A navigation satellite signal-based iron tower safety monitoring method, system and device

Abstract

The application discloses a tower safety monitoring method, system and device based on navigation satellite signals, and the tower safety monitoring method comprises the following steps: acquiring installation initialization parameters of a tower, calculating the height of the tower based on the installation initialization parameters, and establishing an installation coordinate system of the tower; wherein the installation initialization parameters comprise the initial geodetic coordinates of an observation point, the initial geodetic coordinates of a reference point, and the installation height of the reference point; in a 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 reference point, the change vector of the observation point in 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, the inclination data information of the tower is calculated based on the change vector of the observation point, meanwhile, whether the tower has settlement is judged according to the change of the current geodetic coordinates of the reference point relative to the initial geodetic coordinates of the reference point, and the settlement data information of the tower is obtained through the change vector of the observation point.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tower safety monitoring, navigation and communication, in particular to a tower safety monitoring method, system and device based on navigation satellite signals. BACKGROUND

[0002] A tower is a tower structure used to support and overhead conductor, lightning conductor and other accessories, so that the conductor and the conductor, the conductor and the tower, the conductor and the lightning conductor, the conductor and the ground or the crossing span maintain a prescribed safety distance. The tower is a high-rise steel structure used for supporting 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, the harsh environmental conditions along the way, the complex geology and topography, and the changeable climate, as well as the influence of various engineering construction, mining and other human activities around the line, the safety of the power tower is greatly threatened, such as tower inclination, settlement and other phenomena.

[0003] At present, the safety monitoring method of the tower mainly includes manual inspection and monitoring based on inclination sensors. The manual inspection has low efficiency and long inspection period, and cannot be monitored all day long, lacks intelligent early warning and statistical analysis functions. In addition, the detection accuracy of the inclination sensor is limited, which is difficult to meet the relevant requirements in the national power industry standard, and the inclination sensor detects the local angle change of the tower, which is difficult to reflect the overall change and settlement of the tower. SUMMARY

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

[0005] The specific technical solutions are as follows:

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

[0007] Obtaining installation initialization parameters of the tower, calculating the height of the tower based on the installation initialization parameters, and establishing an installation coordinate system of the 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 from observation points and reference points are collected to obtain the current geodetic coordinates of the observation points and the reference points. Based on the initial and current geodetic coordinates of the observation points, the change vector of the observation points in the installed coordinate system is obtained. The tilt data of the tower is calculated based on the change vector of the observation points. Simultaneously, based on the change of the current geodetic coordinates of the reference points relative to their initial geodetic coordinates, it is determined whether the tower has settled, and the settlement data of the tower is obtained through the change vector of the observation points. The tilt data includes the tilt angle and tilt direction, and the settlement data includes the settlement amount and settlement direction. The formula for calculating the tilt angle of the tower is:

[0009]

[0010] Where θ is the tilt angle of the tower. The vector representing the change of the observation point in the installed coordinate system. For changing vectors 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 this application, obtaining the installation initialization parameters of the tower specifically includes:

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

[0013] Satellite navigation signals are collected at observation point A and reference point B respectively, and the initial geodetic coordinates of observation point A and reference point B in the geodetic coordinate system are calculated.

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

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

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

[0017] Based on the initial geodetic coordinates of 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] Based on the observation point A and the reference projection point O B The distance between AO B The height H of the iron tower is calculated from the installation height h of the reference point, and the calculation formula is: H = AO B +h.

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

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

[0021] In some embodiments of this application, obtaining the change vector of the observation point in the installed coordinate system based on the initial geodetic coordinates and the current geodetic coordinates of the observation point specifically includes:

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

[0023]

[0024] in, is the transformation matrix from the geodetic coordinate system to the installed coordinate system; N and N′ are the radii of the zonal circles of the initial observation point A and the current observation point A′, respectively; a is the major semi-axis of the Earth ellipsoid, and b is the minor semi-axis of the Earth ellipsoid.

