Communication tower monitoring alarm system based on sensing fusion

Abstract

The invention discloses a communication tower monitoring alarm system based on sensing fusion, and belongs to the technical field of communication tower monitoring, and the system comprises a sensing monitoring module which is used for monitoring each tower section of a communication tower to obtain a sensing monitoring result with a tower section number; the positioning monitoring module is used for obtaining building position information of the communication tower; the data processing module is used for obtaining a time synchronization sensing monitoring result of each tower section; the data transmission module is used for transmitting the building position information of the communication tower and the time synchronization sensing monitoring result of each tower section to a communication tower sensing monitoring data cloud according to a time sequence; the data analysis module is used for carrying out communication tower damage analysis to obtain a communication tower damage analysis result; and the display alarm module is used for positioning, identifying and displaying each communication tower in an electronic map according to the building position information of the communication tower, and carrying out communication tower damage early warning based on a communication tower damage analysis result. The problem that the communication tower damage alarm precision and accuracy are insufficient is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of communication tower monitoring, and in particular relates to a communication tower monitoring and alarm system based on sensor fusion. Background Art

[0002] With the large-scale construction of mobile networks and the development of communication technology, communication towers are important infrastructure for wireless communication networks, and their safe, stable and efficient operation is crucial to ensuring the quality of communication services. However, after the communication towers are built, they are exposed to the outdoor natural environment for a long time, repeatedly eroded by wind and rain, and even affected by extreme natural disasters such as typhoons and earthquakes, causing the towers to vibrate violently, bend and deform, tilt, and even collapse and injure people, seriously endangering the safety of people's lives and property and the normal operation of equipment and facilities.

[0003] At present, the safety monitoring of communication towers is mainly based on manual detection or sensor angle change monitoring, and can only alarm by judging the abnormal tilt of the communication tower. By only monitoring and alarming the overall tilt angle of the communication tower, the monitoring data object is relatively single, and it can only be discovered and alarmed when there are major structural problems in the communication tower. It is difficult to achieve early warning of repairable damage and accurately locate the tower structure parts with potential damage. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a communication tower monitoring and alarm system based on sensor fusion, which solves the problem of insufficient precision and accuracy of communication tower damage alarm.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] The present invention provides a communication tower monitoring and alarm system based on sensor fusion, comprising:

[0007] A sensor monitoring module is used to monitor each tower section of the communication tower using a number of six-axis sensors, tilt sensors, strain sensors and vibration sensors to obtain a sensor monitoring result with a tower section number;

[0008] A positioning monitoring module is used to locate the base of the communication tower through the positioning module to obtain the building location information of the communication tower;

[0009] A data processing module is used to perform data smoothing and time synchronization processing on the sensor monitoring results of each communication tower with a tower section number to obtain the time-synchronized sensor monitoring results of each tower section;

[0010] A data transmission module, used to transmit the building location information of the communication tower and the time synchronization sensor monitoring results of each tower segment to the communication tower sensor monitoring data cloud in chronological order;

[0011] The data analysis module is used to download the building location information of the communication tower and the time-synchronized sensor monitoring results of each tower segment from the communication tower sensor monitoring data cloud in chronological order, and perform communication tower damage analysis to obtain the communication tower damage analysis results;

[0012] The display alarm module is used to locate and identify each communication tower in the electronic map according to the building location information of the communication tower, and to issue a communication tower damage warning based on the communication tower damage analysis results.

[0013] The beneficial effects of the present invention are as follows: the present invention provides a communication tower monitoring and alarm system based on sensor fusion, which realizes the monitoring of acceleration, tilt angle, strain and vibration frequency of each tower section of the communication tower through the sensor monitoring module, and can process, analyze and learn the monitoring data of different tower sections based on the tower section number, thereby providing a basis for accurately identifying the specific damaged tower section of the communication tower; the communication tower is located through the positioning monitoring module, which is convenient for displaying the corresponding identification of the communication tower on the electronic map, providing a basis for rapid arrival for maintenance and overhaul; the sensor monitoring results are smoothed and time synchronized through the data processing module, which effectively avoids the monitoring error of the sensor, provides a basis for analyzing the damage of the communication tower based on the sensor monitoring results at the same time, and also for the system to identify The accuracy and stability of tower segment damage are guaranteed; the building location information of the communication tower and the time-synchronized sensor monitoring results of each tower segment are transmitted to the communication tower sensor monitoring data cloud in chronological order through the data transmission module, which is convenient for sequential downloading during data analysis to improve the efficiency of continuous loss analysis of the communication tower; the damage of the communication tower is located and analyzed by the data analysis module, and the degree of damage of each tower segment of each communication tower can be obtained, thereby providing a basis for the display alarm module to accurately locate and alarm the damaged communication tower on the electronic map, and prompt the degree of damage to the specific tower segment; the present invention realizes high-precision and high-accuracy damage identification and alarm of specific tower segments of the communication tower, can accurately and timely warn the damaged tower segment of the communication tower that can be repaired, and can also alarm the need for reconstruction after serious damage to the communication tower is detected.

