Lead state monitoring method and system based on PPP

Abstract

The invention discloses a PPP-based wire state monitoring method and system. The method comprises the steps of obtaining first historical data of a target wire, and performing first judgment on the first historical data; performing a first resolving operation or a first repairing operation on the first historical data according to the first judgment; and performing positioning result calculation on the data after the first resolving operation or the first repairing operation in combination with a first positioning algorithm, and performing wire state monitoring according to the positioning result. By fusing multiple data sources, the accuracy and reliability of monitoring are improved, and the problem of error accumulation possibly caused by a single data source is effectively avoided. When a cycle slip phenomenon occurs, data continuity and monitoring accuracy can be ensured through specific judgment conditions and repair operation, so that the robustness of a monitoring system is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire state monitoring based on PPP, and in particular to a wire state monitoring method and system based on PPP. Background Art

[0002] Conductor galloping monitoring is commonly used in power grid operation and maintenance. Conductor galloping monitoring relies on the GNSS positioning device installed on the conductor. Due to multipath effects, signal interference or hardware failure, the receiver cannot correctly track the satellite signal, resulting in a periodic mutation in the carrier phase observation value. This phenomenon is called cycle slip, which can have a serious impact on precise positioning.

[0003] In existing conductor condition monitoring technologies, a single data source is usually used for analysis, which often leads to incomplete and inaccurate monitoring results. For example, monitoring based solely on pseudorange observations or carrier observations may affect the reliability of monitoring due to incomplete data or error accumulation. In addition, when encountering cycle slips, traditional monitoring methods may not be able to effectively identify and process them, thus affecting the continuity and accuracy of monitoring. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above existing problems, the present invention is proposed.

[0006] Therefore, the present invention provides a conductor status monitoring method and system based on PPP, which can solve the problems mentioned in the background technology.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a conductor status monitoring method based on PPP, comprising:

[0009] Acquire first historical data of the target wire, and perform a first judgment on the first historical data;

[0010] performing a first solving operation or a first repairing operation on the first historical data according to the first judgment;

[0011] The first positioning algorithm is used to calculate the positioning result of the data after the first solving operation or the first repairing operation, and the wire status is monitored according to the positioning result.

[0012] As a preferred solution of the PPP-based wire status monitoring method of the present invention, the first judgment includes:

[0013] Setting a first judgment condition, and judging the first historical data according to the first judgment condition;

[0014] The first judgment condition is any condition for distinguishing data for the first solution operation or the first repair operation.

[0015] As a preferred solution of the conductor state monitoring method based on PPP of the present invention, the first solution operation or the first repair operation includes:

[0016] When the first judgment condition is met, performing a first solution operation;

[0017] When the first judgment condition is not satisfied, a first repair operation is performed.

[0018] As a preferred solution of the conductor status monitoring method based on PPP of the present invention, the first repair operation includes:

[0019] Setting a first interception threshold;

[0020] Acquire a first target distance according to the first historical data;

[0021] The first target distance is compared with the first interception threshold, and data where the first target distance is smaller than the first interception threshold is extracted.

[0022] As a preferred solution of the conductor state monitoring method based on PPP described in the present invention, wherein: the first historical data of the target conductor at least includes the original pseudorange observation value and the carrier observation value.

[0023] As a preferred solution of the PPP-based wire status monitoring method of the present invention, the first judgment condition includes:

[0024] If it is detected that the current epoch is not a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first solution operation;

[0025] If it is detected that the current epoch is a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first repair operation.

[0026] As a preferred solution of the PPP-based wire status monitoring method of the present invention, the first repair operation further includes:

[0027] Align the starting points of the corresponding window data extracted;

[0028] The truncated data is data whose first target distance is less than the first truncation threshold;

[0029] The ambiguity of each epoch with a fixed end length of each window data is weighted averaged to obtain the ambiguity repair data;

[0030] The ambiguity repair data is filled into the tail of the truncated data of the initial window data to obtain the ambiguity information after the cycle slip is repaired.

[0031] In a second aspect, the present invention provides a conductor status monitoring system based on PPP, comprising:

[0032] A data processing module, used for acquiring first historical data of a target wire and performing a first judgment on the first historical data;

[0033] a judgment module, configured to perform a first solving operation or a first repairing operation on the first historical data according to the first judgment;

[0034] The monitoring module is used to calculate the positioning result of the data after the first solution operation or the first repair operation in combination with the first positioning algorithm, and monitor the wire status according to the positioning result.