[0025] In some embodiments of this application, the change vector based on the observation point The calculation of the tower's tilt direction specifically includes:

[0026] Calculate the change vector The angle between the projection of the tower onto the horizontal plane and the due north direction is taken as the tilt direction δ of the tower, and its calculation formula is as follows:

[0027]

[0028] Among them, YAA′ For changing vectors Y-axis coordinate, For changing vectors The projection vector on the horizontal plane of the tower installation.

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

[0030] Determine whether the current geodetic coordinates of the reference point have changed relative to its initial geodetic coordinates. If they have changed, the tower has settled; otherwise, the tower has not settled.

[0031] In some embodiments of this application, if the tower settles, the settlement data information of the tower is obtained through the change vector of the observation point, specifically including:

[0032] The change vector The X-axis, Y-axis, and Z-axis coordinates are respectively used as the settlement of the iron tower in the east, north, and directions perpendicular to the horizontal plane where the iron tower is installed and towards the observation point A, and the change vector is... The direction cosine angles α, β, and γ are respectively used as the settlement directions of the iron tower in the east, north, and directions perpendicular to the horizontal plane where the iron tower is installed and towards the observation point A. The formula for calculating the direction cosine angle α is: The formula for calculating the direction cosine angle β is: The formula for calculating the direction cosine angle γ is:

[0033] Secondly, embodiments of this application provide a tower safety monitoring system based on navigation satellite signals, comprising:

[0034] The monitoring terminal is equipped with a monitoring device installed on the tower. Navigation satellite signal receiving antennas at the top and bottom serve as observation points and reference points, respectively. The tower's tilt and settlement data are acquired using the tower safety monitoring method based on navigation satellite signals described in the first aspect. Meteorological information such as temperature, humidity, and wind speed, as well as vibration information, are collected from the tower's perimeter within a preset threshold range using sensors. Video imagery is also collected via a camera. The monitoring terminal generates multi-source heterogeneous monitoring data for the tower based on its tilt and settlement data, the meteorological information, and the video imagery. This multi-source heterogeneous monitoring data is transmitted to the server via a terrestrial communication network or a satellite communication network, and control commands are received from the server.

[0035] The server, deployed in a monitoring room or in the cloud, is responsible for receiving, storing, analyzing, and displaying the multi-source heterogeneous monitoring data of the tower from the monitoring terminal. The server also receives, stores, analyzes, and displays wide-area satellite remote sensing imagery around the tower, and, combined with the multi-source heterogeneous monitoring data from the monitoring terminal, performs preliminary location of environmental factors causing tower safety faults. Furthermore, the server utilizes long-term multi-source heterogeneous monitoring data and satellite remote sensing imagery to reconstruct the tower's operational status over a long period, assessing the tower's safety change trends and providing early warnings of abnormal tower faults. The server displays the tower's safety status via a large screen, computer, or mobile phone, using any one or more of these methods.

[0036] Thirdly, this 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 supply 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 collect, aggregate, organize, and transmit meteorological information such as temperature, humidity, and wind speed, vibration information, and video image information. The communication module supports Ethernet, terrestrial mobile communication networks, ad hoc networks, and satellite communication networks. The power supply module provides power to the tower safety monitoring device via solar energy and a battery. The tower safety monitoring device integrates multiple sensors and cameras through the interface module to collect meteorological information such as temperature, humidity, and wind speed, as well as vibration and video image information within a preset threshold range around the tower.

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

[0038] This tower safety monitoring method based on navigation satellite signals acquires real-time monitoring data from observation points and reference points by collecting satellite navigation signals from both points. Based on this data, the method calculates the tower's tilt angle, tilt direction, settlement amount, and settlement direction. Combined with meteorological information, video data, and satellite remote sensing imagery surrounding the tower, it enables all-weather, all-round, real-time, low-cost, and highly reliable remote monitoring of tower safety status in industries such as power, communication, and wind power. It boasts high detection accuracy, promptly identifying potential safety hazards under adverse geological conditions and severe weather, and determining environmental factors affecting tower safety. This prevents missed opportunities for accurate emergency repairs and solves the problems of low efficiency and long inspection cycles associated with manual inspections, the inability to monitor in all weather conditions, and the limited accuracy of tilt sensors in existing technologies. This method helps reduce the number of on-site tower inspections, improves tower maintenance efficiency, lowers tower maintenance costs, and achieves digitalization, automation, and intelligence in tower maintenance. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A flowchart illustrating a tower safety monitoring method based on navigation satellite signals provided in this application embodiment;