[0014] Furthermore, the communication tower is divided into several tower sections from bottom to top according to the height and the connection between the tower layers; each tower section is respectively provided with a six-axis sensor, an inclination sensor, a strain sensor and a vibration sensor; the sensor monitoring results include the tower section number, acceleration, inclination angle, strain and vibration frequency of each tower section.

[0015] The beneficial effects of adopting the above further scheme are as follows: the inclination angle and vibration frequency of the communication tower can effectively reflect the abnormal conditions of the tower structure, and the tower section acceleration monitored by the six-axis sensor and the strain monitored by the strain sensor provide a basis for obtaining the accurate tower section translation distance through data fusion prediction.

[0016] Furthermore, the data processing module includes:

[0017] A data cleaning submodule is used to perform data smoothing processing on the sensor monitoring results within a preset unit monitoring time based on a sliding average model to obtain smoothed sensor monitoring results, wherein the smoothed sensor monitoring results include acceleration, tilt angle, strain and vibration frequency with a tower section number after data smoothing processing;

[0018] The data synchronization submodule is used to correspond the smoothed sensing monitoring results of each tower section at the same time as the time synchronization sensing monitoring results of the tower section at that time according to the time sequence, so as to obtain the time synchronization sensing monitoring results of each tower section.

[0019] Furthermore, the calculation expression of the moving average model is as follows:

[0020]

[0021] in, represents the smoothed value of the i-th data of the m-th type of sensor data within the preset unit monitoring time, N represents the size of the time window, j represents the j-th data value, Represents the jth input data value of the mth type of sensor monitoring data within the time window.

[0022] The beneficial effect of adopting the above further scheme is: the present invention provides a calculation method of the sliding average model, which can effectively reduce the measurement errors of acceleration, tilt angle, strain and vibration frequency through the sliding average model, providing a basis for improving the accuracy of the system analysis of the degree of loss of communication towers.

[0023] Furthermore, the data analysis module includes:

[0024] The strain displacement submodule is used to obtain the strain displacement of each tower section according to the strain amount in the time-synchronous sensing monitoring results of each tower section;

[0025] The displacement correction submodule is used to fuse the acceleration in the time-synchronous sensing monitoring results of each tower section with the strain displacement of each tower section to obtain the horizontal displacement monitoring value of each tower section;

[0026] The tower section damage data module is used to obtain the horizontal displacement value, tilt angle and vibration frequency corresponding to the tower sections with different damage degrees, and construct a tower section damage feature data set, wherein the tower section number, horizontal displacement value, tilt angle and vibration frequency in the tower section damage feature data set are the characteristic information of the tower section, and the tower section damage degree is the characteristic label of the tower section. The tower section damage degree includes no damage, damage requiring repair and damage requiring reconstruction;

[0027] The damage identification network module is used to construct a tower section damage identification network, and train the tower section damage identification network using a network weight adjustment function according to the tower section damage feature data set to obtain a trained tower section damage identification network;

[0028] The damage identification submodule is used to identify the damage of each tower section according to the horizontal displacement monitoring value, tilt angle and vibration frequency of each tower section using the trained tower section damage identification network to obtain the damage identification results of each tower section;

[0029] The damage location submodule is used to match and combine the building location information of the communication tower with the damage identification results of each tower section corresponding to the communication tower to obtain the communication tower damage analysis results.

[0030] The beneficial effect of adopting the above further scheme is: the present invention uses the trained tower segment damage identification network to perform tower segment damage identification analysis based on the horizontal displacement monitoring values, inclination angles and vibration frequencies of each tower segment obtained through sensor monitoring and analysis, and fully considers the three important parameter indicators related to the structural changes of the communication tower. It can realize the accurate identification of the damage of each tower segment of the communication tower, and provide a basis for accurately marking and displaying the damage status of the communication tower on the electronic map.

