High-precision inclination monitoring method and system for transmission tower

Abstract

The invention relates to the technical field of transmission tower monitoring, in particular to a high-precision inclination monitoring method and system for a transmission tower, and the method comprises the steps: carrying out the quality evaluation of obtained observation data of the transmission tower, and obtaining target observation data; performing error correction on the target observation data and calculating a high-precision positioning result; and analyzing key parameters of the power transmission tower according to a positioning result. The method has the advantages that millimeter-level precision is achieved in the aspect of inclination measurement of the power transmission tower through the Beidou reverse network RTK differential positioning technology, a traditional monitoring means is remarkably surpassed, measurement fluctuation is effectively reduced, and the strict requirement of electric power facilities for high-precision measurement is met. The high-precision monitoring can find potential safety hazards earlier, and a reliable basis is provided for timely maintenance. Meanwhile, by continuously monitoring the change of the inclination angle of the tower pole, the space-time continuity characteristic of the inclination state of the tower pole is disclosed, and a scientific basis is provided for formulating a maintenance strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission tower monitoring, and in particular to a high-precision inclination monitoring method and system for a power transmission tower. Background Art

[0002] Existing transmission tower monitoring technologies mainly rely on traditional sensor methods, such as strain sensors and accelerometers. Although these methods can measure the stress and deformation of towers, they have limitations, such as the inability to achieve early warning and the need for manual inspections, which is inefficient. In addition, GPS positioning technology is not accurate enough under complex terrain and harsh climatic conditions, affecting the accuracy of monitoring results. In contrast, the Beidou Satellite Navigation System (BDS) provides a new solution with global coverage and high-precision positioning, but existing technologies fail to fully utilize its differential positioning technology such as RTK, and lack professional monitoring algorithms and data processing methods for the characteristics of transmission towers, which limits the application of monitoring results in power system safety assessment and fault warning. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] In view of the above existing problems, the present invention is proposed.

[0005] Therefore, the present invention provides a method and system for high-precision tilt monitoring of transmission towers, which can solve the problems mentioned in the background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a high-precision tilt monitoring method for a transmission tower, comprising performing quality assessment on acquired observation data of the transmission tower to obtain target observation data;

[0008] Correct the error of target observation data and calculate high-precision positioning results;

[0009] Analyze the key parameters of transmission towers based on the positioning results.

[0010] As a preferred solution of the high-precision tilt monitoring method for transmission towers of the present invention, the quality of the acquired observation data of the transmission towers is evaluated, including:

[0011] Use BeiDou positioning system to collect observation data of transmission towers;

[0012] Transmit the collected observation data to the data center in NMEA format;

[0013] The completeness and accuracy of observational data are assessed through the data center.

[0014] As a preferred solution of the high-precision tilt monitoring method for transmission towers of the present invention, wherein: error correction is performed on target observation data and a high-precision positioning result is calculated, including:

[0015] Correction of ionospheric delay, tropospheric delay and other compound errors;

[0016] Using reverse network RTK technology, combined with RTCM data obtained by the data center, the observation data is fully resolved for ambiguity;

[0017] Based on the corrected observation data, the high-precision positioning results of the transmission tower are calculated.

[0018] As a preferred solution of the high-precision tilt monitoring method for transmission towers of the present invention, key parameters include but are not limited to tilt degree and deformation rate.

[0019] As a preferred solution of the high-precision tilt monitoring method for transmission towers of the present invention, the step of analyzing key parameters of the transmission towers according to the positioning results includes:

[0020] Real-time monitoring of the tilt degree and deformation rate of transmission towers;

[0021] By comparing the initial coordinates with the real-time coordinates, the positioning deviations in the X and Y directions are calculated;

[0022] According to the distance from the Beidou positioning antenna installed on the communication base station (tower) to the bottom of the tower and the angle of the tower, the plane displacement difference of the tower inclination is calculated.

[0023] As a preferred solution of the high-precision tilt monitoring method for transmission towers of the present invention, the method further includes automatically triggering an early warning mechanism when the tilt degree or deformation rate exceeds a preset threshold.

[0024] As a preferred solution of the high-precision tilt monitoring method for transmission towers of the present invention, the RTCM data acquired by the data center is the RTCM data of the CORS data center acquired by the data center through the NTRIP protocol.

[0025] In a second aspect, the present invention provides a high-precision tilt monitoring system for a transmission tower, comprising: an evaluation module, for performing quality evaluation on acquired observation data of the transmission tower to obtain target observation data;

[0026] A calculation module is used to correct errors in target observation data and calculate high-precision positioning results;

[0027] The analysis module is used to analyze the key parameters of the transmission tower based on the positioning results.

