Cable fault monitoring method and system based on GPS positioning technology

Abstract

The invention relates to the technical field of cable monitoring, in particular to a cable fault monitoring method and system based on the GPS positioning technology, and the method comprises the steps: obtaining a first coordinate of a cable head and cable stake inclination angle data, and obtaining a cable inclination matrix through an Euler angle rotation matrix method; according to the cable inclination matrix, the maximum characteristic value is solved through an elimination method to serve as an inclination angle main direction vector, cable stake attitude angle data are calculated, an initial indication vector from a GPS positioning device to a cable head is converted into an actual indication vector based on the cable stake attitude angle data, and indication deviation is obtained; correcting the position of the cable head according to the first coordinate of the cable head and the indication deviation to obtain a second coordinate of the cable head, obtaining a cable space curve through curve fitting according to the second coordinate of the cable head, and obtaining the position of a cable fault point through fault point positioning in combination with fault distance measurement data of a fault distance meter. Therefore, cable fault positioning can be carried out more accurately when the position and the posture of the cable stake are changed.

Description

Technical Field

[0001] The present invention relates to the technical field of cable monitoring, and particularly to a cable fault monitoring method and system based on GPS positioning technology. Background Art

[0002] With the rapid development of the power system, the scale and complexity of the underground cable network are increasing day by day. The rapid location and repair of cable faults are crucial for ensuring the stable operation of the power system. At present, the monitoring of cable faults based on GPS positioning technology has been widely applied. Currently, it has become a common cable fault monitoring measure to install cable stakes with GPS modules at the cable head positions to achieve the positioning of the cable head. However, during the long-term use of underground cable stakes, they will be displaced and tilted due to natural disaster factors such as geological settlement, construction interference, or earthquakes. The changes in the position and attitude of the cable stakes will cause the positioning of the cable head to shift. Since the cable route and position are determined based on the cable head, it will further affect the positioning of the cable fault point, thereby affecting the accuracy and timeliness of cable fault point repair. Therefore, how to effectively correct the influence of stake offset on cable head positioning and improve the accuracy of cable fault monitoring has become an urgent problem to be solved. Summary of the Invention

[0003] This patent provides a cable fault monitoring method and system based on GPS positioning technology to solve the problem of inaccurate fault point positioning caused by the displacement and tilt of cable stakes.

[0004] To achieve the above object, on the one hand, the present invention provides a cable fault monitoring method based on GPS positioning technology, and the method includes:

[0005] Obtain the first coordinate of the cable head through the GPS positioning device fixed on the cable stake, measure the cable stake tilt angle data through the tilt sensor installed on the cable stake, and transmit the first coordinate of the cable head and the cable stake tilt angle data to the data processing center through wireless communication.

[0006] Obtain the cable tilt matrix from the cable stake tilt angle data through the Euler angle rotation matrix method, construct the characteristic equation of the cable tilt matrix and solve the maximum eigenvalue as the main direction vector of the tilt angle through the elimination method, and calculate the projection included angle according to the projection of the main direction vector of the tilt angle on the north-south plane and the east-west plane of the geographic coordinate system to obtain the cable stake attitude angle data.

[0007] Obtain the distance parameter from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head, and calculate the initial indication vector from the GPS positioning device to the cable head. Convert the initial indication vector from the GPS positioning device to the cable head into an actual indication vector according to the cable stake attitude angle data. Calculate the indication deviation of the cable stake from the cable head position according to the initial indication vector and the actual indication vector. Correct the cable head position according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate of the cable head.

[0008] Obtain the cable space curve by curve fitting according to the second coordinates of each cable head in the fault area. Obtain the cable fault distance measurement data through the fault distance measuring instrument. Locate the cable fault point according to the cable space curve and the cable fault distance measurement data, and implement repair measures on the cable fault point position.