[0031] Furthermore, the calculation expression of the strain displacement of each tower section is as follows:

[0032]

[0033] M k =f dk h k ,

[0034] Among them, x sn represents the strain displacement of the nth tower section, h k represents the static length of the kth tower section, w k represents the static width of the kth tower section, M k-1 represents the virtual bending moment of the k-1th tower section, Δε k-1 represents the difference in strain between the two sides of the k-1th tower section, Δε k represents the difference in strain between the two sides of the kth tower section, M k represents the virtual bending moment of the kth tower section, f dk represents the unit force on the top of the nth tower section, where k and n are both positive integers.

[0035] The beneficial effect of adopting the above further scheme is as follows: the present invention provides a method for calculating the strain displacement of each tower section, by converting the tower section into a strain unit, and using the strain data monitored by the strain sensor to calculate the strain displacement based on the strain, which provides a basis for data fusion correction with the acceleration displacement calculated based on acceleration, so as to obtain highly accurate horizontal displacement monitoring values ​​of each tower section.

[0036] Furthermore, the displacement correction submodule includes:

[0037] A displacement state unit, used to construct a displacement state model based on the acceleration in the time-synchronous sensing monitoring results of each tower section;

[0038] The calculation expression of the displacement state model is as follows:

[0039] x sa (τ)=x(τ)+v(τ),

[0040]

[0041] Among them, x(τ) represents the displacement of the tower section at time τ, and x(τ-1) represents the displacement of the tower section at time τ--1. represents the speed of the tower section at time τ-1, represents the acceleration of the tower section at time τ-1, w d (τ-1) represents the displacement system noise at time τ-1, represents the speed of the tower section at time τ, Δt represents the sampling time interval of the acceleration of the tower section, and w v (τ-1) represents the speed system noise at time τ-1, x sa (τ) represents the acceleration predicted displacement at time τ, and v(τ) represents the system noise of the acceleration predicted displacement at time τ;

[0042] A state matrix unit is used to construct a state vector according to the displacement and velocity of the tower section, and matrix the displacement state model through the state vector to obtain a tower section state space model;

[0043] The calculation expression of the tower section state space model is as follows:

[0044] x sa (τ)=x(τ)+v(τ),

[0045]

[0046] Among them, x(τ) represents the state vector at time τ, x(τ-1) represents the state vector at time τ-1, Q represents the covariance matrix of the displacement velocity system noise, q represents the variance of the system error, r represents the covariance matrix of the acceleration prediction displacement system noise, and r represents the variance of the acceleration prediction displacement error;

[0047] The state prediction unit is used to predict the displacement based on the tower section state space model to obtain the acceleration prediction displacement and prediction error covariance matrix at the next moment;

[0048] The calculation expressions of the acceleration predicted displacement and predicted displacement error covariance matrix at the next moment are as follows:

[0049]

[0050] in, represents the acceleration predicted displacement at time τ+1, represents the acceleration predicted displacement correction value at time τ, represents the predicted displacement error covariance matrix at time τ+1, represents the correction value of the predicted displacement error covariance matrix at time τ+1, and T represents the transpose;

[0051] A state updating unit, used for correcting the acceleration predicted displacement and the predicted displacement error covariance matrix based on the strain displacement of each tower section, to obtain a correction value of the acceleration predicted displacement and a correction value of the predicted displacement error covariance matrix;

[0052] The calculation expressions of the acceleration predicted displacement correction value and the predicted displacement error covariance matrix correction value are as follows:

[0053]

[0054] in, represents the acceleration predicted displacement at time τ, K(τ) represents the Kalman gain at time τ, represents the correction value of the predicted displacement error covariance matrix at time τ, represents the predicted displacement error covariance matrix at time τ;

[0055] The displacement output unit is used to correspond the acceleration predicted displacement correction value of each tower section at the target time as the horizontal displacement monitoring value of each tower section based on the state prediction unit and the state update unit.

[0056] The beneficial effect of adopting the above further scheme is: the present invention realizes the fusion of strain and acceleration obtained by sensor monitoring and analysis through Kalman filtering, so as to correct the acceleration displacement based on the strain displacement, obtain accurate horizontal displacement monitoring values ​​of each tower section, and provide a basis for identifying the degree of damage of each tower section of the communication tower.

