expansion coefficient of the tower material; ΔT is the temperature change.

[0088] 3. Real-time monitoring data fusion:

[0089] Obtaining a preliminary estimate of the wind tower center coordinates includes the following steps:

[0090] The Earth-centered Earth-fixed coordinates are calculated using the following formula:

[0091]

[0092] Among them: lon is the longitude information, lat is the latitude information, alt is the altitude information, f is the extreme flattening, and N is the curvature radius of the reference ellipsoid;

[0093] Convert the ECEF coordinates to the northeast celestial coordinate system ENU to obtain a preliminary estimate of the wind tower center coordinates. The conversion formula is as follows:

[0094] The origin of the ECEF coordinate system is the center of mass of the Earth, the x-axis extends through the intersection of the prime meridian and the equator, the z-axis extends through the North Pole (i.e. coincides with the Earth's rotation axis), and the y-axis completes the right-hand coordinate system, passing through the equator and 90 degrees of longitude;

[0095] The coordinate origin P0 (x0, y0, z0), the target point P (x, y, z), the coordinates of the northeast celestial coordinate system with P0 as the coordinate origin (X0, Y0, Z0), the coordinates of the longitude and latitude coordinate system LLA0 (lon0, lat0, alt0), where S is the following orthogonal matrix:

[0096]

[0097] 4. Dynamic compensation and correction calculation:

[0098] According to the wind tower motion model and real-time monitoring data, the displacement and deformation of the top of the wind tower are calculated. Taking into account the structural characteristics of the wind tower and external environmental factors, the center coordinates of the wind tower are dynamically compensated and corrected.

[0099] The formula used for dynamic compensation and correction of the preliminary estimate of the wind tower center coordinates is as follows:

[0100]

[0101] Where: X c , Y c , Z c is the center coordinate of the wind tower after dynamic compensation and correction; X0, Y0, Z0 are the preliminary estimated values ​​of the center coordinate of the wind tower; ΔX model , ΔY model , ΔZ model is the displacement calculated according to the wind tower motion model; ΔX env , ΔY env , ΔZ env is the displacement calculated based on the environmental information.

[0102] Preferably, in this embodiment, the displacement calculated according to the wind tower motion model is as follows:

[0103] For the model displacement calculation, consider the wind tower as a simplified model of a cantilever beam structure. Under the action of wind load, the top of the wind tower will not only have horizontal displacement (X or Y direction, depending on the direction of the wind), but also may have a small Z direction displacement caused by a small torsional effect (usually small, but for completeness). However, for most cases, the main focus is on the horizontal displacement.

[0104] X-direction displacement (assuming wind load is along the X direction):

[0105] Among them: F x is the wind load in the x direction, and H is the height of the wind tower.

[0106] Y displacement: If there is no wind load in the Y direction, then ΔY model = 0. If yes, use the same formula but replace F x Replace with F y .

[0107] Z-direction displacement: For cantilever beam structures, under pure wind load, the Z-direction displacement is usually small and mainly caused by the torsion effect. For simplicity, we can assume that ΔZ model = 0 unless there is a specific torsion analysis.

[0108] Preferably, in this embodiment, the displacement calculated according to the environmental information is as follows:

[0109] Environmental displacement mainly considers the temperature effect. Generally speaking, the material of the wind tower expands as the temperature rises. The thermal expansion coefficient is α and the temperature change is ΔT. Since the temperature is uniform, it usually does not cause displacement in the X or Y direction, but it will cause expansion and contraction in the Z direction.

[0110] Z-direction displacement:

[0111] ΔZ env =α*H*ΔT;

[0112] X / Y displacement: Since the temperature is uniform, it does not cause displacement in the X or Y direction, so ΔX env =0 and ΔY env =0.

[0113] 5. Result output and visualization:

[0114] The wind tower center coordinates after dynamic compensation and correction are output to the display module 5 for visual display. The operator can monitor the operation status and deformation of the wind turbine in real time by observing the data and information on the display module.

[0115] Compared with the prior art, the technical solution of this embodiment has the following beneficial effects:

[0116] First, it improves the accuracy and reliability of wind turbine foundation safety monitoring: By adopting Beidou high-precision positioning technology and dynamic compensation and correction algorithm, the present invention can realize real-time monitoring and precise adjustment of the wind tower center coordinates, effectively improving the accuracy and reliability of wind turbine foundation safety monitoring.

[0117] Second, it reduces monitoring costs: Compared with traditional monitoring methods, the present invention does not require the installation of a large number of sensors and measuring equipment on the wind tower, thereby reducing monitoring costs.