[0035] In a third aspect, the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned method when executing the computer program.

[0036] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method described above when executed by a processor.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention proposes a conductor status monitoring method and system based on PPP, which obtains the first historical data of the target conductor and performs a first judgment on the first historical data; performs a first solution operation or a first repair operation on the first historical data according to the first judgment; calculates the positioning result of the data after the first solution operation or the first repair operation in combination with the first positioning algorithm, and performs conductor status monitoring according to the positioning result. By integrating multiple data sources, the accuracy and reliability of monitoring are improved, and the error accumulation problem that may be caused by a single data source is effectively avoided. When encountering the cycle slip phenomenon, the present invention can ensure the continuity of data and the accuracy of monitoring through specific judgment conditions and repair operations, thereby improving the robustness of the monitoring system. It is not only suitable for conductor dancing monitoring in the power industry, but can also be extended to other fields that require high-precision positioning and status monitoring, such as bridges, railways, pipelines, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0039] Figure 1 A method flow chart of a conductor status monitoring method and system based on PPP is provided as an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0041] Example 1

[0042] Reference Figure 1 , is the first embodiment of the present invention, which provides a conductor status monitoring method and system based on PPP, including:

[0043] There are some problems in the existing related technologies. For example, the traditional wire status monitoring method often relies on a single data source, which may lead to incomplete and inaccurate monitoring results. In addition, when faced with complex and changing environmental factors, the monitoring system with a single data source may not be able to accurately reflect the actual status of the wire in a timely manner, thus affecting the reliability and efficiency of monitoring.

[0044] The present application provides a method that can effectively solve the above-mentioned problems. Next, multiple embodiments will be combined to explain in detail how to implement the PPP-based wire status monitoring method;

[0045] Figure 1 A method flow chart of a conductor status monitoring method and system based on PPP is shown, comprising:

[0046] S100: Acquire first historical data of a target wire, and perform a first judgment on the first historical data;

[0047] In an optional embodiment, the first historical data of the target conductor may include historical records of parameters such as temperature, humidity, vibration, current and voltage, and may also be data acquired by a GNSS positioning device on the conductor. Through these data, the system can perform multi-dimensional analysis and evaluation of the operating status of the conductor.

[0048] In the embodiment of the present application, the first historical data of the target conductor uses data acquired by a GNSS positioning device on the conductor;

[0049] In the embodiment of the present application, the first historical data of the target conductor at least includes original pseudorange observation values ​​and carrier observation values.

[0050] In the embodiment of the present application, the first judgment condition includes:

[0051] If it is detected that the current epoch is not a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first solution operation;

[0052] If it is detected that the current epoch is a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first repair operation.

[0053] It should be noted that conductor dance monitoring is commonly used in power grid operation and maintenance, and conductor dance monitoring relies on the GNSS positioning device installed on the conductor. Due to multipath effects, signal interference or hardware failure, the receiver cannot correctly track the satellite signal, resulting in a periodic mutation in the carrier phase observation value. This phenomenon is called cycle slip, which can have a serious impact on precise positioning.

[0054] In an optional embodiment, the first solution operation may use a Kalman filter algorithm to improve the accuracy and real-time performance of data processing. The Kalman filter algorithm can effectively process measurement data containing noise, and optimize the pseudorange observation value and the carrier observation value through two steps of prediction and update, thereby obtaining a more accurate wire state estimation.

[0055] In an optional embodiment, the first solution operation can also use the least square method for data processing. The least square method is a mathematical optimization technique that finds the best function match for the data by minimizing the sum of squares of errors. When processing wire condition monitoring data, this method can effectively estimate the real-time position and motion state of the wire, and provide a relatively stable and accurate solution result even in the presence of noise and outliers.

[0056] It should be noted that the above steps can further improve the robustness and reliability of the monitoring system and ensure that high-quality monitoring data can be obtained in various complex environments.

[0057] In an optional embodiment, the first solution operation may also use a particle filter algorithm. Particle filtering is a recursive Bayesian filtering technique based on the Monte Carlo method, which is particularly suitable for state estimation problems in nonlinear and non-Gaussian noise environments. By representing the probability distribution through a series of random samples (particles), particle filtering can estimate the state of a dynamic system and can adapt to the uncertainty of the system model and the statistical characteristics of noise.