[0041] Figure 2 This is a schematic diagram of the tower installation coordinate system provided in the embodiments of this application;

[0042] Figure 3 This is a schematic diagram of the change vector of the observation point in the installation coordinate system provided in the embodiments of this application;

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

[0044] Figure 5 This is a schematic diagram of the components of a tower safety monitoring device based on navigation satellite signals, provided in an embodiment of this application. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

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

[0047] This application discloses a method for monitoring the safety of iron towers based on navigation satellite signals, which can achieve automated, all-weather monitoring. Detailed explanations follow.

[0048] Figure 1This paper illustrates a method for monitoring the safety of iron towers based on navigation satellite signals, according to an embodiment of this application. For example... Figure 1 As shown, the tower safety monitoring method includes the following steps:

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

[0050] Specifically, the installation initialization parameters in this 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, such as Figure 2 As shown, the center point of the top 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, and the initial geodetic coordinates of observation point A and reference point B in the geodetic coordinate system are calculated. The height of reference point B above the horizontal plane of the tower installation is measured and taken 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 above the horizontal plane of the tower installation, are used as the initial installation values ​​(i.e., the initialization parameters of the tower installation). It should be noted that observation point A can also be any other point on the top of the tower; this application does not impose any restrictions on this.

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

[0053] At the same time, such as Figure 2 As shown, with projection point O installed. I With the origin as the center, the positive X-axis is due east, the positive Y-axis is due north, and the positive Z-axis is the direction perpendicular to the horizontal plane of the tower installation and facing the observation point A (i.e., the direction towards the sky). The installation coordinate system of the tower is constructed based on the tower structure.

[0054] Step S120: During the monitoring period, collect satellite navigation signals from the observation point and the reference point to obtain the current geodetic coordinates of the observation point and 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: Based on the initial geodetic coordinates and the current geodetic coordinates of the observation point, obtain the change vector of the observation point in the installed coordinate system.

[0057] Let the three-dimensional coordinates of A in the geodetic coordinate system be (Lon, Lat, Hei), and the three-dimensional coordinates of A′ be (Lon′, Lat′, Hei′).

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

[0059]

[0060] in, is the transformation matrix from the geodetic coordinate system to the installed coordinate system; N and N′ are the radii of the zonal circles of the initial observation point A and the current observation point A′, respectively; a is the major semi-axis of the Earth ellipsoid, and b is the minor semi-axis of the Earth ellipsoid.

[0061] Step S140: Calculate the tilt data of the tower based on the change vector of the observation point.

[0062] like Figure 3 As shown, based on the changing vector Given the tower height H, the tower's tilt angle θ can be calculated using the following formula:

[0063]

[0064] in, For changing vectors The angle between the tower and the horizontal plane where it is installed. That is, the changing vector. The angle of inclination θ of the tower is the projected length on the horizontal plane where the tower is installed, divided by the height of the tower.

[0065] Calculate the change vector The angle between the projection of the tower onto the horizontal plane and the due north direction is taken as the tower's tilt direction δ, and its calculation formula is as follows:

[0066]

[0067] Among them, Y AA′ For changing vectors Y-axis coordinate, For changing vectors The projection vector onto the horizontal plane where the tower is installed. That is, the changing vector. The angle between the projection direction of the tower onto the horizontal plane and the due north direction is the tower's tilt direction δ.

[0068] S150. Based on the change of the current geodetic coordinates of the reference point relative to its initial geodetic coordinates, determine whether the tower has settled, and obtain the 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, the coordinates of the new reference point B′ and the old reference point B are compared. If they have changed, the tower has settled; otherwise, the tower has not settled. If the tower has settled, the settlement data is obtained by observing the change vector of the observation point.