[0028] In a third aspect, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0029] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when the computer program is executed by a processor.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: by using Beidou reverse network RTK differential positioning technology, millimeter-level accuracy is achieved in the measurement of the inclination of transmission towers, which significantly surpasses traditional monitoring methods, effectively reduces measurement fluctuations, and meets the strict requirements of power facilities for high-precision measurement. This high-precision monitoring can detect potential safety hazards earlier and provide a reliable basis for timely maintenance. At the same time, this technology reveals the spatiotemporal continuity characteristics of the tower tilt state by continuously monitoring the changes in the tower inclination angle, which helps to deeply understand its causes and evolution laws, and provides a scientific basis for the formulation of maintenance strategies. In addition, this technology realizes automatic monitoring of transmission line towers without manual intervention, reduces labor costs, improves monitoring efficiency, and promotes the construction of automated monitoring of power grid systems. High-precision monitoring data also supports the intelligent management of power grid systems, realizes accurate risk assessment and fault prediction, and thus improves the safety and reliability of power systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0032] Figure 1 The invention provides a high-precision tilt monitoring method for transmission towers.

[0033] Figure 2 The invention provides a high-precision tilt monitoring method for transmission towers.

[0034] Figure 3 A schematic diagram of the internal structure of a computer device. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0038] Example 1

[0039] Reference Figure 1-2 , which is the first embodiment of the present invention, provides a high-precision tilt monitoring method for a transmission tower, which includes:

[0040] S1. Perform quality assessment on the acquired observation data of the transmission tower to obtain target observation data.

[0041] Furthermore, the quality of the acquired transmission tower observation data is evaluated, including

[0042] Use BeiDou positioning system to collect observation data of transmission towers;

[0043] Transmit the collected observation data to the data center in NMEA format;

[0044] The completeness and accuracy of observational data are assessed through the data center.

[0045] It should be noted that when the observation data quality assessment fails, the data center will issue a location or data center alert to the user.

[0046] S2. Correct the error of the target observation data and calculate the high-precision positioning result.

[0047] Furthermore, the target observation data is corrected for errors and high-precision positioning results are calculated, including corrections for ionospheric delay, tropospheric delay and other composite errors;

[0048] Using reverse network RTK technology, combined with RTCM data obtained by the data center, the observation data is fully resolved for ambiguity;

[0049] Based on the corrected observation data, the high-precision positioning results of the transmission tower are calculated.

[0050] It should be noted that the full-cycle ambiguity resolution between base stations is the key to reverse network RTK positioning, which specifically includes the MW combination composed of carrier phase observations and p-code pseudo-ranges, which is used to calculate the full-cycle ambiguity of the wide channel; further combining the carrier phase and pseudo-range observations with the ionosphere-free to obtain the true solution of the ionosphere-free ambiguity. The observation equation is as follows:

[0051]

[0052] Where Δ▽ represents the double difference; λ is the carrier wavelength; Represents the observed phase angle; ρ represents the geometric distance from the space station to the satellite; N represents the ambiguity of the entire cycle; Trop represents the tropospheric delay; ε represents the carrier phase observation noise; p is the pseudo-range observation value; q represents the pseudo-range observation noise; γ represents the pseudo-range observation noise; Further, through the solution of the wide channel full-cycle ambiguity, the true solution without ionospheric ambiguity and the covariance matrix of the variance, the true solution of the narrow channel ambiguity and the covariance matrix of the variance are obtained. The full-cycle phase ambiguity of the narrow channel is fixed using the LAMBDA algorithm, and then the full-cycle phase ambiguity of L1 and L2 is calculated.

[0053] It should be further explained that after the whole week is fixed, the reverse network RTK error is calculated using the GNSS observations, double difference ambiguity and the true coordinates of the reference station. The calculation formula is as follows:

[0054]

[0055] Where Δ▽Ion is the ionospheric delay; from equation (1), f1, f2 are the frequencies of carriers L1 and L2; λ1, λ2 are the wavelengths of carriers L1 and L2; N1, N2 are the full-cycle ambiguities of carriers L1 and L2; Trop is the tropospheric delay; MF is the tropospheric mapping function; from the GPT2W model, ZWD is the tropospheric wet delay, ZHD is the tropospheric static delay, Other is the comprehensive noise; ρ is the geometric distance from the space station to the satellite.

[0056] After the error calculation is completed, the error correction number of the mobile station can be interpolated in real time according to the correction coordinates provided by the mobile station. Using the inverse distance weighted method, the above three errors of the mobile station are interpolated according to the baseline east and north vectors to provide centimeter-level positioning services for users.

[0057] Furthermore, the RTCM data obtained by the data center is the RTCM data of the CORS data center obtained by the data center through the NTRIP protocol.

[0058] S3. Analyze the key parameters of the transmission tower based on the positioning results.

[0059] Furthermore, key parameters include but are not limited to tilt degree and deformation rate.

[0060] Further, the key parameters of the transmission tower are analyzed based on the positioning results, including:

[0061] Real-time monitoring of the tilt degree and deformation rate of transmission towers;

[0062] By comparing the initial coordinates with the real-time coordinates, the positioning deviations in the X and Y directions are calculated;

[0063] It should be noted that (X0, Y0, H0) and (X i ,Y i ,H i ) represent the initial value coordinates and real-time measurement coordinates of Beidou positioning data respectively, then

[0064]

[0065] Where ΔX and ΔY are the positioning deviations in the X and Y directions respectively. ΔX=X i -X0;Y=Y i -Y0. The root mean square error of the positioning result in the x, y and p directions can be calculated as follows:

[0066]

[0067] Where n is the total number of observations; and Represents the average values ​​of the observations in the x, y and p directions respectively.

