A high-precision tilt monitoring method and system for a power transmission tower

Abstract

The present application relates to the technical field of power transmission tower monitoring, and particularly relates to a power transmission tower high-precision tilt monitoring method and system, which comprises quality evaluation on observation data of a power transmission tower to obtain target observation data; correction error on the target observation data and calculation of high-precision positioning results; and analysis of key parameters of the power transmission tower according to the positioning results. The present application has the beneficial effect of achieving millimeter-level precision in power transmission tower tilt measurement through Beidou reverse network RTK differential positioning technology, significantly surpassing traditional monitoring methods, effectively reducing measurement fluctuations, and meeting the strict requirements of power facilities on high-precision measurement. This high-precision monitoring can detect potential safety hazards earlier, providing a reliable basis for timely maintenance. At the same time, the present technology reveals the spatiotemporal continuity characteristics of the tower tilt state by continuously monitoring the changes in the tower tilt angle, providing a scientific basis for the development of maintenance strategies.

Description

Technical Field

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

[0002] Existing transmission tower monitoring technologies primarily rely on traditional sensor methods, such as strain gauges and accelerometers. While these methods can measure tower stress and deformation, they have limitations, such as the inability to provide early warnings and the need for manual inspections, which is inefficient. Furthermore, GPS positioning technology lacks accuracy in complex terrain and harsh climates, impacting the accuracy of monitoring results. In contrast, the Beidou Satellite Navigation System (BDS) offers a new solution with global coverage and high-precision positioning. However, existing technologies fail to fully utilize its differential positioning technologies, such as RTK, and lack specialized monitoring algorithms and data processing methods tailored to the specific characteristics of transmission towers. This limits the application of monitoring results in power system security assessments and fault warnings. Summary of the Invention

[0003] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not 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 high-precision tilt monitoring method and system for 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 a quality assessment on acquired observation data of the transmission tower to obtain target observation data;

[0008] Correct the target observation data for errors 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 assessment of the acquired observation data of the transmission towers is performed, including:

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

[0012] The collected observation data is transmitted to the data center in NMEA format;

[0013] The integrity and accuracy of the observation data are evaluated by the data center.

[0014] As a preferred scheme of the power transmission tower high-precision tilt monitoring method of the application, wherein: the target observation data is corrected for error and the high-precision positioning result is calculated, including

[0015] The ionospheric delay, tropospheric delay and other composite errors are corrected;

[0016] The observation data is resolved for full-cycle ambiguity by using reverse network RTK technology combined with RTCM data obtained by the data center;

[0017] Based on the corrected observation data, the high-precision positioning result of the power transmission tower is calculated.

[0018] As a preferred scheme of the power transmission tower high-precision tilt monitoring method of the application, wherein: the key parameters include but are not limited to the tilt degree and the deformation rate.

[0019] As a preferred scheme of the power transmission tower high-precision tilt monitoring method of the application, wherein: the step of analyzing the key parameters of the power transmission tower based on the positioning result includes

[0020] The tilt degree and the deformation rate of the power transmission tower are monitored in real time;

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

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

[0023] As a preferred scheme of the power transmission tower high-precision tilt monitoring method of the application, wherein: the method further includes automatically triggering a warning mechanism when the tilt degree or the deformation rate exceeds a preset threshold.

[0024] As a preferred scheme of the power transmission tower high-precision tilt monitoring method of the application, wherein: the RTCM data obtained by the data center is the RTCM data obtained by the data center from the CORS data center through NTRIP protocol.

[0025] In a second aspect, the application provides a power transmission tower high-precision tilt monitoring system, including: an evaluation module for quality evaluation of the obtained observation data of the power transmission tower to obtain target observation data;

[0026] A calculation module for correcting the target observation data for error and calculating a high-precision positioning result;

[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 comprising 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 existing technology, the beneficial effects of the present invention are as follows: it achieves millimeter-level accuracy in measuring the inclination of transmission towers through Beidou reverse network RTK differential positioning technology, significantly surpassing traditional monitoring methods, effectively reducing measurement fluctuations, and meeting 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 the need for human 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 the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. 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 embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0036] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details set forth in this description. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the present application.

[0037] Secondly, the "one embodiment" or "an embodiment" referred to herein means a specific feature, structure, or characteristic under discussion. Thus, "one embodiment" does not mean a single embodiment nor is it to be taken individually or selectively from other embodiments.

[0038] Embodiment 1

[0039] Reference Figures 1 and 2 For the first embodiment of the present application, the embodiment provides a high-precision tilt monitoring method for a power transmission tower, which comprises:

[0040] S1, quality assessment is performed on the acquired observation data of the power transmission tower to obtain target observation data.