[0057] Furthermore, the calculation expression of the network weight adjustment function is as follows:

[0058] Δw=αp′,

[0059] (J T J+μI)p′=-J T E,

[0060] Among them, J T represents the transpose of the Jacobian matrix, J represents the Jacobian matrix, μ represents the regularization parameter, I represents the identity matrix, p′ represents the forward direction, E represents the error vector, Δw represents the update amount of the network weights, and α represents the adaptive adjustment step size.

[0061] The beneficial effect of adopting the above further scheme is: the present invention provides a calculation method for the network weight adjustment function, which has the characteristics of high accuracy and fast convergence speed during fitting approximation, can take into account both global characteristics and local convergence, and can effectively improve the convergence of the tower section damage identification network.

[0062] Furthermore, the display alarm module includes:

[0063] The electronic map submodule is used to locate and identify each communication tower in the electronic map according to the building location information of the communication tower;

[0064] The communication tower alarm submodule is used to display corresponding alarm marks on the electronic map for communication towers that need to be repaired or rebuilt in the damage identification results of each tower section according to the communication tower damage analysis results;

[0065] The tower section alarm submodule is used to set prompt information of the tower section number that needs to be repaired or the tower section number that needs to be rebuilt for the communication tower displayed with alarm mark in the electronic map according to the communication tower damage analysis results.

[0066] The beneficial effect of adopting the above further scheme is that the display alarm module can intuitively display the damage alarm logo of each communication tower based on the electronic map, as well as the accurate damage degree prompt information of the specific tower section.

[0067] Other advantages of the present invention will be analyzed in more detail in subsequent embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0069] Figure 1 The block diagram of a communication tower monitoring and alarm system based on sensor fusion in an embodiment of the present invention. DETAILED DESCRIPTION

[0070] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0071] like Figure 1 As shown, in one embodiment of the present invention, the present invention provides a communication tower monitoring and alarm system based on sensor fusion, comprising:

[0072] A sensor monitoring module is used to monitor each tower section of the communication tower using a number of six-axis sensors, tilt sensors, strain sensors and vibration sensors to obtain a sensor monitoring result with a tower section number;

[0073] The communication tower is divided into several tower sections from bottom to top according to the height and the connection between tower layers; each tower section is respectively provided with a six-axis sensor, an inclination sensor, a strain sensor and a vibration sensor; the sensor monitoring results include the tower section number, acceleration, inclination angle, strain and vibration frequency of each tower section.

[0074] In this embodiment, the six-axis inclination sensor is installed at the connection of each tower section of the communication tower or at the root of the antenna support arm, the inclination sensor is installed at the upper end of each tower section or at the antenna support arm, the dependent variable sensor is installed at the connection of the tower sections or near the reinforcement ribs, and the vibration sensor is installed at the connection of each tower section or at the antenna support arm. It can be adjusted according to actual conditions and the height of the tower section from the ground.

[0075] By numbering the tower sections of the communication tower, it is convenient to conduct damage analysis on each tower section, so as to achieve accurate positioning and alarm of the damaged tower section based on the tower section number, and provide a basis for quickly locating and maintaining the target damaged tower section; by setting acceleration sensors and velocity sensors on each tower section of the communication tower, the acceleration of each tower section of the communication tower can be accurately measured, thus providing a basis for comprehensively monitoring the motion state and displacement of the tower body structure of the communication tower; by setting inclination sensors on each tower section of the communication tower, the inclination angle of each tower section of the communication tower can be monitored, thus providing a basis for determining the posture of the tower body; by setting strain sensors on each tower section, the strain of each tower section can be monitored, thus providing a basis for accurately correcting the displacement of each tower section of the communication tower; by setting vibration sensors on each tower section of the communication tower, the vibration conditions of each tower section of the communication tower can be monitored in real time, and the vibration frequency of the tower section can be obtained, which provides a basis for timely discovery and resolution of problems under abnormal vibration conditions, and ensures the stability of the tower structure in severe weather such as wind, rain, and snow.

[0076] A positioning monitoring module is used to locate the tower base of the communication tower through the positioning module to obtain the building location information of the communication tower;

[0077] By setting a positioning module at the base of the communication tower, the positioning data with the latitude, longitude and altitude of the communication tower can be detected and obtained as the building location information of the communication tower, thereby providing a basis for locating and displaying different communication towers on a map, and linking the tower section damage identification results and early warning information corresponding to each communication tower. In this embodiment, the Beidou positioning module is used to locate the base of the communication tower.