[0068] According to the distance from the Beidou positioning antenna installed on the communication base station (tower) to the bottom of the tower and the angle of the tower, the plane displacement difference of the tower inclination is calculated.

[0069] It should be noted that the tower body angle is θ. The calculation formula of θ is:

[0070]

[0071] Where ΔP represents the displacement difference of the tower inclination plane; H represents the height of the tower.

[0072] Furthermore, the method also includes automatically triggering an early warning mechanism when the degree of inclination or the deformation rate exceeds a preset threshold.

[0073] In summary, the beneficial effect of the high-precision tilt monitoring of transmission towers in the present invention is that the transmission tower tilt measurement is achieved at the millimeter level through the Beidou reverse network RTK differential positioning technology, which significantly surpasses the traditional monitoring means, effectively reduces the measurement fluctuation, and meets the strict requirements of power facilities for high-precision measurement. This high-precision monitoring can detect potential safety hazards earlier and provide a reliable basis for timely maintenance. At the same time, this technology reveals the spatiotemporal continuity characteristics of the tower tilt state by continuously monitoring the changes in the tower inclination angle, which helps to deeply understand its causes and evolution laws, and provides a scientific basis for the formulation of maintenance strategies. In addition, this technology realizes the automatic monitoring of transmission line towers without manual intervention, reduces labor costs, improves monitoring efficiency, and promotes the construction of automated monitoring of power grid systems. High-precision monitoring data also supports the intelligent management of power grid systems, realizes accurate risk assessment and fault prediction, and thus improves the safety and reliability of power systems.

[0074] Example 2

[0075] This embodiment provides a high-precision tilt monitoring system for a transmission tower, which includes an evaluation module for performing quality evaluation on acquired observation data of the transmission tower to obtain target observation data;

[0076] A calculation module is used to correct errors in target observation data and calculate high-precision positioning results;

[0077] The analysis module is used to analyze the key parameters of the transmission tower based on the positioning results.

[0078] The above-mentioned unit modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above-mentioned modules.

[0079] Example 3

[0080] This embodiment provides a computer device, which may be a terminal, and its internal structure diagram may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a high-precision tilt monitoring method for a transmission tower is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0081] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements: quality assessment of the acquired observation data of the transmission tower to obtain target observation data; error correction of the target observation data and calculation of high-precision positioning results; and analysis of key parameters of the transmission tower based on the positioning results.

[0082] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A high-precision tilt monitoring method for a transmission tower, characterized in that: include, Perform quality assessment on the acquired observation data of transmission towers to obtain target observation data; Correcting errors in the target observation data and calculating high-precision positioning results; The key parameters of the transmission tower are analyzed based on the positioning results.

2. The high-precision tilt monitoring method for a transmission tower according to claim 1, characterized in that: The quality assessment of the acquired transmission tower observation data includes: Use BeiDou positioning system to collect observation data of transmission towers; Transmit the collected observation data to the data center in NMEA format; The completeness and accuracy of observational data are assessed through the data center.

3. The high-precision tilt monitoring method for a transmission tower according to claim 2, characterized in that: The error correction of the target observation data and calculation of the high-precision positioning result include: Correction of ionospheric delay, tropospheric delay and other compound errors; Using reverse network RTK technology, combined with RTCM data obtained by the data center, the full-circle ambiguity resolution of the observation data is performed; Based on the corrected observation data, the high-precision positioning results of the transmission tower are calculated.

4. The high-precision tilt monitoring method for a transmission tower according to claim 3, characterized in that: The key parameters include but are not limited to the degree of inclination and the deformation rate.

5. The high-precision tilt monitoring method for transmission towers according to claim 4, characterized in that: The step of analyzing key parameters of the transmission tower according to the positioning result includes: Real-time monitoring of the tilt degree and deformation rate of transmission towers; By comparing the initial coordinates with the real-time coordinates, the positioning deviations in the X and Y directions are calculated; According to the distance from the Beidou positioning antenna installed on the communication base station (tower) to the bottom of the tower and the angle of the tower, the plane displacement difference of the tower inclination is calculated.

6. The high-precision tilt monitoring method for a transmission tower according to claim 5, characterized in that: The method also includes automatically triggering an early warning mechanism when the degree of inclination or the deformation rate exceeds a preset threshold.

7. The high-precision tilt monitoring method for a transmission tower according to any one of claims 3 to 6, characterized in that: The RTCM data acquired by the data center is the RTCM data of the CORS data center acquired by the data center through the NTRIP protocol.

8. A high-precision tilt monitoring system for transmission towers, characterized in that: include: An evaluation module is used to evaluate the quality of the acquired observation data of the transmission tower to obtain target observation data; A calculation module, used to correct errors in the target observation data and calculate a high-precision positioning result; The analysis module is used to analyze key parameters of the transmission tower according to the positioning result.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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