Iron tower safety monitoring method, system and device based on navigation satellite signals

Abstract

The invention discloses an iron tower safety monitoring method, system and device based on a navigation satellite signal, and the method comprises the steps: obtaining an installation initialization parameter of an iron tower, calculating the height of the iron tower based on the installation initialization parameter, and building an installation coordinate system of the iron tower; wherein the installation initialization parameters comprise an initial geodetic coordinate of an observation point, an initial geodetic coordinate of a reference point and an installation height of the reference point; in the monitoring period, satellite navigation signals of the observation point and the reference point are collected to obtain current geodetic coordinates of the observation point and the reference point, and a change vector of the observation point under the installation coordinate system is obtained according to the initial geodetic coordinates of the observation point and the current geodetic coordinates of the observation point; and calculating inclination data information of the iron tower based on the change vector of the observation point, judging whether the iron tower settles or not according to the change of the current geodetic coordinate of the reference point relative to the initial geodetic coordinate of the reference point, and obtaining settlement data information of the iron tower through the change vector of the observation point.

Description

Technical Field

[0001] The present application relates to the fields of iron tower safety monitoring, navigation, and communication technology, and in particular to an iron tower safety monitoring method, system, and device based on navigation satellite signals. Background Art

[0002] The iron tower is a tower structure used to support and overhead wires, lightning conductors and other accessories. It is a tall steel structure that keeps the specified safe distance between wires, wires and iron towers, wires and lightning conductors, and wires and the ground or cross-over objects. The iron tower is the most commonly used support on high-voltage transmission lines. Its stability and reliability are important guarantees for the safe operation of transmission lines. Due to the long transmission distance of transmission lines, harsh environmental conditions along the way, complex geological terrain, and changeable climate, as well as the impact of various engineering constructions, mining and other human activities around the lines, the safety of power iron towers is greatly threatened, such as the tilting and settlement of iron towers.

[0003] At present, the main methods of tower safety monitoring are manual inspection and monitoring based on inclination sensors. Manual inspection is inefficient and has a long inspection cycle. It is not possible to monitor around the clock and lacks intelligent early warning and statistical analysis functions. In addition, the detection accuracy of the inclination sensor is limited and it is difficult to meet the relevant requirements of the national power industry standards. Moreover, the inclination sensor detects the local angle change of the tower and it is difficult to reflect the overall changes and settlement of the tower. Summary of the invention

[0004] The present application provides a tower safety monitoring method, system and device based on navigation satellite signals, which solves at least one problem in the above-mentioned prior art.

[0005] The specific technical solutions are as follows:

[0006] In a first aspect, an embodiment of the present application provides a tower safety monitoring method based on navigation satellite signals, comprising:

[0007] Acquire the installation initialization parameters of the iron tower, calculate the height of the iron tower based on the installation initialization parameters, and establish the installation coordinate system of the iron tower; wherein the installation initialization parameters include the initial geodetic coordinates of the observation point, the initial geodetic coordinates of the reference point, and the installation height of the reference point;

[0008] During the monitoring period, satellite navigation signals of the observation point and the reference point are collected to obtain the current geodetic coordinates of the observation point and the current geodetic coordinates of the reference point. According to the initial geodetic coordinates of the observation point and the current geodetic coordinates of the observation point, the change vector of the observation point in the installation coordinate system is obtained, and the inclination data information of the tower is calculated based on the change vector of the observation point. At the same time, according to the change of the current geodetic coordinates of the reference point relative to its initial geodetic coordinates, it is judged whether the tower has settled, and the settlement data information of the tower is obtained through the change vector of the observation point; wherein the inclination data information includes the inclination angle and the inclination direction, the settlement data information includes the settlement amount and the settlement direction, and the calculation formula of the inclination angle of the tower is:

[0009]

[0010] Where θ is the inclination angle of the tower, is the change vector of the observation point in the installation coordinate system, is the change vector The angle between the tower and the horizontal plane where the tower is installed; H is the height of the tower.