[0009] Further, the method of obtaining the cable tilt matrix by the Euler angle rotation matrix method from the cable stake tilt angle data, constructing the characteristic equation of the cable tilt matrix and solving the maximum eigenvalue as the tilt angle main direction vector by the elimination method, and calculating the projection included angle in the north-south plane and the east-west plane of the geographic coordinate system according to the tilt angle main direction vector to obtain the cable stake attitude angle data includes:

[0010] Obtain the tilt angle data of the cable stake in the X-axis, Y-axis and Z-axis directions, and convert the tilt angle data through the Euler angle rotation matrix formula to obtain the cable tilt matrix M as:

[0011]

[0012] where θ x is the tilt angle of the cable stake in the X-axis direction, θ y is the tilt angle of the cable stake in the Y-axis direction, θ z is the tilt angle of the cable stake in the Z-axis direction, and M is the cable tilt matrix.

[0013] The characteristic equation of the cable tilt matrix is constructed as:

[0014] |M - λI| = 0.

[0015] where λ is the eigenvalue and I is the identity matrix.

[0016] Solve the characteristic equation of the cable tilt matrix by the elimination method to obtain three eigenvalues, select the maximum eigenvalue among the three eigenvalues, and substitute the maximum eigenvalue into the characteristic equation to obtain the eigenvector corresponding to the maximum eigenvalue as the tilt angle main direction vector.

[0017] Project the tilt angle main direction vector onto the north-south plane of the geographic coordinate system to obtain the north-south plane projection vector v s as:

[0018] v s = [v 1 , 0, v 3 .

[0019] Among them, v 1 is the component of the main direction vector of the tilt angle in the north-south direction, and it is v 3 is the component of the main direction vector of the tilt angle in the height direction, v s is the projection vector on the north-south plane.

[0020] Project the main direction vector of the tilt angle onto the east-west plane of the geographic coordinate system to obtain the east-west plane projection vector v e which is:

[0021] v e = [0, v 2 , v 3 .

[0022] Among them, v 2 is the component of the main direction vector of the tilt angle in the east-west direction, v e is the east-west plane projection vector.

[0023] Calculate the angle with the height direction reference vector based on the north-south plane projection vector to obtain the north-south attitude angle θ s of the cable stake, which is:

[0024]

[0025] Among them, θ s is the north-south attitude angle of the cable stake;

[0026] Calculate the angle with the height direction reference vector based on the east-west plane projection vector to obtain the east-west attitude angle θ e of the cable stake, which is:

[0027]

[0028] Among them, θ e is the east-west attitude angle of the cable stake.

[0029] Furthermore, the method for obtaining the distance parameter from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head, calculating to obtain the initial indication vector from the GPS positioning device to the cable head, converting the initial indication vector from the GPS positioning device to the cable head into an actual indication vector according to the attitude angle data of the cable stake, calculating the indication deviation of the cable stake for the position of the cable head according to the initial indication vector and the actual indication vector, and correcting the position of the cable head according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate of the cable head includes:

[0030] Obtain the vertical distance from the GPS positioning device to the bottom of the stake and the buried depth of the cable head, and calculate the initial indication vector V from the GPS positioning device to the cable head 0 It is:

[0031] V 0 =[0, 0, -(L 0 + d)].

[0032] Where L 0 is the vertical distance from the GPS positioning device to the bottom of the stake, d is the buried depth of the cable head, and V 0 is the initial indication vector from the GPS positioning device to the cable head.

[0033] Establish a space rotation transformation matrix T according to the north-south attitude angle and east-west attitude angle of the cable stake as:

[0034]

[0035] Where θ s is the north-south attitude angle of the cable stake, θ e is the east-west attitude angle of the cable stake, and T is the space rotation transformation matrix.

[0036] Convert the initial indication vector from the GPS positioning device to the cable head according to the space rotation transformation matrix to obtain the actual indication vector V from the GPS positioning device to the cable head 1 It is:

[0037] V 1 =T·V 0 .

[0038] Where V 1 is the actual indication vector from the GPS positioning device to the cable head.

[0039] Calculate the indication deviation ΔV of the cable stake from the position of the cable head according to the initial indication vector from the GPS positioning device to the cable head and the actual indication vector from the GPS positioning device to the cable head:

[0040] ΔV = V 1 - V 0 .

[0041] Where ΔV is the indication deviation of the cable stake from the position of the cable head.