[0058] It should be noted that in conductor state monitoring, the particle filter algorithm can handle complex dynamic changes and provide continuous, high-precision state estimation, which is particularly suitable for monitoring conductors under the influence of natural factors such as wind and temperature changes.

[0059] In the embodiment of the present application, the first solution operation is to solve the tropospheric delay and ambiguity in the zenith direction of the wire dancing detection device through the original pseudo-range observation value and the carrier observation value, and the Kalman filter algorithm is adopted. The present application does not limit the first solution operation;

[0060] In an optional embodiment, the first repair operation may use an anomaly detection algorithm based on deep learning. The algorithm can detect abnormal patterns in the data by training a neural network model that can recognize normal state data patterns. In wire state monitoring, abnormal patterns may represent abnormal vibration, breakage or other potential fault conditions of the wire. By monitoring the difference between real-time data and model prediction values, abnormal conditions can be discovered and reported in a timely manner, thereby achieving real-time monitoring and early warning of the wire state.

[0061] In an optional embodiment, the first repair operation may also use a rule-based reasoning system to identify and correct errors in the data. The system analyzes the data stream through a series of preset rules, which are based on prior knowledge and experience of wire status monitoring.

[0062] In an optional embodiment, when the monitored data does not match the rules, the system will automatically trigger the corresponding repair procedure to correct the errors or anomalies in the data. For example, if the detected vibration frequency exceeds the normal range, the system will determine whether it is necessary to adjust the sensitivity of the sensor or check the physical state of the wire according to the rules.

[0063] It should be noted that, in this way, the first repair operation can ensure the accuracy and reliability of the data, providing a solid foundation for subsequent analysis and decision-making.

[0064] In the embodiment of the present application, the first judgment includes:

[0065] Setting a first judgment condition, and judging the first historical data according to the first judgment condition;

[0066] The first judgment condition is any condition for distinguishing the data for the first solving operation or the first repairing operation.

[0067] In an optional embodiment, the first judgment condition may be a time threshold, which is used to judge whether the data remains stable within a specific time.

[0068] It should be noted that if the data change amplitude within the set time is less than the preset threshold, the data is considered stable and the first solution operation can be performed; conversely, if the data change amplitude exceeds the threshold, the first repair operation is triggered.

[0069] In an optional embodiment, the first judgment condition may also include statistical characteristics of the data, such as mean, variance, etc., to ensure that the statistical distribution of the data conforms to the expected pattern.

[0070] It should be noted that when the statistical characteristics of the data are significantly different from those of the historical data, the system will perform a first repair operation to ensure the accuracy and reliability of the data.

[0071] In an optional embodiment, the logic of judging whether the current epoch is a cycle slip epoch may be used as the first judgment condition;

[0072] In an embodiment of the present application, whether the current epoch is a cycle slip epoch is determined according to the original pseudorange observation value and the carrier observation value. If it is detected that the current epoch is not a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first solution operation. If the current epoch is a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first repair operation.

[0073] It should be noted that obtaining the first historical data of the target conductor and making a first judgment on the first historical data can provide a comparative benchmark for the current data, thereby more accurately judging the stability and change trend of the data. By analyzing the statistical characteristics of the historical data, the normal fluctuation range of the data can be identified, which helps to distinguish normal changes from abnormal fluctuations. When there is a significant difference between the historical data and the current data, the first repair operation can be triggered in time to prevent erroneous data from affecting the accuracy of the monitoring results. Through comparative analysis of historical data, the algorithm of the first solution operation can be optimized to improve the efficiency and accuracy of data processing.

[0074] S200: performing a first solution operation or a first repair operation on the first historical data according to the first judgment;

[0075] In an embodiment of the present application, the first solving operation or the first repairing operation includes:

[0076] When the first judgment condition is met, a first solution operation is performed;

[0077] When the first judgment condition is not satisfied, a first repair operation is performed.

[0078] It should be noted that the first judgment condition is to judge whether the current epoch is a cycle slip epoch according to the original pseudorange observation value and the carrier observation value. If it is detected that the current epoch is not a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first solution operation. If the current epoch is a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first repair operation.