[0011] In some embodiments of the present application, the obtaining of the installation initialization parameters of the tower specifically includes:

[0012] The top center point of the tower is used as the observation point A, and any point at the bottom of the tower is selected as the reference point B;

[0013] Collect satellite navigation signals at the observation point A and the reference point B respectively, and calculate the initial geodetic coordinates of the observation point A in the geodetic coordinate system and the initial geodetic coordinates of the reference point B in the geodetic coordinate system;

[0014] The height of the reference point B from the tower installation horizontal plane is measured and taken as the installation height h of the reference point.

[0015] In some embodiments of the present application, the calculating the tower height based on the installation initialization parameters specifically includes:

[0016] The observation point A is vertically projected onto the horizontal plane of the tower installation and the horizontal plane where the reference point is located, and the installation projection point O is obtained. I and the reference projection point O B ;

[0017] According to the initial geodetic coordinates of the observation point A and the reference projection point O B The coordinates of the observation point A and the reference projection point O are calculated. B The distance between AO B ;

[0018] According to the observation point A and the reference projection point O B The distance between AO B The height H of the tower is calculated by the installation height h of the reference point, and the calculation formula is: H = AO B +h.

[0019] In some embodiments of the present application, establishing the installation coordinate system of the iron tower specifically includes:

[0020] The installation projection point O I The installation coordinate system of the tower is constructed with the east direction as the positive direction of the X axis, the north direction as the positive direction of the Y axis, and the direction perpendicular to the tower installation horizontal plane and toward the observation point A as the positive direction of the Z axis.

[0021] In some embodiments of the present application, obtaining the change vector of the observation point in the installation coordinate system according to the initial geodetic coordinates of the observation point and the current geodetic coordinates of the observation point specifically includes:

[0022] The initial geodetic coordinates A (Lon, Lat, Hei) of the observation point and the current geodetic coordinates A' (Lon', Lat', Hei') of the observation point are converted to the installation coordinate system, and the change vector of the observation point in the installation coordinate system is calculated. The coordinates (X AA′ , Y AA′ , Z AA′ ), and its calculation formula is:

[0023]

[0024] in, is the transformation matrix from the earth coordinate system to the installation coordinate system; N and N′ are the radius of the circle of the initial observation point A and the current observation point A′ respectively; a is the major axis of the Earth's ellipsoid, and b is the minor axis of the Earth's ellipsoid.

[0025] In some embodiments of the present application, the change vector based on the observation point The inclination direction of the tower is calculated, specifically including:

[0026] Calculate the change vector The angle between the projection of the tower on the horizontal plane and the true north direction is taken as the inclination direction δ of the tower, and its calculation formula is:

[0027]

[0028] Among them, YAA′ is the change vector The Y-axis coordinate of is the change vector Projection vector on the tower installation horizontal plane.

[0029] In some embodiments of the present application, the determining whether the iron tower has settled specifically includes:

[0030] It is determined whether the current geodetic coordinates of the reference point have changed relative to the initial geodetic coordinates thereof; if so, the tower has settled; otherwise, the tower has not settled.

[0031] In some embodiments of the present application, if the tower settles, obtaining settlement data information of the tower through the change vector of the observation point specifically includes:

[0032] The change vector The X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the tower are respectively used as the settlement of the tower in the east direction, the north direction, and the direction perpendicular to the horizontal plane of the tower installation and toward the observation point A, and the change vector The direction cosine angle α, direction cosine angle β, and direction cosine angle γ are respectively used as the settlement directions of the tower in the east direction, the north direction, and the direction perpendicular to the horizontal plane of the tower installation and toward the observation point A, wherein the calculation formula of the direction cosine angle α is: The calculation formula of the direction cosine angle β is: The calculation formula of the direction cosine angle γ is:

[0033] In a second aspect, an embodiment of the present application provides a tower safety monitoring system based on navigation satellite signals, including:

[0034] A monitoring end, wherein a monitoring device is installed on the tower, and the navigation satellite signal receiving antennas at the top and bottom are used as observation points and reference points respectively, and the tilt data information and settlement data information of the tower are obtained through the tower safety monitoring method based on navigation satellite signals described in the first aspect; and the meteorological information and vibration information of the temperature, humidity, and wind speed within a preset threshold range around the tower are collected through sensors, and video image information is collected through cameras; the monitoring end is used to generate multi-source heterogeneous monitoring data of the tower according to the tilt data information and settlement data information of the tower, the meteorological information, and the video image information, and transmit the multi-source heterogeneous monitoring data to the service end through a ground communication network or a satellite communication network, and receive control instructions from the service end;

[0035] The server is deployed in a monitoring room or in the cloud, and is responsible for receiving, storing, analyzing and displaying the multi-source heterogeneous monitoring data of the tower from the monitoring terminal; the server is also used to receive, store, analyze and display satellite remote sensing images of a wide area around the tower, and preliminarily locate the environmental factors that cause safety failures of the tower in combination with the multi-source heterogeneous monitoring data from the monitoring terminal; the server also uses long-period multi-source heterogeneous monitoring data and satellite remote sensing images to reconstruct the operating status of the tower in a long time series, evaluate the safety change trend of the tower, and warn of abnormal failures of the tower; the server displays the safety status of the tower in any one or more of a large screen, a computer and a mobile phone.

[0036] In the third aspect, an embodiment of the present application provides a tower safety monitoring device based on navigation satellite signals, comprising: a navigation signal receiving antenna, a processor, a communication module, a power module, an interface module, a memory, and a computer program stored in the memory. When the processor executes the computer program, it executes the tower safety monitoring method based on navigation satellite signals as described in the first aspect, and acts as a gateway to realize the collection, aggregation, arrangement and return of meteorological information of temperature, humidity and wind speed, vibration information, and video image information; wherein the communication module supports Ethernet, ground mobile communication network, ad hoc network, and satellite communication network, and the power module provides power to the tower safety monitoring device through solar energy and batteries; the tower safety monitoring device integrates a variety of sensors and cameras through the interface module to collect meteorological information of temperature, humidity, wind speed within a preset threshold range around the tower, as well as vibration and video image information.

[0037] The beneficial effects of the embodiments of the present application are as follows:

[0038] The tower safety monitoring method based on navigation satellite signals acquires the satellite navigation signals of the observation point and the reference point to obtain the real-time monitoring data of the two points, and then calculates the inclination angle, inclination direction, settlement amount and settlement direction of the tower according to the acquired real-time monitoring data. Combined with the meteorological information, video information and satellite remote sensing images around the tower, it can realize all-weather, all-round, full-real-time, low-cost and highly reliable remote monitoring of the safety status of towers in the power, communication, wind power and other industries. The detection accuracy is high, and the safety hazards of towers under conditions such as poor geology and bad weather can be discovered in time, and the environmental factors affecting the safety of the tower can be identified to avoid missing the opportunity to take accurate emergency repair measures. The method solves the problems of low efficiency and long inspection cycle of manual inspection in the prior art, inability to monitor all-weather and limited detection accuracy of the tilt sensor, which helps to reduce the number of on-site inspections of towers, improve the efficiency of tower operation and maintenance, reduce the cost of tower operation and maintenance, and realize the digitization, automation and intelligence of tower operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of a process of a tower safety monitoring method based on navigation satellite signals provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of a tower installation coordinate system provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of the change vector of the observation point in the installation coordinate system provided in the embodiment of the present application;

[0043] Figure 4 A schematic diagram of a tower safety monitoring system based on navigation satellite signals provided in an embodiment of the present application;

[0044] Figure 5 A schematic block diagram of a tower safety monitoring device based on navigation satellite signals provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" in the embodiments of the present application and the accompanying drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0047] The embodiment of the present application discloses a tower safety monitoring method based on navigation satellite signals, which can realize automatic and all-weather monitoring.