[0042] Correct the position of the cable head according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate (x′, y′, z′) of the cable head as:

[0043] x′ = x - ΔV x ;

[0044] y′ = y - ΔV y ;

[0045] z' = z - ΔV z 。

[0046] Where ΔV x is the component of the indication deviation ΔV of the cable stake to the cable head position in the east-west direction, and ΔV y is the component of the indication deviation ΔV of the cable stake to the cable head position in the north-south direction, and ΔV z is the component of the indication deviation ΔV of the cable stake to the cable head position in the vertical direction, (x, y, z) is the original GPS coordinate of the cable stake, and (x', y', z') is the second coordinate of the cable head.

[0047] Furthermore, the method for obtaining the cable space curve by curve fitting according to the second coordinates of the cable heads in the fault area, obtaining the cable fault ranging data by a fault distance measuring instrument, and locating the cable fault point according to the cable space curve and the cable fault ranging data and implementing repair measures for the cable fault point position includes:

[0048] Select one of the cable heads in the fault area as the target cable head, use the second coordinate of the target cable head as the reference point and summarize it with the second coordinates of other cable heads in the fault area to form a discrete point set, and perform curve fitting on the discrete point set by the spline interpolation method to obtain the cable space curve of the fault area.

[0049] Send a pulse signal from the target cable head to the cable through a fault distance measuring instrument and receive the reflected signal of the fault point, and calculate the cable fault ranging value D according to the emission time of the pulse signal and the time difference of the reflected signal of the fault point f as:

[0050]

[0051] where c is the propagation speed of the signal in the cable, Δt is the time difference between the emission time of the pulse signal and the reflected signal of the fault point, and D f is the cable fault ranging value.

[0052] Locate the fault point coordinates by the path integral method according to the cable space curve and the cable fault ranging value, and implement repair measures for the cable fault point position.

[0053] Furthermore, the method for locating the fault point coordinates by the path integral method according to the cable space curve and the cable fault ranging value includes:

[0054] Integrate according to the cable space curve to obtain the cable arc length integral equation as:

[0055]

[0056] Among them, t is the independent variable of the parametric equation corresponding to the cable space curve, X, Y, and Z are the dependent variables of the parametric equation corresponding to the cable space curve, and s(t) is the arc length from the target cable head to the parameter t.

[0057] Substitute the cable fault ranging value as the dependent variable of the cable arc length integral equation into the cable arc length integral equation, and solve the cable arc length integral equation by the bisection method to obtain the value of the independent variable t of the parametric equation corresponding to the cable space curve.

[0058] Substitute the value of the independent variable t of the parametric equation corresponding to the cable space curve into the parametric equation corresponding to the cable space curve to obtain the fault point coordinates.

[0059] Based on the same inventive concept, the present invention provides a cable fault monitoring system based on GPS positioning technology. The system includes: a data collection module, an attitude analysis module, a correction module, and a fault location module, and the modules are connected in sequence.

[0060] The data collection module is used to obtain the first coordinates of the cable head through the GPS positioning device fixed on the cable stake, measure the cable stake inclination angle data through the inclination sensor installed on the cable stake, and transmit the first coordinates of the cable head and the cable stake inclination angle data to the data processing center through wireless communication.

[0061] The attitude analysis module is used to obtain the cable inclination matrix by the Euler angle rotation matrix method from the cable stake inclination angle data, construct the characteristic equation of the cable inclination matrix and solve the maximum eigenvalue by the elimination method as the main direction vector of the inclination angle. Project according to the main direction vector of the inclination angle on the north-south plane and the east-west plane of the geographic coordinate system and calculate the projection included angle to obtain the cable stake attitude angle data.

[0062] The correction module is used to obtain the distance parameter from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head and calculate the initial indication vector from the GPS positioning device to the cable head. Convert the initial indication vector from the GPS positioning device to the cable head into the actual indication vector according to the cable stake attitude angle data, calculate the indication deviation of the cable stake from the position of the cable head according to the initial indication vector and the actual indication vector, and correct the position of the cable head according to the first coordinates of the cable head and the indication deviation to obtain the second coordinates of the cable head.

[0063] The fault location module is used to obtain the cable space curve by curve fitting according to the second coordinates of the cable heads in the fault area, obtain the cable fault ranging data through the fault rangefinder, locate the cable fault point according to the cable space curve and the cable fault ranging data, and implement repair measures on the cable fault point position.