[0041] Further, the quality assessment performed on the acquired observation data of the power transmission tower comprises

[0042] The observation data of the power transmission tower is collected using the Beidou positioning system;

[0043] The collected observation data is transmitted to the data center in NMEA format;

[0044] The completeness and accuracy of the observation data are evaluated by the data center.

[0045] It should be noted that when the quality of the observation data is not qualified, the data center will issue an alarm to the user about the position or the data center.

[0046] S2, correction error is performed on the target observation data and high-precision positioning results are calculated.

[0047] Further, the correction error performed on the target observation data and the calculation of the high-precision positioning results comprise correction of ionospheric delay, tropospheric delay, and other composite errors;

[0048] The observation data is resolved for full-cycle ambiguity using the reverse network RTK technology combined with the RTCM data acquired by the data center;

[0049] Based on the corrected observation data, the high-precision positioning results of the power 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. Specifically, it includes the MW combination composed of carrier phase observations and p-code pseudoranges to calculate the full-cycle ambiguity of the wide channel; further combining the carrier phase and pseudorange observations with the ionospheric-free state to obtain the true solution of the ionospheric-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 full-cycle ambiguity; Trop represents the tropospheric delay; ε represents the carrier phase observation noise; p represents the pseudorange observation value; q represents the pseudorange observation noise; and γ represents the pseudorange observation noise. Furthermore, the true solution and covariance matrix of the narrow-channel ambiguity are obtained by solving the wide-channel full-cycle ambiguity, the true solution without ionospheric ambiguity, and the variance covariance matrix. The LAMBDA algorithm is used to fix the narrow-channel full-cycle phase ambiguity, and then the full-cycle phase ambiguity of L1 and L2 is calculated.

[0053] It should be further explained that after a full week of fixation, the reverse network RTK error is calculated using 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] Once the error calculation is complete, the rover's error correction is interpolated in real time based on the corrected coordinates provided by the rover. Using the inverse distance weighting method, the three errors of the mobile station are interpolated based on the baseline easting and northing vectors, providing centimeter-level positioning services to 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] Furthermore, the key parameters of the transmission tower are analyzed based on the positioning results, including:

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

[0062] By comparing the initial coordinates and the real-time coordinates, the positioning deviation in the X and Y directions is 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 value of the observations in the x, y and p directions respectively.

[0068] The tower inclination plane displacement difference is calculated based on 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.

[0069] It should be noted that the tower angle is θ. The calculation formula for 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 tilt or deformation rate exceeds a preset threshold.

[0073] In summary, the beneficial effect of the high-precision tilt monitoring of transmission towers of the present invention is that it achieves millimeter-level accuracy in measuring the inclination of transmission towers through the Beidou reverse network RTK differential positioning technology, significantly surpassing traditional monitoring methods, effectively reducing measurement fluctuations, and meeting 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 the need for human 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] The calculation module is used to correct the error of the target observation data and calculate the 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 can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of 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 via a system bus. 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. 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. The input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0081] This embodiment also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements: performing a quality assessment on the acquired observation data of the transmission tower to obtain target observation data; correcting errors in the target observation data and calculating a high-precision positioning result; and analyzing key parameters of the transmission tower based on the positioning result.

[0082] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. 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 by: include, Perform quality assessment on the acquired transmission tower observation data to obtain target observation data; Correcting errors in the target observation data and calculating high-precision positioning results; Analyzing key parameters of the transmission tower based on the positioning results; 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 composite errors; Using reverse network RTK technology, combined with RTCM data obtained by the data center, the observation data is fully ambiguity resolved; Calculate high-precision positioning results of transmission towers based on the corrected observation data; The step of analyzing key parameters of the transmission tower based on the positioning result includes: Real-time monitoring of the tilt and deformation rate of transmission towers; By comparing the initial coordinates and the real-time coordinates, the positioning deviation in the X and Y directions is calculated; The tower inclination plane displacement difference is calculated based on the distance from the Beidou positioning antenna installed on the transmission tower to the tower bottom and the tower angle.

2. The high-precision transmission tower tilt monitoring method according to claim 1, wherein: The quality assessment of the acquired transmission tower observation data includes: Use the 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 by the data center.

3. The high-precision transmission tower tilt monitoring method according to claim 2, wherein: The method also includes automatically triggering an early warning mechanism when the degree of tilt or the deformation rate exceeds a preset threshold.

4. The high-precision transmission tower tilt monitoring method according to claim 3, wherein: The RTCM data obtained by the data center is the RTCM data obtained by the data center from the CORS data center through the NTRIP protocol.

5. A high-precision tilt monitoring system for transmission towers, applying the method according to any one of claims 1 to 4, characterized in that: include: An evaluation module is used to perform quality evaluation on 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 high-precision positioning results; The analysis module is used to analyze key parameters of the transmission tower based on the positioning results.

6. 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 4 are implemented.

7. 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 4 are implemented.

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