[0048] Figure 1A tower safety monitoring method based on navigation satellite signals provided in accordance with an embodiment of the present application is shown. Figure 1 As shown, the iron tower safety monitoring method comprises the following steps:

[0049] Step S110: Obtain the installation initialization parameters of the iron tower, calculate the height of the iron tower based on the installation initialization parameters, and establish the installation coordinate system of the iron tower.

[0050] Specifically, the installation initialization parameters in the present application include the initial geodetic coordinates of the observation point, the initial geodetic coordinates of the reference point, and the installation height of the reference point.

[0051] In some embodiments, Figure 2 As shown, the top center point of the tower is taken as observation point A, and any point at the bottom of the tower is selected as reference point B; satellite navigation signals are collected at observation point A and reference point B respectively, and the initial geodetic coordinates of observation point A in the geodetic coordinate system and the initial geodetic coordinates of reference point B in the geodetic coordinate system are calculated; the height of reference point B from the installation horizontal plane of the tower is measured and used as the installation height h of the reference point. The three-dimensional coordinates of observation point A and reference point B in the geodetic coordinate system and the height of reference point B from the installation horizontal plane of the tower are taken as the initial installation values ​​(i.e., the installation initialization parameters of the tower). It should be noted that observation point A can also be selected from any other point on the top of the tower, and this application does not impose any restrictions on this.

[0052] In other embodiments, Figure 2 As shown, the observation point A is vertically projected onto the horizontal plane of the tower installation and the horizontal plane where the reference point is located, and the installation projection point O is obtained. I and the reference projection point O B ; Based on the initial geodetic coordinates of observation point A and reference projection point O B The coordinates of the observation point A and the reference projection point O are calculated. B The distance between AO B ; According to the observation point A and the reference projection point O B The distance between AO B And the installation height h of the reference point, calculate the tower height H, the calculation formula is: H = AO B +h.

[0053] At the same time, if Figure 2 As shown, to install the projection point O I The origin is the east direction, the positive direction of the X axis is the north direction, the positive direction of the Y axis is the north direction, the direction perpendicular to the tower installation horizontal plane and toward the observation point A (i.e., toward the sky) is the positive direction of the Z axis, and the installation coordinate system of the tower is constructed based on the tower structure.

[0054] Step S120: During the monitoring period, satellite navigation signals of the observation point and the reference point are collected to obtain the current geodetic coordinates of the observation point and the current geodetic coordinates of the reference point.

[0055] The current geodetic coordinates of the observation point and the current geodetic coordinates of the reference point are A′ and B′ respectively.

[0056] Step S130: Obtain a change vector of the observation point in the installation coordinate system according to the initial geodetic coordinates of the observation point and the current geodetic coordinates of the observation point.

[0057] The three-dimensional coordinates of A in the geodetic coordinate system are denoted as (Lon, Lat, Hei), and the three-dimensional coordinates of A′ are denoted as (Lon′, Lat′, Hei′).

[0058] Convert the initial geodetic coordinates A(Lon, Lat, Hei) of the observation point and the current geodetic coordinates A′(Lon′, Lat′, Hei′) of the observation point to the installation coordinate system, and calculate the change vector of the observation point in the installation coordinate system The coordinates (X AA′ , Y AA′ , Z AA′ ), and its calculation formula is:

[0059]

[0060] in, is the transformation matrix from the earth coordinate system to the installation coordinate system; N and N′ are the radius of the circle of the initial observation point A and the current observation point A′ respectively; a is the major axis of the Earth's ellipsoid, and b is the minor axis of the Earth's ellipsoid.

[0061] Step S140: Obtain the inclination data information of the tower based on the change vector of the observation point.