[0070] In some embodiments, when the tower settles, the change vector is... The X-axis, Y-axis, and Z-axis coordinates are used as the settlement of the tower in the east, north, and vertical directions (directly to the observation point A) respectively. AA′ Y AA′ and Z AA′ These represent the settlement of the tower in three directions: east (X), north (Y), and upwards (Z). The change vectors are also shown. Direction cosine angle Direction cosine angle Direction cosine angle These represent the settlement directions of the iron tower in the three directions of east (X), north (Y), and upward (Z).

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

[0072] Specifically, monitoring terminal 210 is equipped with a monitoring device on the tower. Navigation satellite signal receiving antennas at the top and bottom serve as observation points and reference points, respectively. The tower's tilt and settlement data are acquired using the tower safety monitoring method based on navigation satellite signals described in the above embodiment. Meteorological information such as temperature, humidity, and wind speed, as well as vibration information, are collected from sensors within a preset threshold range around the tower, along with video image information from a camera. The monitoring terminal generates multi-source heterogeneous monitoring data for the tower based on the tilt and settlement data, meteorological information, and video image information. This multi-source heterogeneous monitoring data is transmitted to the server via a terrestrial communication network or a satellite communication network, and control commands are received from the server. The monitoring device installed on the tower includes multiple navigation satellite signal receiving antennas. It should be noted that the meteorological information in this embodiment includes, but is not limited to, temperature, humidity, and wind speed; the sensors include, but are not limited to, vibration sensors, temperature sensors, wind speed sensors, and humidity sensors; and the navigation satellites in this application can refer to BeiDou satellites or other navigation satellites.

[0073] Server 220, deployed in a monitoring room or in the cloud, is responsible for receiving, storing, analyzing, and displaying multi-source heterogeneous monitoring data of the tower from the monitoring terminal. The server also receives, stores, analyzes, and displays wide-area satellite remote sensing imagery around the tower, and, combined with the multi-source heterogeneous monitoring data from the monitoring terminal, performs preliminary location analysis of environmental factors causing tower safety failures. Furthermore, the server utilizes long-term multi-source heterogeneous monitoring data and satellite remote sensing imagery to reconstruct the tower's operational status over a long period, assessing the tower's safety change trends and providing early warnings of abnormal tower failures. The server displays the tower's safety status via a large screen, computer, or mobile phone, using any one or more of these methods. In this embodiment, the server, by receiving, storing, analyzing, and displaying wide-area satellite remote sensing imagery around the tower, combined with the multi-source heterogeneous monitoring data from the monitoring terminal, can perform preliminary and rapid location analysis of environmental factors causing tower safety failures, such as landslides, illegal construction, and typhoons, improving fault handling efficiency.

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

[0075] This application also provides a tower safety monitoring device based on navigation satellite signals, such as... Figure 5As shown, the tower safety monitoring device includes: a navigation satellite signal receiving antenna, a processor, a communication module, a power supply module, an interface module, a memory, and a computer program stored in the memory. When the processor executes the computer program, it performs the steps in the above-described embodiment of the tower safety monitoring method based on navigation satellite signals, and acts as a gateway to collect, aggregate, organize, and transmit meteorological information such as temperature, humidity, and wind speed, vibration information, and video image information. The communication module supports Ethernet, terrestrial mobile communication networks, ad hoc networks, and satellite communication networks. The power supply module provides power to the tower safety monitoring device via solar energy and a battery. The tower safety monitoring device integrates various sensors and cameras through the interface module to collect meteorological information such as temperature, humidity, and wind speed, as well as vibration and video image information within a preset threshold range around the tower.

[0076] The tower safety monitoring device based on navigation satellite signals can be an outdoor Internet of Things (IoT) device or an indoor rack-mounted computing device. Those skilled in the art will understand that the 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 combinations of certain components, or different components. For example, the tower safety monitoring device based on navigation satellite signals may also include input / output devices, network access devices, buses, etc.