[0064] Further, the attitude analysis module further includes: a conversion unit, a feature construction unit, a feature vector analysis unit, a first projection unit, a second projection unit, a first attitude unit, and a second attitude unit. The conversion unit, the feature construction unit, and the feature vector analysis unit are connected in sequence. The first projection unit and the second projection unit are respectively connected to the feature vector analysis unit. The first attitude unit is connected to the first projection unit, and the second attitude unit is connected to the second projection unit.

[0065] The conversion unit is used to obtain the tilt angle data of the cable stake in the X-axis, Y-axis, and Z-axis directions, and convert the tilt angle data through the Euler angle rotation matrix formula to obtain the cable tilt matrix M as:

[0066]

[0067] where θ x is the tilt angle of the cable stake in the X-axis direction, θ y is the tilt angle of the cable stake in the Y-axis direction, θ z is the tilt angle of the cable stake in the Z-axis direction, and M is the cable tilt matrix.

[0068] The feature construction unit is used to construct the characteristic equation of the cable tilt matrix as:

[0069] |M - λI| = 0.

[0070] where λ is the eigenvalue and I is the identity matrix.

[0071] The feature vector analysis unit is used to solve the characteristic equation of the cable tilt matrix according to the elimination method to obtain three eigenvalues, select the largest eigenvalue among the three eigenvalues, and substitute the largest eigenvalue into the characteristic equation to obtain the eigenvector corresponding to the largest eigenvalue as the main tilt angle direction vector.

[0072] The first projection unit is used to project the main tilt angle direction vector onto the north-south plane of the geographic coordinate system to obtain the north-south plane projection vector v s as:

[0073] v s = [v 1 , 0, v 3 .

[0074] where v 1 is the component of the main tilt angle direction vector in the north-south direction, v 3 is the component of the main tilt angle direction vector in the height direction, and v s is the north-south plane projection vector.

[0075] The second projection unit is used to project the main direction vector of the tilt angle onto the east-west plane of the geographic coordinate system to obtain the east-west plane projection vector v e That is:

[0076] v e = [0, v 2 , v 3 .

[0077] Where v 2 is the component of the main direction vector of the tilt angle in the east-west direction, and v e is the east-west plane projection vector.

[0078] The first attitude unit is used to calculate the angle between the north-south plane projection vector and the height direction reference vector to obtain the north-south attitude angle θ of the cable stake s That is:

[0079]

[0080] Where θ s is the north-south attitude angle of the cable stake.

[0081] The second attitude unit is used to calculate the angle between the east-west plane projection vector and the height direction reference vector to obtain the east-west attitude angle θ of the cable stake e That is:

[0082]

[0083] Where θ e is the east-west attitude angle of the cable stake.

[0084] Furthermore, the correction module further includes: an initial indication vector unit, a rotation matrix unit, an actual indication vector unit, a deviation analysis unit, and a deviation adjustment unit, and the units are connected in sequence.

[0085] The initial indication vector unit is used to obtain the vertical distance from the GPS positioning device to the bottom of the stake and the buried depth of the cable head, and calculate the initial indication vector V from the GPS positioning device to the cable head 0 That is:

[0086] V 0 = [0, 0, -(L 0 + d)].

[0087] Where L 0 is the vertical distance from the GPS positioning device to the bottom of the stake, d is the buried depth of the cable head, and V 0 is the initial indication vector from the GPS positioning device to the cable head.

[0088] The rotation matrix unit is used to establish a spatial rotation transformation matrix T according to the north-south attitude angle and the east-west attitude angle of the cable stake as follows:

[0089]

[0090] where θ s is the north-south attitude angle of the cable stake, θ e is the east-west attitude angle of the cable stake, and T is the spatial rotation transformation matrix.

[0091] The actual indication vector unit is used to convert the initial indication vector from the GPS positioning device to the cable head according to the spatial rotation transformation matrix to obtain the actual indication vector V 1 from the GPS positioning device to the cable head as:

[0092] V 1 = T · V 0 .

[0093] where V 1 is the actual indication vector from the GPS positioning device to the cable head.

[0094] The deviation analysis unit is used to calculate the indication deviation ΔV of the cable stake from the position of the cable head according to the initial indication vector from the GPS positioning device to the cable head and the actual indication vector from the GPS positioning device to the cable head:

[0095] ΔV = V 1 - V 0 .