[0062] like Figure 3 As shown, according to the change vector and the tower height H, the tower inclination angle θ is calculated, and the calculation formula is:

[0063]

[0064] in, is the change vector The angle between the tower installation horizontal plane and the tower installation horizontal plane. The projected length on the horizontal plane where the tower is installed divided by the tower height is the inclination angle θ of the tower.

[0065] Calculate the change vector The angle between the projection on the horizontal plane where the tower is installed and the true north direction is taken as the inclination direction δ of the tower, and its calculation formula is:

[0066]

[0067] Among them, Y AA′ is the change vector The Y-axis coordinate of is the change vector The projection vector on the horizontal plane of the tower installation. That is, the change vector The angle between the projection direction on the horizontal plane where the tower is installed and the true north direction is the inclination direction δ of the tower.

[0068] S150. Determine whether the tower has settled based on the change of the current geodetic coordinates of the reference point relative to its initial geodetic coordinates, and obtain settlement data information of the tower through the change vector of the observation point.

[0069] Specifically, it is determined whether the current geodetic coordinates of the reference point have changed relative to its initial geodetic coordinates, that is, whether the coordinates of the new reference point B' and the old reference point B have changed. If they have changed, the tower has settled, otherwise the tower has not settled. If the tower has settled, the settlement data information of the tower is obtained through the change vector of the observation point.

[0070] In some embodiments, when the tower settles, the vector The X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the tower are respectively used as the settlement of the tower in the due east direction, due north direction, and the direction perpendicular to the tower installation horizontal plane and toward the observation point A. That is, X AA′ , Y AA′ and Z AA′ They are the settlement of the tower in the east direction X, north direction Y, and skyward direction Z. Direction cosine angle Direction cosine angle Direction cosine angle They are respectively used as the settlement directions of the tower in the east direction X, the north direction Y and the skyward direction Z.

[0071] Corresponding to the above method embodiment, the present application embodiment also provides a tower safety monitoring system based on navigation satellite signals, which is used to execute the steps of the tower safety monitoring method based on navigation satellite signals in the above embodiment. Figure 4 As shown, the iron tower safety monitoring system based on navigation satellite signals includes: a monitoring terminal 210 and a service terminal 220.

[0072] Specifically, the monitoring end 210 installs a monitoring device on the tower, and the navigation satellite signal receiving antennas at the top and bottom are used as observation points and reference points respectively. The tilt data information and settlement data information of the tower are obtained through the tower safety monitoring method based on navigation satellite signals in the above embodiment; and the meteorological information and vibration information of temperature, humidity, wind speed within the preset threshold range around the tower are collected through sensors, and video image information is collected through cameras; the monitoring end is used to generate multi-source heterogeneous monitoring data of the tower according to the tilt data information and settlement data information, meteorological information, and video image information of the tower, and transmit the multi-source heterogeneous monitoring data to the service end through the ground communication network or the satellite communication network, and receive control instructions from the service end. Among them, the monitoring device installed on the tower includes multiple navigation satellite signal receiving antennas. It should be noted that the meteorological information in the embodiment of the present application includes but is not limited to temperature, humidity, and wind speed, and the sensors include but are not limited to vibration sensors, temperature sensors, wind speed sensors, and humidity sensors. In addition, the navigation satellite in the present application may refer to Beidou satellites or other navigation satellites.

[0073] The server 220 is deployed in the monitoring room or in the cloud, and is responsible for receiving, storing, analyzing and displaying the multi-source heterogeneous monitoring data of the tower from the monitoring end; the server is also used to receive, store, analyze and display the satellite remote sensing images of the wide area around the tower, and combine the multi-source heterogeneous monitoring data from the monitoring end to preliminarily locate the environmental factors that cause the safety failure of the tower; the server also uses the long-term multi-source heterogeneous monitoring data and satellite remote sensing images to reconstruct the operation status of the tower for a long time series, evaluate the safety change trend of the tower, and warn of abnormal failures of the tower; the server displays the safety status of the tower in any one or more of a large screen, a computer and a mobile phone. Among them, the server in the embodiment of the present application can preliminarily and quickly locate the environmental factors such as landslides, illegal construction, typhoons, etc. that cause the safety failure of the tower by receiving, storing, analyzing and displaying the satellite remote sensing images of the wide area around the tower, and combining the multi-source heterogeneous monitoring data from the monitoring end, thereby improving the efficiency of fault handling.