[0077] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor, or it can be any conventional processor.

[0078] The memory can be an internal storage unit of the tower safety monitoring device based on navigation satellite signals, such as a hard drive or RAM. Alternatively, it can be an external storage device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital Card (SD card), or Flash Card. Furthermore, the memory can include both internal and external storage units. This memory is used to store computer programs and other programs or data required by the tower safety monitoring device. It can also be used to temporarily store data that has been output or will be output.

[0079] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0080] Those skilled in the art will recognize 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0081] In summary, this application discloses a method, system, and device for monitoring the safety of iron towers based on navigation satellite signals. By collecting satellite navigation signals from observation points and reference points, real-time monitoring data of the two points is obtained. Then, based on the acquired real-time monitoring data, the tilt angle, tilt direction, settlement amount, and settlement direction of the iron tower are calculated. Combined with meteorological information, video information, vibration information, and satellite remote sensing images around the iron tower, it can achieve all-weather, all-round, real-time, low-cost, and highly reliable remote monitoring of the safety status of iron towers in industries such as power, communication, and wind power. It has high detection accuracy and can promptly detect potential safety hazards of iron towers under adverse geological conditions and severe weather, identify environmental factors affecting iron tower safety, and avoid missing the opportunity to take accurate emergency repair measures. It solves the problems of low efficiency and long inspection cycle of manual inspection in the prior art, inability to monitor in all weather conditions, and limited detection accuracy of tilt sensors. It helps to reduce the number of on-site inspections of iron towers, improve the efficiency of iron tower operation and maintenance, reduce iron tower operation and maintenance costs, and realize the digitalization, automation, and intelligence of iron tower operation and maintenance.

[0082] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0083] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring the safety of iron towers based on navigation satellite signals, characterized in that, include: 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; wherein, the installation initialization parameters include the initial geodetic coordinates of the observation point set at the top of the iron tower, and the initial geodetic coordinates and installation height of the reference point set at the bottom of the iron tower; During the monitoring period, satellite navigation signals from observation points and reference points are collected to obtain the current geodetic coordinates of the observation points and the reference points. Based on the initial and current geodetic coordinates of the observation points, the change vector of the observation points in the installed coordinate system is obtained. The tilt data of the tower is calculated based on the change vector of the observation points. Simultaneously, based on the change of the current geodetic coordinates of the reference points relative to their initial geodetic coordinates, it is determined whether the tower has settled, and the settlement data of the tower is obtained through the change vector of the observation points. The tilt data includes the tilt angle and tilt direction, and the settlement data includes the settlement amount and settlement direction. The formula for calculating the tilt angle of the tower is: Where θ is the tilt angle of the tower. The vector representing the change of the observation point in the installed coordinate system. For changing vectors The angle between the tower and the horizontal plane where the tower is installed; H is the height of the tower.

2. The method for monitoring the safety of iron towers based on navigation satellite signals according to claim 1, characterized in that, The acquisition of the tower's installation initialization parameters specifically includes: The center point at the top of the iron tower is taken as the observation point A, and any point at the bottom of the iron tower is selected as the 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 and reference point B in the geodetic coordinate system are calculated. The height of the reference point B from the horizontal plane where the iron tower is installed is measured and taken as the installation height h of the reference point.

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

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

5. The method for monitoring the safety of iron towers based on navigation satellite signals according to claim 4, characterized in that, The step of obtaining the change vector of the observation point in the installed coordinate system based on the initial geodetic coordinates and the current geodetic coordinates of the observation point specifically includes: The initial geodetic coordinates A(Lon, Lat, Hei) and the current geodetic coordinates A′(Lon′, Lat′, Hei′) of the observation point are transformed to the installed coordinate system, and the change vector of the observation point in the installed coordinate system is calculated. coordinates (X) AA′ Y AA′ Z AA′ The calculation formula is as follows: in, is the transformation matrix from the geodetic coordinate system to the installed coordinate system; N and N′ are the radii of the zonal circles of the initial observation point A and the current observation point A′, respectively; a is the major semi-axis of the Earth ellipsoid, and b is the minor semi-axis of the Earth ellipsoid.