[0096] where ΔV is the indication deviation of the cable stake from the position of the cable head.

[0097] The deviation adjustment unit is used to correct the position of the cable head according to the first coordinates of the cable head and the indication deviation to obtain the second coordinates (x′, y′, z′) of the cable head as:

[0098] x′ = x - ΔV x ;

[0099] y′ = y - ΔV y ;

[0100] z′ = z - ΔV z .

[0101] where ΔV x is the component of the indication deviation ΔV of the cable stake from the position of the cable head in the east-west direction, ΔV y is the component of the indication deviation ΔV of the cable stake from the position of the cable head in the north-south direction, ΔV zΔV is the component of the indication deviation of the cable stake from the cable head position in the vertical direction, (x, y, z) is the original GPS coordinate of the cable stake, and (x′, y′, z′) is the second coordinate of the cable head.

[0102] Further, the fault location module further includes: a curve fitting unit, a fault distance measuring unit, and a path integration unit, which are connected in sequence.

[0103] The curve fitting unit is configured to select one of the cable heads in the fault area as the target cable head, use the second coordinate of the cable head of the target cable head as the reference point and summarize it with the second coordinates of other cable heads in the fault area to form a discrete point set, and perform curve fitting on the discrete point set by the spline interpolation method to obtain the cable space curve of the fault area.

[0104] The fault distance measuring unit is configured to send a pulse signal from the target cable head to the cable through a fault distance measuring instrument and receive the fault point reflection signal, and calculate the cable fault distance measurement value D according to the time difference between the emission time of the pulse signal and the fault point reflection signal. f It is:

[0105]

[0106] where c is the propagation speed of the signal in the cable, Δt is the time difference between the emission time of the pulse signal and the fault point reflection signal, and D f is the cable fault distance measurement value.

[0107] The path integration unit is configured to perform fault point positioning according to the cable space curve and the cable fault distance measurement value by the path integration method to obtain the fault point coordinates, and implement repair measures on the cable fault point position.

[0108] Further, the path integration unit further includes: an arc length analysis unit, a parameter determination unit, and a solution unit, which are connected in sequence.

[0109] The arc length analysis unit is configured to perform integration according to the cable space curve to obtain the cable arc length integral equation:

[0110]

[0111] where t is the independent variable of the parametric equation corresponding to the cable space curve, X, Y, Z are the dependent variables of the parametric equation corresponding to the cable space curve, and s(t) is the arc length from the target cable head to the parameter t;

[0112] The parameter determination unit is configured to substitute the cable fault distance measurement value as the dependent variable of the cable arc length integral equation into the cable arc length integral equation and solve the cable arc length integral equation by the bisection method to obtain the value of the independent variable t of the parametric equation corresponding to the cable space curve;

[0113] The solving unit is used to substitute the value of the independent variable t of the parametric equation corresponding to the cable space curve into the parametric equation corresponding to the cable space curve to obtain the coordinates of the fault point.

[0114] Compared with the prior art, the beneficial effects of the present invention are as follows: the attitude of the cable stake is determined through eigenvector analysis, the positioning of the cable head is corrected through deviation analysis, the cable space curve is fitted through the spline interpolation method, and further combined with the path integral method to realize the positioning of the fault point. Description of the Drawings

[0115] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0116] Figure 1 It is a flowchart of the cable fault monitoring method based on the GPS positioning technology according to Embodiment 1 of the present invention;

[0117] Figure 2 It is a schematic diagram of the module composition of the cable fault monitoring system based on the GPS positioning technology according to Embodiment 2 of the present invention. Specific Embodiments

[0118] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0119] Embodiment 1: As Figure 1 shown, this embodiment provides a cable fault monitoring method based on the GPS positioning technology, and the method includes:

[0120] S1. Obtain the first coordinates of the cable head through the GPS positioning device fixed on the cable stake, measure the inclination angle data of the cable stake through the inclination sensor installed on the cable stake, and transmit the first coordinates of the cable head and the inclination angle data of the cable stake to the data processing center through wireless communication.