[0079] In the embodiment of the present application, the specific steps of determining whether the current epoch is a cycle slip epoch according to the original pseudorange observation value and the carrier observation value are:

[0080] Compute the phase geometry-independent combined observations for each epoch

[0081] Among them, d ion2 represents the ionospheric delay of the second frequency, d ion1 represents the ionospheric delay of the first frequency, λ1 represents the wavelength of the first frequency, λ2 represents the wavelength of the second frequency, N1(k) represents the carrier phase ambiguity of the kth epoch of the first frequency, N2(k) represents the carrier phase ambiguity of the kth epoch of the first frequency, represents the carrier phase combined observation noise, k represents the epoch number;

[0082] Furthermore, the pseudorange P of each epoch is calculated GF (k) Combination:

[0083]

[0084] in, represents the pseudorange combination observation noise;

[0085] Furthermore, a polynomial fitting is performed on the pseudorange geometry-independent combination to obtain the fitting polynomial Q k ;

[0086] Where n represents the number of epochs;

[0087] In an alternative embodiment, if |ΔL GF (k)-ΔL GF (k-1)|>6·(λ2-λ1) and |ΔL GF (k+1)-ΔL GF (k)|>1·(λ2-λ1) are both true, then it is determined that there is a cycle slip in the current epoch;

[0088] Where, ΔL GF (k) = L GF (k)-Qk .

[0089] In an optional embodiment, a polynomial fitting is performed on the pseudorange geometry-independent combination to obtain a fitting polynomial Q k The method is:

[0090] The fitting order is m, m=min(n / 100+1,6).

[0091] It should be noted that the above judgment criteria can be summarized into the following specific conditions:

[0092] Condition 1: |ΔL GF (k)-ΔL GF (k-1)|>6·(λ2-λ1) and |ΔL GF (k+1)-ΔL GF (k)|>1·(λ2-λ1);

[0093] Condition 2: and

[0094] If any one of condition 1 and condition 2 is met, it is determined that there is a cycle slip in the current epoch;

[0095]

[0096] Among them, N WL (k) represents the widelane ambiguity at the kth epoch, represents the wide lane ambiguity mean value at the kth epoch, λ WL represents the wide lane wavelength, f1 represents the first frequency, f2 represents the second frequency, P1(k) represents the pseudorange observation value of the first frequency at the kth epoch, and P2(k) represents the pseudorange observation value of the second frequency at the kth epoch. represents the carrier phase observations in cycles of the first frequency, represents the carrier phase observation value of the second frequency in weeks, and σ2(k) represents the widelane ambiguity variance of the i-th epoch.

[0097] In the embodiment of the present application, the first solution operation is to solve the tropospheric delay and ambiguity in the zenith direction of the wire dancing detection device through the original pseudo-range observation value and the carrier observation value, and the Kalman filter algorithm is adopted. The present application does not limit the first solution operation;

[0098] In the embodiment of the present application, the first repair operation includes:

[0099] Setting a first interception threshold;

[0100] Acquire a first target distance according to first historical data;

[0101] The first target distance is compared with a first interception threshold, and data whose first target distance is smaller than the first interception threshold is extracted.

[0102] In the embodiment of the present application, the first repair operation further includes:

[0103] Align the starting points of the corresponding window data extracted;

[0104] The truncated data is data whose first target distance is less than a first truncation threshold;

[0105] The ambiguity of each epoch with a fixed end length of each window data is weighted averaged to obtain the ambiguity repair data;

[0106] The ambiguity repair data is filled into the tail of the truncated data of the initial window data to obtain the ambiguity information after the cycle slip is repaired.

[0107] Exemplarily, the ambiguity epoch sequence {N i (0),N i (1),...,N i (n)}, where i represents the satellite number;

[0108] Furthermore, a sliding window L is set, and the length of the sliding window L is twice the epoch interval between the current epoch and the epoch where the cycle slip occurs;

[0109] Furthermore, the sliding window is extended from the current epoch N of the ambiguity epoch sequence i (n) starts sliding and obtaining values, and each sliding value obtains window data {N i (tL),N i (t-L+1),...,N i (t)}, the sliding step is the difference W between the current epoch and the epoch where the cycle slip occurs, and the sliding direction is N i (0) Direction;

[0110] Furthermore, by truncating the window, the truncated data of each window data is intercepted {N i (tL),N i (t-L+1),...,N i (tW)}, the length of the truncation window is LW, and the initial value of the truncation window intercepted data is the starting point of each window data;

[0111] Furthermore, we calculate each truncated data {N i (tL),N i (t-L+1),...,N i (tW)} and the truncated data of the initial window data {N i (nL),Ni (n-L+1),...,N i (nW)} it ;

[0112] Furthermore, for the Euclidean distance d it Each truncated data whose (i.e., the first target distance) is less than a set threshold ω (i.e., the first interception threshold) is extracted;

[0113] Furthermore, the starting points of the window data corresponding to the extracted truncated data are aligned, and the ambiguity of each epoch with the end length W of each window data is weighted averaged to obtain the ambiguity repair data;

[0114] Furthermore, the ambiguity repair data is filled into the tail of the truncated data of the initial window data to obtain the ambiguity information after the cycle slip repair.