[0074] It should be noted that the tower safety monitoring system based on navigation satellite signals provided in the embodiment of the present application is based on the same concept as the tower safety monitoring method embodiment based on navigation satellite signals in the present application, and the technical effects it brings are the same as those in the tower safety monitoring method embodiment based on navigation satellite signals in the present application. For specific contents, please refer to the description in the tower safety monitoring method embodiment based on navigation satellite signals in the present application, which will not be repeated here.

[0075] The present application also provides a tower safety monitoring device based on navigation satellite signals, such as Figure 5As shown, the iron tower safety monitoring device includes: a navigation satellite signal receiving antenna, a processor, a communication module, a power module, an interface module, a memory, and a computer program stored in the memory. When the processor executes the computer program, it executes the steps in the above-mentioned iron tower safety monitoring method embodiment based on navigation satellite signals, and acts as a gateway to realize the collection, compilation and return of meteorological information, vibration information, and video image information of temperature, humidity, and wind speed. Among them, the communication module supports Ethernet, ground mobile communication network, ad hoc network, satellite communication network and other methods, and the power module provides power to the iron tower safety monitoring device through solar energy and batteries; the iron tower safety monitoring device integrates multiple sensors and cameras through the interface module to collect meteorological information of temperature, humidity, wind speed, vibration and video image information within the preset threshold range around the iron tower.

[0076] The iron tower safety monitoring device based on navigation satellite signals is an outdoor Internet of Things device or an indoor rack-mounted computing device. Those skilled in the art can understand that the iron tower safety monitoring device based on navigation satellite signals may include but is not limited to a processor and a memory, and may also include more or fewer components, or a combination of certain components, or different components. For example, the iron tower safety monitoring device based on navigation satellite signals may also include input and output devices, network access devices, buses, etc.

[0077] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0078] The memory may be an internal storage unit of the tower safety monitoring device based on navigation satellite signals, for example, a hard disk or memory of the tower safety monitoring device based on navigation satellite signals. The memory may also be an external storage device of the tower safety monitoring device based on navigation satellite signals, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital card (Secure Digital Card, referred to as SD card), a flash card (Flash Card), etc. equipped on the tower safety monitoring device based on navigation satellite signals. Further, the memory may also include both an internal storage unit of the tower safety monitoring device based on navigation satellite signals and an external storage device. The memory is used to store computer programs and other programs or data required by the tower safety monitoring device based on navigation satellite signals. The memory may also be used to temporarily store data that has been output or is to be output.

[0079] In the above embodiments, the description of each embodiment has different emphases. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0080] Those skilled in the art will appreciate that the modules and algorithm steps of the various embodiments described in conjunction with the embodiments disclosed in this specification can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of the present invention.

[0081] In summary, the present application discloses a tower safety monitoring method, system and device based on navigation satellite signals. By collecting satellite navigation signals of observation points and reference points, real-time monitoring data of the two points are obtained, and then the inclination angle, inclination direction, settlement amount and settlement direction of the tower are calculated according to the obtained real-time monitoring data. Combined with the meteorological information, video information, vibration and other information around the tower and satellite remote sensing images, all-weather, all-round, full-real-time, low-cost and highly reliable remote monitoring of the safety status of towers in the power, communication, wind power and other industries can be achieved. The detection accuracy is high, and safety hazards of towers under conditions such as poor geology and severe weather can be discovered in time, and environmental factors affecting the safety of towers can be identified to avoid missing the opportunity to take accurate emergency repair measures. The problems of low efficiency and long inspection cycle of manual inspection in the prior art, inability to monitor all-weather and limited detection accuracy of inclination sensors are solved. This helps to reduce the number of on-site inspections of towers, improve the efficiency of tower operation and maintenance, reduce the cost of tower operation and maintenance, and realize the digitization, automation and intelligence of tower operation and maintenance.