[0078] A data processing module is used to perform data smoothing and time synchronization processing on the sensor monitoring results of each communication tower with a tower section number to obtain the time-synchronized sensor monitoring results of each tower section;

[0079] The data processing module comprises:

[0080] A data cleaning submodule is used to perform data smoothing processing on the sensor monitoring results within a preset unit monitoring time based on a sliding average model to obtain smoothed sensor monitoring results, wherein the smoothed sensor monitoring results include acceleration, tilt angle, strain and vibration frequency with a tower section number after data smoothing processing;

[0081] The calculation expression of the sliding average model is as follows:

[0082]

[0083] in, represents the smoothed value of the i-th data of the m-th type of sensor data within the preset unit monitoring time, N represents the size of the time window, j represents the j-th data value, Represents the jth input data value of the mth type of sensor monitoring data within the time window.

[0084] In this embodiment, when m=1, 2, 3, 4, the corresponding sensor monitoring data are respectively the acceleration, the tilt angle, the strain and the vibration frequency of the tower section.

[0085] In this embodiment, through data smoothing processing, the problem of increasing error accumulation can be solved from the source, thereby providing a guarantee for more accurate data analysis and identification of tower section damage of the communication tower.

[0086] The data synchronization submodule is used to correspond the smoothed sensing monitoring results of each tower section at the same time as the time synchronization sensing monitoring results of the tower section at that time according to the time sequence, so as to obtain the time synchronization sensing monitoring results of each tower section.

[0087] In this embodiment, by time synchronization of the smoothed sensing monitoring results, the errors caused by the different sampling frequencies of different sensors are effectively overcome, ensuring that the horizontal displacement values ​​of each tower section each time are high-accuracy displacement values ​​obtained by fusion prediction of acceleration and strain, and also providing a basis for maintaining the use of the same amount of data to identify damage to the communication tower based on the time-synchronized sensing monitoring results of the communication tower at different times and the horizontal displacement values ​​of each tower section, thereby ensuring the stability of the system.

[0088] A data transmission module, used to transmit the building location information of the communication tower and the time synchronization sensor monitoring results of each tower segment to the communication tower sensor monitoring data cloud in chronological order;

[0089] The data analysis module is used to download the building location information of the communication tower and the time-synchronized sensor monitoring results of each tower segment from the communication tower sensor monitoring data cloud in chronological order, and perform communication tower damage analysis to obtain the communication tower damage analysis results;

[0090] The data analysis module includes:

[0091] The strain displacement submodule is used to obtain the strain displacement of each tower section according to the strain amount in the time-synchronous sensing monitoring results of each tower section;

[0092] The calculation expression of strain displacement of each tower section is as follows:

[0093]

[0094] M k =f dk h k ,

[0095] Among them, x sn represents the strain displacement of the nth tower section, h k represents the static length of the kth tower section, wk represents the static width of the kth tower section, M k-1 represents the virtual bending moment of the k-1th tower section, Δε k-1 represents the difference in strain between the two sides of the k-1th tower section, Δε k It represents the difference of strain on both sides of the kth tower section, M k represents the virtual bending moment of the kth tower section, f dk represents the unit force on the top of the nth tower section, where k and n are both positive integers.

[0096] In this embodiment, the nth tower section is determined according to the tower section number, the tower section number is 1, it is the first tower section, and the tower section number is n, it is the nth tower section; the angular displacement is the tower section length between the highest point of the upper end of the tower section and the lowest point of the upper end of the tower section on the horizontal corresponding point of the side where the highest point is located after the tower section is deformed and bent. In this embodiment, the unit force on the top of the tower section is 1.

[0097] The displacement correction submodule is used to fuse the acceleration in the time-synchronous sensing monitoring results of each tower section with the strain displacement of each tower section to obtain the horizontal displacement monitoring value of each tower section;

[0098] The displacement correction submodule comprises:

[0099] A displacement state unit, used to construct a displacement state model based on the acceleration in the time-synchronous sensing monitoring results of each tower section;

[0100] The calculation expression of the displacement state model is as follows:

[0101] x sa (τ)=x(τ)+v(τ),

[0102]

[0103] Among them, x(τ) represents the displacement of the tower section at time τ, and x(τ-1) represents the displacement of the tower section at time τ--1. represents the speed of the tower section at time τ-1, represents the acceleration of the tower section at time τ-1, w d (τ-1) represents the displacement system noise at time τ-1, represents the speed of the tower section at time τ, Δt represents the sampling time interval of the acceleration of the tower section, and w v (τ-1) represents the speed system noise at time τ-1, x sa (τ) represents the acceleration predicted displacement at time τ, and v(τ) represents the system noise of the acceleration predicted displacement at time τ;