[0118] Third, the adaptability and flexibility of the system are enhanced: the present invention can be dynamically adjusted and optimized according to the structural characteristics and operating environment of the wind tower, thereby enhancing the adaptability and flexibility of the system.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning, characterized in that: The steps include: Step 1: Use the Beidou receiver and data acquisition module to monitor the top position and attitude information of the wind tower in real time; after fusion processing, obtain the preliminary estimate of the center coordinates of the wind tower; Step 2: Based on the top position information and posture information of the wind tower obtained in step 1 and the wind tower motion model, the preliminary estimated value of the wind tower center coordinate is dynamically compensated and corrected, and the dynamically compensated and corrected wind tower center coordinate value is output; The method for obtaining the wind tower motion model is as follows: A wind tower motion model is established based on the structural parameters and environmental information of the wind tower. The wind tower motion model includes: The calculation formulas for the horizontal displacement Δx and torsional displacement θ of the motion model under wind load are as follows: Where: P is the pressure generated by wind; L is the height of the tower; E is the elastic modulus of the tower material; I is the moment of inertia of the tower section; Where: T is the torque; G is the shear modulus of the tower material; J is the polar moment of inertia of the tower section; The expansion and contraction deformation ΔL of the motion model under temperature change is calculated using the following formula: ΔL=αLΔT; Where: α is the thermal expansion coefficient of the tower material; ΔT is the temperature change.

2. The method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning according to claim 1 is characterized in that: Obtaining a preliminary estimate of the wind tower center coordinates includes the following steps: The Earth-centered Earth-fixed coordinates are calculated using the following formula: Among them: lon is the longitude information, lat is the latitude information, alt is the altitude information, f is the extreme flattening, and N is the curvature radius of the reference ellipsoid; Convert the ECEF coordinates to the northeast celestial coordinate system ENU to obtain a preliminary estimate of the wind tower center coordinates. The conversion formula is as follows: The origin of the ECEF coordinate system is the center of mass of the Earth, the x-axis extends through the intersection of the prime meridian and the equator, the z-axis extends through the North Pole, and the y-axis completes the right-hand coordinate system, passing through the equator and 90 degrees of longitude; The coordinate origin P0 (x0, y0, z0), the target point P (x, y, z), the coordinates of the northeast celestial coordinate system with P0 as the coordinate origin (X0, Y0, Z0), the coordinates of the longitude and latitude coordinate system LLA0 (lon0, lat0, alt0), where S is the following orthogonal matrix:

3. The method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning according to claim 2 is characterized in that: The formula used for dynamic compensation and correction of the preliminary estimate of the wind tower center coordinates is as follows: Where: X c , Y c , Z c is the center coordinate of the wind tower after dynamic compensation and correction; X0, Y0, Z0 are the preliminary estimated values ​​of the center coordinate of the wind tower; ΔX model , ΔY model , ΔZ model is the displacement calculated according to the wind tower motion model; ΔX env , ΔY env , ΔZ env is the displacement calculated based on the environmental information.

4. The method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning according to claim 3 is characterized in that: The displacement calculated based on the wind tower motion model is as follows: ΔY model =0;ΔZ model =0; The displacement calculated based on the environmental information is as follows: ΔX env =0;ΔY env =0;ΔZ env =α*H*ΔT; Among them: F x is the wind load in the x direction, and H is the height of the wind tower.

5. The method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning according to any one of claims 1 to 4, characterized in that: For cylindrical towers, the moment of inertia I of the tower section is calculated using the following formula: For cylindrical towers, the polar moment of inertia J of the tower section is calculated using the following formula: Where: D is the tower cross-section diameter.

6. The method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning according to claim 5 is characterized in that: The method further includes step three, which specifically includes: outputting the center coordinate value of the wind tower after dynamic compensation and correction to the display module for visual display.

7. A wind tower center coordinate dynamic compensation and correction system, characterized in that: The method for dynamic compensation and correction of wind tower center coordinates based on Beidou positioning as claimed in claim 6 is used to dynamically compensate and correct the wind tower center coordinates, comprising a Beidou receiver (1), a data acquisition module (2), a data processing module (3), a dynamic compensation and correction module (4) and a display module (5); The Beidou receiver (1) is arranged on the wind tower, and is used to receive the positioning signal sent by the Beidou satellite and calculate the position information of the top center of the wind tower; The data acquisition module (2) is used to collect attitude information and environmental information of the top of the wind tower; The Beidou receiver (1) and the data acquisition module (2) are both connected to the data processing module (3), and the data processing module (3) is used to perform fusion processing on the position information calculated by the Beidou receiver and the attitude information collected by the data acquisition module, and obtain a preliminary estimated value of the wind tower center coordinate after conversion to earth-centered earth-fixed coordinates; The dynamic compensation and correction module (4) is connected to the data processing module (3), and the dynamic compensation and correction module (4) is provided with a wind tower motion model, which is used to dynamically compensate and correct the preliminary estimated value of the wind tower center coordinate according to the operating state and environmental information of the wind tower, and obtain the wind tower center coordinate value after dynamic compensation and correction; The display module (5) is connected to the dynamic compensation and deviation correction module (4), and the display module (5) is used to visually display the wind tower center coordinate values ​​of dynamic compensation and deviation correction.

8. The wind tower center coordinate dynamic compensation and correction system according to claim 7 is characterized in that: The data acquisition module (2) comprises an attitude angle sensor and a micro-meteorological sensor. The attitude angle sensor is used to collect attitude information of the top of the wind tower, and the attitude information includes a pitch angle, a roll angle and a heading angle. The micro-meteorological sensor is used to collect environmental information, and the environmental information includes wind speed, wind direction, temperature and humidity.

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