[0121] S2. Obtain the cable tilt matrix from the cable stake tilt angle data through the Euler angle rotation matrix method, construct the characteristic equation of the cable tilt matrix, and solve the maximum eigenvalue as the main direction vector of the tilt angle through the elimination method. Project the main direction vector of the tilt angle onto the north-south plane and the east-west plane of the geographic coordinate system, and calculate the projection included angle to obtain the cable stake attitude angle data.

[0122] S3. Obtain the distance parameter from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head, and calculate the initial indication vector from the GPS positioning device to the cable head. Convert the initial indication vector from the GPS positioning device to the cable head into the actual indication vector according to the cable stake attitude angle data. Calculate the indication deviation of the cable stake from the cable head position based on the initial indication vector and the actual indication vector. Correct the cable head position according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate of the cable head.

[0123] S4. Obtain the cable space curve by curve fitting according to the second coordinates of the cable heads in the fault area. Obtain the cable fault ranging data through the fault distance measuring instrument. Locate the cable fault point according to the cable space curve and the cable fault ranging data, and implement repair measures on the cable fault point position.

[0124] It should be noted that the method of obtaining the cable tilt matrix from the cable stake tilt angle data through the Euler angle rotation matrix method, constructing the characteristic equation of the cable tilt matrix, and solving the maximum eigenvalue as the main direction vector of the tilt angle, projecting the main direction vector of the tilt angle onto the north-south plane and the east-west plane of the geographic coordinate system, and calculating the projection included angle to obtain the cable stake attitude angle data includes:

[0125] Obtain the tilt angle data of the cable stake in the X-axis, Y-axis, and Z-axis directions, and convert the tilt angle data through the Euler angle rotation matrix formula to obtain the cable tilt matrix M as:

[0126]

[0127] where θ x is the tilt angle of the cable stake in the X-axis direction, θ y is the tilt angle of the cable stake in the Y-axis direction, θ z is the tilt angle of the cable stake in the Z-axis direction, and M is the cable tilt matrix.

[0128] For example: The tilt angles of the cable stake obtained by the sensor in the X-axis, Y-axis, and Z-axis directions are θ x = 8°, θ y = 10°, θ z = 5°, then the cable tilt matrix obtained by converting the tilt angle data through the Euler angle rotation matrix formula is:

[0129]

[0130] The characteristic equation for constructing the cable tilt matrix is:

[0131] |M - λI| = 0.

[0132] Where λ is the eigenvalue and I is the identity matrix.

[0133] For example: The characteristic equation for constructing the cable tilt matrix is:

[0134] Solve the characteristic equation of the cable tilt matrix according to the elimination method to obtain three eigenvalues. Select the largest eigenvalue among the three eigenvalues, and substitute the largest eigenvalue into the characteristic equation to obtain the eigenvector corresponding to the largest eigenvalue as the main direction vector of the tilt angle.

[0135] For example: Solve the characteristic equation of the cable tilt matrix according to the elimination method to obtain three eigenvalues λ 1 = 1.02, λ 2 = 0.99, λ 3 = 0.96. Select the largest eigenvalue among the three eigenvalues as 1.02 and substitute it into the characteristic equation Through Obtain the eigenvector corresponding to the largest eigenvalue as the main direction vector of the tilt angle, where is the eigenvector corresponding to the largest eigenvalue, that is The eigenvector corresponding to the largest eigenvalue can be obtained

[0136] Project the main direction vector of the tilt angle onto the north-south plane of the geographic coordinate system to obtain the north-south plane projection vector v s as:

[0137] v s = [v 1 , 0, v 3 .

[0138] Where v 1 is the component of the main direction vector of the tilt angle in the north-south direction, v 3 is the component of the main direction vector of the tilt angle in the height direction, and v s is the north-south plane projection vector.

[0139] Project the main direction vector of the tilt angle onto the east-west plane of the geographic coordinate system to obtain the east-west plane projection vector v e as:

[0140] v e = [0, v2 , v 3 .

[0141] Where v 2 is the component of the main direction vector of the tilt angle in the east-west direction, and v e is the projection vector on the east-west plane.

[0142] For example: Project the main direction vector of the tilt angle onto the north-south plane of the geographic coordinate system to obtain the north-south plane projection vector v s = [0.05, 0, -0.86], and project the main direction vector of the tilt angle onto the east-west plane of the geographic coordinate system to obtain the east-west plane projection vector v e = [0, 0.51, -0.86].