[0115] In an optional embodiment, the weights in the weighted average of the ambiguity of each epoch with a tail length of W for each window data are calculated by the following method:

[0116]

[0117] in, represents the weight of the ambiguity of the window data j epochs away from the initial window data of the i-th satellite, M represents the number of window data, and τ represents the correlation coefficient.

[0118] It should be noted that performing a first solution operation or a first repair operation on the first historical data according to the first judgment can effectively improve the accuracy and reliability of the data. By judging whether the data meets specific conditions, it can be determined whether the data needs to be repaired, thereby avoiding monitoring errors caused by data anomalies. In addition, this method can also reduce repeated measurements due to data loss or damage, thereby improving monitoring efficiency. In practical applications, this method can ensure the continuity and stability of conductor status monitoring, and provide strong technical support for the safe operation of the power system.

[0119] S300: Calculate the positioning result of the data after the first solution operation or the first repair operation in combination with the first positioning algorithm, and monitor the conductor status according to the positioning result.

[0120] In an optional embodiment, monitoring the conductor state according to the positioning results includes but is not limited to the following steps: First, the data after the first solution operation or the first repair operation is processed using a first positioning algorithm to obtain accurate positioning information. Then, based on these positioning information, combined with the physical characteristics and environmental parameters of the conductor, a conductor state monitoring model is established. The model can reflect the key state parameters of the conductor such as tension, temperature, vibration, etc. in real time. By monitoring these parameters in real time, abnormal conditions of the conductor, such as broken wires, overloads, corrosion, etc., can be discovered in time, thereby achieving comprehensive monitoring of the conductor state. In addition, the monitoring system can also be integrated with the existing power system monitoring platform to achieve data sharing and remote monitoring, further improving the operating efficiency and safety of the power system.

[0121] The invention significantly improves the positioning accuracy and stability of the conductor status monitoring system by introducing a cycle slip detection and repair mechanism. Its innovation lies in the ability to identify and correct the cycle slip phenomenon that occurs during satellite signal reception in real time, accurately repair ambiguity through sliding windows and truncated data methods, and further improve the accuracy of data processing;

[0122] The present invention performs weighted averaging on the ambiguity of each epoch, and the weight is negatively exponentially correlated with the time distance. This allows the present invention to reduce the impact of data with a long time distance on the current cycle slip repair and enhance the impact of data with a short time distance on the current cycle slip, thereby avoiding the impact of data errors caused by large environmental differences due to long time distances.

[0123] The present invention detects cycle slips through condition 1 and condition 2. Detection through condition 1 can avoid the problem that condition 2 cannot detect cycle slips of equal magnitude at two frequencies. Detection through condition 2 can avoid the problem that condition 1 cannot detect cycle slips of special ratios, for example, the ratio is 77 / 60, which cannot be detected using condition 1.

[0124] In summary, the present invention proposes a conductor state monitoring method based on PPP, which obtains the first historical data of the target conductor and performs a first judgment on the first historical data; performs a first solution operation or a first repair operation on the first historical data according to the first judgment; calculates the positioning result of the data after the first solution operation or the first repair operation in combination with the first positioning algorithm, and performs conductor state monitoring according to the positioning result. By integrating multiple data sources, the accuracy and reliability of monitoring are improved, and the error accumulation problem that may be caused by a single data source is effectively avoided. When encountering the cycle slip phenomenon, the present invention can ensure the continuity of data and the accuracy of monitoring through specific judgment conditions and repair operations, thereby improving the robustness of the monitoring system. It is not only suitable for conductor dancing monitoring in the power industry, but can also be extended to other fields that require high-precision positioning and state monitoring, such as bridges, railways, pipelines, etc.

[0125] Example 2

[0126] This embodiment also provides a wire status monitoring system based on PPP, including:

[0127] A data processing module, used for acquiring first historical data of a target wire and performing a first judgment on the first historical data;

[0128] A judgment module, configured to perform a first solution operation or a first repair operation on the first historical data according to a first judgment;

[0129] The monitoring module is used to calculate the positioning result of the data after the first solution operation or the first repair operation in combination with the first positioning algorithm, and monitor the wire status according to the positioning result.