[0082] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0083] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0084] Finally, 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tower safety monitoring method based on navigation satellite signals, characterized in that: include: Acquire the installation initialization parameters of the iron tower, calculate the height of the iron tower based on the installation initialization parameters, and establish the installation coordinate system of the iron tower; wherein the installation initialization parameters include the initial geodetic coordinates of the observation point, the initial geodetic coordinates of the reference point, and the installation height of the reference point; During the monitoring period, satellite navigation signals of the observation point and the reference point are collected to obtain the current geodetic coordinates of the observation point and the current geodetic coordinates of the reference point. According to the initial geodetic coordinates of the observation point and the current geodetic coordinates of the observation point, the change vector of the observation point in the installation coordinate system is obtained, and the inclination data information of the tower is calculated based on the change vector of the observation point. At the same time, according to the change of the current geodetic coordinates of the reference point relative to its initial geodetic coordinates, it is judged whether the tower has settled, and the settlement data information of the tower is obtained through the change vector of the observation point; wherein the inclination data information includes the inclination angle and the inclination direction, the settlement data information includes the settlement amount and the settlement direction, and the calculation formula of the inclination angle of the tower is: Where θ is the inclination angle of the tower, is the change vector of the observation point in the installation coordinate system, is the change vector The angle between the tower and the horizontal plane where the tower is installed; H is the height of the tower.

2. The tower safety monitoring method based on navigation satellite signals according to claim 1 is characterized in that: The obtaining of the installation initialization parameters of the tower specifically includes: The top center point of the tower is used as the observation point A, and any point at the bottom of the tower is selected as the reference point B; Collect satellite navigation signals at the observation point A and the reference point B respectively, and calculate the initial geodetic coordinates of the observation point A in the geodetic coordinate system and the initial geodetic coordinates of the reference point B in the geodetic coordinate system; The height of the reference point B from the tower installation horizontal plane is measured and taken as the installation height h of the reference point.

3. The tower safety monitoring method based on navigation satellite signals according to claim 2 is characterized in that: The calculating of the tower height based on the installation initialization parameters specifically includes: The observation point A is vertically projected onto the horizontal plane of the tower installation and the horizontal plane where the reference point is located, and the installation projection point O is obtained. I and the reference projection point O B ; According to the initial geodetic coordinates of the observation point A and the reference projection point O B The coordinates of the observation point A and the reference projection point O are calculated. B The distance between AO B ; According to the observation point A and the reference projection point O B The distance between AO B The height H of the tower is calculated by the installation height h of the reference point, and the calculation formula is: H = AO B +h.

4. The tower safety monitoring method based on navigation satellite signals according to claim 3 is characterized in that: The step of establishing the installation coordinate system of the iron tower specifically includes: The installation projection point O I The installation coordinate system of the tower is constructed with the east direction as the positive direction of the X axis, the north direction as the positive direction of the Y axis, and the direction perpendicular to the tower installation horizontal plane and toward the observation point A as the positive direction of the Z axis.

5. The tower safety monitoring method based on navigation satellite signals according to claim 4 is characterized in that: The step of obtaining the change vector of the observation point in the installation coordinate system according to the initial geodetic coordinates of the observation point and the current geodetic coordinates of the observation point specifically includes: The initial geodetic coordinates A (Lon, Lat, Hei) of the observation point and the current geodetic coordinates A' (Lon', Lat', Hei') of the observation point are converted to the installation coordinate system, and the change vector of the observation point in the installation coordinate system is calculated. The coordinates (X AA′ , Y AA′ , Z AA′ ), and its calculation formula is: in, is the transformation matrix from the earth coordinate system to the installation coordinate system; N and N′ are the radius of the circle of the initial observation point A and the current observation point A′ respectively; a is the major axis of the Earth's ellipsoid, and b is the minor axis of the Earth's ellipsoid.