6. The method for monitoring the safety of iron towers based on navigation satellite signals according to claim 5, characterized in that, The change vector based on the observation point The calculation of the tower's tilt direction specifically includes: Calculate the change vector The angle between the projection of the tower onto the horizontal plane and the due north direction is taken as the tilt direction δ of the tower, and its calculation formula is as follows: Among them, Y AA′ For changing vectors Y-axis coordinate, For changing vectors The projection vector on the horizontal plane of the tower installation.

7. The method for monitoring the safety of iron towers based on navigation satellite signals according to claim 5, characterized in that, The determination of whether the tower has settled specifically includes: Determine whether the current geodetic coordinates of the reference point have changed relative to its initial geodetic coordinates. If they have changed, the tower has settled; otherwise, the tower has not settled.

8. The method for monitoring the safety of iron towers based on navigation satellite signals according to claim 7, characterized in that, If the tower settles, the settlement data of the tower is obtained through the change vector of the observation point, specifically including: The change vector The X-axis, Y-axis, and Z-axis coordinates are respectively used as the settlement of the iron tower in the east, north, and directions perpendicular to the horizontal plane where the iron tower is installed and towards the observation point A, and the change vector is... The direction cosine angles α, β, and γ are respectively used as the settlement directions of the iron tower in the east, north, and directions perpendicular to the horizontal plane where the iron tower is installed and towards the observation point A. The formula for calculating the direction cosine angle α is: The formula for calculating the direction cosine angle β is: The formula for calculating the direction cosine angle γ is:

9. A tower safety monitoring system based on navigation satellite signals, characterized in that, include: The monitoring terminal is equipped with a monitoring device installed on the tower. Navigation satellite signal receiving antennas at the top and bottom serve as observation points and reference points, respectively. The tower's tilt and settlement data are acquired using the tower safety monitoring method based on navigation satellite signals as described in any one of claims 1-8. Meteorological information such as temperature, humidity, and wind speed, as well as vibration information, are collected from the area surrounding the tower within a preset threshold range using sensors. Video imagery is also collected via a camera. The monitoring terminal generates multi-source heterogeneous monitoring data for the tower based on the tilt and settlement data, the meteorological information, and the video imagery. This multi-source heterogeneous monitoring data is then transmitted to the server via a terrestrial communication network or a satellite communication network, and control commands are received from the server. The server, deployed in a monitoring room or in the cloud, is responsible for receiving, storing, analyzing, and displaying the multi-source heterogeneous monitoring data of the tower from the monitoring terminal. The server also receives, stores, analyzes, and displays wide-area satellite remote sensing imagery around the tower, and, combined with the multi-source heterogeneous monitoring data from the monitoring terminal, performs preliminary location of environmental factors causing tower safety faults. Furthermore, the server utilizes long-term multi-source heterogeneous monitoring data and satellite remote sensing imagery to reconstruct the tower's operational status over a long period, assessing the tower's safety change trends and providing early warnings of abnormal tower faults. The server displays the tower's safety status via a large screen, computer, or mobile phone, using any one or more of these methods.

10. A tower safety monitoring device based on navigation satellite signals, characterized in that, include: The system includes a navigation satellite signal receiving antenna, a processor, a communication module, a power supply module, an interface module, a memory, and a computer program stored in the memory. When the processor executes the computer program, it performs 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 collect, aggregate, organize, and transmit meteorological information such as temperature, humidity, and wind speed, vibration information, and video image information. The communication module supports Ethernet, terrestrial mobile communication networks, ad hoc networks, and satellite communication networks. The power supply module provides power to the tower safety monitoring device via solar energy and a battery. The tower safety monitoring device integrates multiple sensors and cameras through the interface module to collect meteorological information such as temperature, humidity, and wind speed, as well as vibration and video image information, within a preset threshold range around the tower.

Images