[0104] A state matrix unit is used to construct a state vector according to the displacement and velocity of the tower section, and matrix the displacement state model through the state vector to obtain a tower section state space model;

[0105] The calculation expression of the tower section state space model is as follows:

[0106] x sa (τ)=x(τ)+v(τ),

[0107]

[0108] Among them, x(τ) represents the state vector at time τ, x(τ-1) represents the state vector at time τ-1, Q represents the covariance matrix of the displacement velocity system noise, q represents the variance of the system error, r represents the covariance matrix of the acceleration prediction displacement system noise, and r represents the variance of the acceleration prediction displacement error;

[0109] The state prediction unit is used to predict the displacement based on the tower section state space model to obtain the acceleration prediction displacement and prediction error covariance matrix at the next moment;

[0110] The calculation expressions of the acceleration predicted displacement and predicted displacement error covariance matrix at the next moment are as follows:

[0111]

[0112] in, represents the acceleration predicted displacement at time τ+1, represents the acceleration predicted displacement correction value at time τ, represents the predicted displacement error covariance matrix at time τ+1, represents the correction value of the predicted displacement error covariance matrix at time τ+1, and T represents the transpose;

[0113] A state updating unit, used for correcting the acceleration predicted displacement and the predicted displacement error covariance matrix based on the strain displacement of each tower section, to obtain a correction value of the acceleration predicted displacement and a correction value of the predicted displacement error covariance matrix;

[0114] The calculation expressions of the acceleration predicted displacement correction value and the predicted displacement error covariance matrix correction value are as follows:

[0115]

[0116]

[0117] in, represents the acceleration predicted displacement at time τ, K(τ) represents the Kalman gain at time τ, represents the correction value of the predicted displacement error covariance matrix at time τ, represents the predicted displacement error covariance matrix at time τ;

[0118] The displacement output unit is used to correspond the acceleration predicted displacement correction value of each tower section at the target time as the horizontal displacement monitoring value of each tower section based on the state prediction unit and the state update unit.

[0119] The tower section damage data module is used to obtain the horizontal displacement value, tilt angle and vibration frequency corresponding to the tower sections with different damage degrees, and construct a tower section damage feature data set, wherein the tower section number, horizontal displacement value, tilt angle and vibration frequency in the tower section damage feature data set are the characteristic information of the tower section, and the tower section damage degree is the characteristic label of the tower section. The tower section damage degree includes no damage, damage requiring repair and damage requiring reconstruction;

[0120] The damage identification network module is used to construct a tower section damage identification network, and train the tower section damage identification network using a network weight adjustment function according to the tower section damage feature data set to obtain a trained tower section damage identification network;

[0121] The calculation expression of the network weight adjustment function is as follows:

[0122] Δw=αp′,

[0123] (J T J+μI)p′=-J T E,

[0124] Among them, J T represents the transpose of the Jacobian matrix, J represents the Jacobian matrix, μ represents the regularization parameter, I represents the identity matrix, p′ represents the forward direction, E represents the error vector, Δw represents the update amount of the network weight, and α represents the adaptive adjustment step size. In this embodiment, the elements in the Jacobian matrix are the first-order derivatives of the error vector of the tower section damage identification network with respect to the network weight.

[0125] In this embodiment, the tower section damage identification network adopts BP neural network;

[0126] The damage identification submodule is used to identify the damage of each tower section according to the horizontal displacement monitoring value, tilt angle and vibration frequency of each tower section using the trained tower section damage identification network to obtain the damage identification results of each tower section;

[0127] In this embodiment, the damage identification result of each tower section is the tower section damage degree of each tower section predicted by the trained tower section damage identification network.

[0128] The damage location submodule is used to match and combine the building location information of the communication tower with the damage identification results of each tower section corresponding to the communication tower to obtain the communication tower damage analysis results.

[0129] The display alarm module is used to locate and identify each communication tower in the electronic map according to the building location information of the communication tower, and to issue a communication tower damage warning based on the communication tower damage analysis results.