[0130] The above-mentioned unit modules may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above-mentioned modules.

[0131] This embodiment also provides a computer device, which can be a terminal. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a wire state monitoring method based on PPP is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0132] This embodiment further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0133] Acquiring first historical data of the target wire, and performing a first judgment on the first historical data;

[0134] Performing a first solving operation or a first repairing operation on the first historical data according to the first judgment;

[0135] The first positioning algorithm is used to calculate the positioning result of the data after the first solving operation or the first repairing operation, and the conductor status is monitored according to the positioning result.

[0136] Example 3

[0137] According to the system structure and functions in the above embodiment, the following specific system architecture is designed:

[0138] A cycle slip detection module is used to determine whether the current epoch is a cycle slip epoch based on the original pseudorange observation value and the carrier observation value. If it is detected that the current epoch is not a cycle slip epoch, the original pseudorange observation value and the carrier observation value are sent to the transfer result solution module. If the current epoch is a cycle slip epoch, the original pseudorange observation value and the carrier observation value are sent to the cycle slip repair module.

[0139] The transfer result solving module solves the tropospheric delay and ambiguity in the zenith direction of the wire dancing detection device according to the original pseudo-range observation value and the carrier observation value, and finally sends the tropospheric delay and ambiguity in the zenith direction of the wire dancing detection device to the positioning module;

[0140] The cycle slip repair module is used to repair the cycle slip and bring the repaired ambiguity into the original observation equation. The repair method includes the following steps:

[0141] Obtain the ambiguity epoch sequence {N i (0),N i (1),...,N i (n)}, where i represents the satellite number;

[0142] Set the sliding window L, the length of which is twice the epoch interval between the current epoch and the epoch where the cycle slip occurs;

[0143] Set the sliding window from the current epoch N of the ambiguity epoch sequence i (n) starts sliding and obtaining values, and each sliding value obtains window data {N i (tL),N i (t-L+1),...,N i (t)}, the sliding step is the difference W between the current epoch and the epoch where the cycle slip occurs, and the sliding direction is N i (0) Direction;

[0144] By truncating the window, the truncation data of each window data is intercepted {N i (tL),N i (t-L+1),...,N i (tW)}, the length of the truncation window is LW, and the initial value of the truncation window intercepted data is the starting point of each window data;

[0145] Calculate each truncated data {N i (tL),N i (t-L+1),...,N i (tW)} and the truncated data of the initial window data {N i (nL),N i (n-L+1),...,N i (nW)} it ;

[0146] Euclidean distance d it Each truncated data smaller than the set threshold ω is extracted;

[0147] Align the starting point of the window data corresponding to the extracted truncated data, and take the weighted average of the ambiguity of each epoch with the end length W of each window data to obtain the ambiguity repair data;

[0148] Fill the ambiguity repair data to the tail of the truncated data of the initial window data to obtain the ambiguity information after the cycle slip repair;

[0149] The positioning module substitutes the ambiguity information of each satellite after the cycle slip repair into the original observation equation to obtain the precise single-point positioning result, and records the precise single-point positioning result of each epoch to obtain the line dance monitoring time series.

[0150] Furthermore, the weights in the weighted average of the ambiguity of each epoch with the tail length W of each window data are calculated by the following method:

[0151]

[0152] in, represents the weight of the ambiguity of the window data j epochs away from the initial window data of the i-th satellite, M represents the number of window data, and τ represents the correlation coefficient.

[0153] Furthermore, the specific steps of judging whether the current epoch is a cycle slip epoch based on the original pseudorange observation value and the carrier observation value are as follows:

[0154] Compute the phase geometry-independent combined observations for each epoch

[0155] Among them, d ion2 represents the ionospheric delay of the second frequency, d ion1represents the ionospheric delay of the first frequency, λ1 represents the wavelength of the first frequency, λ2 represents the wavelength of the second frequency, N1(k) represents the carrier phase ambiguity of the kth epoch of the first frequency, N2(k) represents the carrier phase ambiguity of the kth epoch of the first frequency, represents the carrier phase combined observation noise, k represents the epoch number;

[0156] Furthermore, the pseudorange P of each epoch is calculated GF (k) Combination:

[0157]

[0158] in, represents the pseudorange combination observation noise;

[0159] Furthermore, a polynomial fitting is performed on the pseudorange geometry-independent combination to obtain the fitting polynomial Q k ;

[0160] Where n represents the number of epochs;

[0161] If |ΔL GF (k)-ΔL GF (k-1)|>6·(λ2-λ1) and |ΔL GF (k+1)-ΔL GF (k)|>1·(λ2-λ1) are both true, then it is determined that there is a cycle slip in the current epoch;

[0162] Among them, ΔL GF (k) = L GF (k)-Q k .