6. The tower safety monitoring method based on navigation satellite signals according to claim 5 is characterized in that: The change vector based on the observation point The calculation of the tilt direction of the tower specifically includes: Calculate the change vector The angle between the projection of the tower on the horizontal plane and the true north direction is taken as the inclination direction δ of the tower, and its calculation formula is: Among them, Y AA′ is the change vector The Y-axis coordinate of is the change vector Projection vector on the tower installation horizontal plane.

7. The tower safety monitoring method based on navigation satellite signals according to claim 5 is characterized in that: The determining whether the iron tower has settled specifically includes: It is determined whether the current geodetic coordinates of the reference point have changed relative to the initial geodetic coordinates thereof; if so, the tower has settled; otherwise, the tower has not settled.

8. The tower safety monitoring method based on navigation satellite signals according to claim 7 is characterized in that: If the tower settles, the settlement data information of the tower is obtained through the change vector of the observation point, which specifically includes: The change vector The X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the tower are respectively used as the settlement of the tower in the east direction, the north direction, and the direction perpendicular to the horizontal plane of the tower installation and toward the observation point A, and the change vector The direction cosine angle α, direction cosine angle β, and direction cosine angle γ are respectively used as the settlement directions of the tower in the east direction, the north direction, and the direction perpendicular to the horizontal plane of the tower installation and toward the observation point A, wherein the calculation formula of the direction cosine angle α is: The calculation formula of the direction cosine angle β is: The calculation formula of the direction cosine angle γ is:

9. A tower safety monitoring system based on navigation satellite signals, characterized in that: include: A monitoring end, wherein a monitoring device is installed on the tower, and the navigation satellite signal receiving antennas at the top and bottom are used as observation points and reference points respectively, and the tilt data information and settlement data information of the tower are obtained through the tower safety monitoring method based on navigation satellite signals as described in any one of claims 1-8; and the meteorological information and vibration information of the temperature, humidity, and wind speed within a preset threshold range around the tower are collected through sensors, and video image information is collected through cameras; the monitoring end is used to generate multi-source heterogeneous monitoring data of the tower according to the tilt data information and settlement data information of the tower, the meteorological information, and the video image information, and transmit the multi-source heterogeneous monitoring data to the server through a ground communication network or a satellite communication network, and receive control instructions from the server; The server is deployed in a monitoring room or in the cloud, and is responsible for receiving, storing, analyzing and displaying the multi-source heterogeneous monitoring data of the tower from the monitoring terminal; the server is also used to receive, store, analyze and display satellite remote sensing images of a wide area around the tower, and preliminarily locate the environmental factors that cause safety failures of the tower in combination with the multi-source heterogeneous monitoring data from the monitoring terminal; the server also uses long-period multi-source heterogeneous monitoring data and satellite remote sensing images to reconstruct the operating status of the tower in a long time series, evaluate the safety change trend of the tower, and warn of abnormal failures of the tower; the server displays the safety status of the tower in any one or more of a large screen, a computer and a mobile phone.

10. A tower safety monitoring device based on navigation satellite signals, characterized in that: include: A navigation satellite signal receiving antenna, a processor, a communication module, a power module, an interface module, a memory and a computer program stored in the memory. When the processor executes the computer program, it executes the tower safety monitoring method based on navigation satellite signals as described in any one of claims 1-8, and acts as a gateway to realize the collection, aggregation, arrangement and return of meteorological information of temperature, humidity and wind speed, vibration information and video image information; wherein the communication module supports Ethernet, terrestrial mobile communication network, ad hoc network and satellite communication network, and the power module provides power to the tower safety monitoring device through solar energy and batteries; the tower safety monitoring device integrates multiple sensors and cameras through the interface module to collect meteorological information of temperature, humidity and wind speed within a preset threshold range around the tower, as well as vibration and video image information.

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