[0130] The display alarm module comprises:

[0131] The electronic map submodule is used to locate and identify each communication tower in the electronic map according to the building location information of the communication tower;

[0132] The communication tower alarm submodule is used to display corresponding alarm marks on the electronic map for communication towers that need to be repaired or rebuilt in the damage identification results of each tower section according to the communication tower damage analysis results;

[0133] The tower section alarm submodule is used to set prompt information of the tower section number that needs to be repaired or the tower section number that needs to be rebuilt for the communication tower displayed with alarm mark in the electronic map according to the communication tower damage analysis results.

[0134] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A communication tower monitoring and alarm system based on sensor fusion, characterized in that: include: A sensor monitoring module is used to monitor each tower section of the communication tower using a number of six-axis sensors, tilt sensors, strain sensors and vibration sensors to obtain a sensor monitoring result with a tower section number; A positioning monitoring module is used to locate the tower base of the communication tower through the positioning module to obtain the building location information of the communication tower; A data processing module is used to perform data smoothing and time synchronization processing on the sensor monitoring results of each communication tower with a tower section number to obtain the time-synchronized sensor monitoring results of each tower section; A data transmission module, used to transmit the building location information of the communication tower and the time synchronization sensor monitoring results of each tower segment to the communication tower sensor monitoring data cloud in chronological order; The data analysis module is used to download the building location information of the communication tower and the time-synchronized sensor monitoring results of each tower segment from the communication tower sensor monitoring data cloud in chronological order, and perform communication tower damage analysis to obtain the communication tower damage analysis results; The display alarm module is used to locate and identify each communication tower in the electronic map according to the building location information of the communication tower, and to issue a communication tower damage warning based on the communication tower damage analysis results.

2. The communication tower monitoring and alarm system based on sensor fusion according to claim 1 is characterized in that: The communication tower is divided into several tower sections from bottom to top according to the height and the connection between tower layers; each tower section is respectively provided with a six-axis sensor, an inclination sensor, a strain sensor and a vibration sensor; the sensor monitoring results include the tower section number, acceleration, inclination angle, strain and vibration frequency of each tower section.

3. The communication tower monitoring and alarm system based on sensor fusion according to claim 2 is characterized in that: The data processing module comprises: A data cleaning submodule is used to perform data smoothing processing on the sensor monitoring results within a preset unit monitoring time based on a sliding average model to obtain smoothed sensor monitoring results, wherein the smoothed sensor monitoring results include acceleration, tilt angle, strain and vibration frequency with a tower section number after data smoothing processing; The data synchronization submodule is used to correspond the smoothed sensing monitoring results of each tower section at the same time as the time synchronization sensing monitoring results of the tower section at that time according to the time sequence, so as to obtain the time synchronization sensing monitoring results of each tower section.

4. The communication tower monitoring and alarm system based on sensor fusion according to claim 3 is characterized in that: The calculation expression of the sliding average model is as follows: in, represents the smoothed value of the i-th data of the m-th type of sensor data within the preset unit monitoring time, N represents the size of the time window, j represents the j-th data value, Represents the jth input data value of the mth type of sensor monitoring data within the time window.

5. The communication tower monitoring and alarm system based on sensor fusion according to claim 4 is characterized in that: The data analysis module includes: The strain displacement submodule is used to obtain the strain displacement of each tower section according to the strain amount in the time-synchronous sensing monitoring results of each tower section; The displacement correction submodule is used to fuse the acceleration in the time-synchronous sensing monitoring results of each tower section with the strain displacement of each tower section to obtain the horizontal displacement monitoring value of each tower section; The tower section damage data module is used to obtain the horizontal displacement value, tilt angle and vibration frequency corresponding to the tower sections with different damage degrees, and construct a tower section damage feature data set, wherein the tower section number, horizontal displacement value, tilt angle and vibration frequency in the tower section damage feature data set are the characteristic information of the tower section, and the tower section damage degree is the characteristic label of the tower section. The tower section damage degree includes no damage, damage requiring repair and damage requiring reconstruction; The damage identification network module is used to construct a tower section damage identification network, and train the tower section damage identification network using a network weight adjustment function according to the tower section damage feature data set to obtain a trained tower section damage identification network; The damage identification submodule is used to identify the damage of each tower section according to the horizontal displacement monitoring value, tilt angle and vibration frequency of each tower section using the trained tower section damage identification network to obtain the damage identification results of each tower section; The damage location submodule is used to match and combine the building location information of the communication tower with the damage identification results of each tower section corresponding to the communication tower to obtain the communication tower damage analysis results.