[0163] Furthermore, a polynomial fitting is performed on the pseudorange geometry-independent combination to obtain the fitting polynomial Q k The method is: the fitting order is m, m=min(n / 100+1,6).

[0164] Furthermore, a polynomial fitting is performed on the pseudorange geometry-independent combination to obtain the fitting polynomial Q k The method is:

[0165] The fitting order is m, m=min(n / 100+1,6).

[0166] Furthermore, the above judgment criteria can be summarized into the following specific conditions:

[0167] Condition 1: |ΔL GF (k)-ΔL GF (k-1)|>6·(λ2-λ1) and |ΔL GF (k+1)-ΔLGF (k)|>1·(λ2-λ1);

[0168] Condition 2: and

[0169] If any one of condition 1 and condition 2 is met, it is determined that there is a cycle slip in the current epoch;

[0170]

[0171] Among them, N WL (k) represents the widelane ambiguity at the kth epoch, represents the wide lane ambiguity mean value at the kth epoch, λ WL represents the wide lane wavelength, f1 represents the first frequency, f2 represents the second frequency, P1(k) represents the pseudorange observation value of the first frequency at the kth epoch, and P2(k) represents the pseudorange observation value of the second frequency at the kth epoch. represents the carrier phase observations in cycles of the first frequency, represents the carrier phase observation value of the second frequency in weeks, and σ2(k) represents the widelane ambiguity variance of the i-th epoch.

[0172] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

[0173] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0174] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0175] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0176] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0177] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0178] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A conductor status monitoring method based on PPP, characterized in that: include: Acquire first historical data of the target wire, and perform a first judgment on the first historical data; performing a first solving operation or a first repairing operation on the first historical data according to the first judgment; The first positioning algorithm is used to calculate the positioning result of the data after the first solving operation or the first repairing operation, and the wire status is monitored according to the positioning result.

2. The wire status monitoring method based on PPP as claimed in claim 1, characterized in that: The first judgment includes: Setting a first judgment condition, and judging the first historical data according to the first judgment condition; The first judgment condition is any condition for distinguishing data for the first solution operation or the first repair operation.

3. The wire status monitoring method based on PPP as claimed in claim 2, characterized in that: The first solving operation or the first repairing operation comprises: When the first judgment condition is met, performing a first solution operation; When the first judgment condition is not satisfied, a first repair operation is performed.

4. The PPP-based wire status monitoring method according to claim 3, characterized in that: The first repair operation includes: Setting a first interception threshold; Acquire a first target distance according to the first historical data; The first target distance is compared with the first interception threshold, and data where the first target distance is smaller than the first interception threshold is extracted.

5. The PPP-based wire status monitoring method according to claim 4, characterized in that: The first historical data of the target conductor at least includes original pseudorange observation values ​​and carrier observation values.

6. The PPP-based conductor status monitoring method according to claim 5, characterized in that: The first judgment condition includes: If it is detected that the current epoch is not a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first solution operation; If it is detected that the current epoch is a cycle slip epoch, the original pseudorange observation value and the carrier observation value are subjected to a first repair operation.

7. The PPP-based wire status monitoring method according to claim 6, characterized in that: The first repair operation further includes: Align the starting points of the corresponding window data extracted; The truncated data is data whose first target distance is less than the first truncation threshold; The ambiguity of each epoch with a fixed end length of each window data is weighted averaged to obtain the ambiguity repair data; The ambiguity repair data is filled into the tail of the truncated data of the initial window data to obtain the ambiguity information after the cycle slip is repaired.

8. A conductor status monitoring system based on PPP, characterized in that: include: A data processing module, used for acquiring first historical data of a target wire and performing a first judgment on the first historical data; a judgment module, configured to perform a first solving operation or a first repairing operation on the first historical data according to the first judgment; The monitoring module is used to calculate the positioning result of the data after the first solution operation or the first repair operation in combination with the first positioning algorithm, and monitor the wire status according to the positioning result.

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

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

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