6. The communication tower monitoring and alarm system based on sensor fusion according to claim 5 is characterized in that: The calculation expression of strain displacement of each tower section is as follows: M k =f dk h k , Among them, x sn represents the strain displacement of the nth tower section, h k represents the static length of the kth tower section, w k represents the static width of the kth tower section, M k-1 represents the virtual bending moment of the k-1th tower section, Δε k-1 represents the difference in strain between the two sides of the k-1th tower section, Δε k represents the difference in strain between the two sides of the kth tower section, M k represents the virtual bending moment of the kth tower section, f dk represents the unit force on the top of the nth tower section, where k and n are both positive integers.

7. The communication tower monitoring and alarm system based on sensor fusion according to claim 6 is characterized in that: The displacement correction submodule comprises: A displacement state unit, used to construct a displacement state model based on the acceleration in the time-synchronous sensing monitoring results of each tower section; The calculation expression of the displacement state model is as follows: x sa (τ)=x(τ)+v(τ), Among them, x(τ) represents the displacement of the tower section at time τ, and x(τ-1) represents the displacement of the tower section at time τ--1. represents the speed of the tower section at time τ-1, represents the acceleration of the tower section at time τ-1, w d (τ-1) represents the displacement system noise at time τ-1, represents the speed of the tower section at time τ, Δt represents the sampling time interval of the acceleration of the tower section, and w v (τ-1) represents the speed system noise at time τ-1, x sa (τ) represents the acceleration predicted displacement at time τ, and v(τ) represents the system noise of the acceleration predicted displacement at time τ; A state matrix unit is used to construct a state vector according to the displacement and velocity of the tower section, and matrix the displacement state model through the state vector to obtain a tower section state space model; The calculation expression of the tower section state space model is as follows: x sa (τ)=x(τ)+v(τ), Among them, x(τ) represents the state vector at time τ, x(τ-1) represents the state vector at time τ-1, Q represents the covariance matrix of the displacement velocity system noise, q represents the variance of the system error, r represents the covariance matrix of the acceleration prediction displacement system noise, and r represents the variance of the acceleration prediction displacement error; The state prediction unit is used to predict the displacement based on the tower section state space model to obtain the acceleration prediction displacement and prediction error covariance matrix at the next moment; The calculation expressions of the acceleration predicted displacement and predicted displacement error covariance matrix at the next moment are as follows: in, represents the acceleration predicted displacement at time τ+1, represents the acceleration predicted displacement correction value at time τ, represents the predicted displacement error covariance matrix at time τ+1, represents the correction value of the predicted displacement error covariance matrix at time τ+1, and T represents the transpose; A state updating unit, used for correcting the acceleration predicted displacement and the predicted displacement error covariance matrix based on the strain displacement of each tower section, to obtain a correction value of the acceleration predicted displacement and a correction value of the predicted displacement error covariance matrix; The calculation expressions of the acceleration predicted displacement correction value and the predicted displacement error covariance matrix correction value are as follows: in, represents the acceleration predicted displacement at time τ, K(τ) represents the Kalman gain at time τ, represents the correction value of the predicted displacement error covariance matrix at time τ, represents the predicted displacement error covariance matrix at time τ; The displacement output unit is used to correspond the acceleration predicted displacement correction value of each tower section at the target time as the horizontal displacement monitoring value of each tower section based on the state prediction unit and the state update unit.

8. The communication tower monitoring and alarm system based on sensor fusion according to claim 7 is characterized in that: The calculation expression of the network weight adjustment function is as follows: Δw=αp′, (J T J+μI)p′=-J T Oh, Among them, J T represents the transpose of the Jacobian matrix, J represents the Jacobian matrix, μ represents the regularization parameter, I represents the identity matrix, p′ represents the forward direction, E represents the error vector, Δw represents the update amount of the network weights, and α represents the adaptive adjustment step size.

9. The communication tower monitoring and alarm system based on sensor fusion according to claim 8 is characterized in that: The display alarm module comprises: The electronic map submodule is used to locate and identify each communication tower in the electronic map according to the building location information of the communication tower; The communication tower alarm submodule is used to display corresponding alarm marks on the electronic map for communication towers that need to be repaired or rebuilt in the damage identification results of each tower section according to the communication tower damage analysis results; The tower section alarm submodule is used to set prompt information of the tower section number that needs to be repaired or the tower section number that needs to be rebuilt for the communication tower displayed with alarm mark in the electronic map according to the communication tower damage analysis results.

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