[0143] Calculate the angle between the north-south plane projection vector and the height direction reference vector to obtain the north-south attitude angle θ of the cable stake s as:

[0144]

[0145] Where θ s is the north-south attitude angle of the cable stake;

[0146] Calculate the angle between the east-west plane projection vector and the height direction reference vector to obtain the east-west attitude angle θ of the cable stake e as:

[0147]

[0148] Where θ e is the east-west attitude angle of the cable stake.

[0149] For example: Calculate the angle between the north-south plane projection vector and the height direction reference vector to obtain the north-south attitude angle of the cable stake Calculate the angle between the east-west plane projection vector and the height direction reference vector to obtain the east-west attitude angle of the cable stake

[0150] It should be noted that the method of obtaining the distance parameter from the GPS positioning device to the bottom of the cable stake and the buried depth of the cable head, calculating to obtain the initial indication vector from the GPS positioning device to the cable head, converting the initial indication vector from the GPS positioning device to the cable head into the actual indication vector according to the attitude angle data of the cable stake, calculating the indication deviation of the cable stake from the position of the cable head according to the initial indication vector and the actual indication vector, and correcting the position of the cable head according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate of the cable head includes:

[0151] Obtain the vertical distance from the GPS positioning device to the bottom of the cable stake and the buried depth of the cable head, and calculate the initial indication vector V from the GPS positioning device to the cable head 0 as follows:

[0152] V 0 =[0, 0, -(L 0 + d)].

[0153] Where L 0 is the vertical distance from the GPS positioning device to the bottom of the cable stake, d is the buried depth of the cable head, and V 0 is the initial indication vector from the GPS positioning device to the cable head.

[0154] The GPS positioning device is installed on the top of the cable stake, and the cable head is buried below the bottom surface of the cable stake. For example: If the vertical distance from the GPS positioning device to the bottom of the cable stake is 2 meters and the buried depth of the cable head is 1.5 meters, then the initial indication vector V from the GPS positioning device to the cable head 0 =[0, 0, -3.5].[[]END]]

[0155] Establish a spatial rotation transformation matrix T according to the north-south attitude angle and east-west attitude angle of the cable stake as follows:

[0156]

[0157] Where θ s is the north-south attitude angle of the cable stake, θ e is the east-west attitude angle of the cable stake, and T is the spatial rotation transformation matrix.

[0158] For example: A spatial rotation transformation matrix can be established according to the north-south attitude angle and east-west attitude angle of the cable stake as

[0159] Convert the initial indication vector from the GPS positioning device to the cable head according to the spatial rotation transformation matrix to obtain the actual indication vector V from the GPS positioning device to the cable head 1 as follows:

[0160] V 1 = T · V 0 .

[0161] Where V 1 is the actual indication vector from the GPS positioning device to the cable head.

[0162] For example: Convert the initial indication vector from the GPS positioning device to the cable head according to the spatial rotation transformation matrix to obtain the actual indication vector from the GPS positioning device to the cable head

[0163] Calculate the indication deviation ΔV of the cable stake from the cable head position based on the initial indication vector from the GPS positioning device to the cable head and the actual indication vector from the GPS positioning device to the cable head:

[0164] ΔV = V 1 - V 0 。

[0165] Where ΔV is the indication deviation of the cable stake from the cable head position.

[0166] For example: Calculate the indication deviation of the cable stake from the cable head position based on the initial indication vector from the GPS positioning device to the cable head and the actual indication vector from the GPS positioning device to the cable head

[0167] Correct the cable head position according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate (x′, y′, z′) of the cable head as:

[0168] x′ = x - ΔV x ;

[0169] y′ = y - ΔV y ;

[0170] z′ = z - ΔV z 。

[0171] Where ΔV x is the component of the indication deviation ΔV of the cable stake from the cable head position in the east - west direction, ΔV y is the component of the indication deviation ΔV of the cable stake from the cable head position in the north - south direction, ΔV z is the component of the indication deviation ΔV of the cable stake from the cable head position in the vertical direction, (x, y, z) is the original GPS coordinate of the cable stake, and (x′, y′, z′) is the second coordinate of the cable head.

[0172] For example: When the first coordinate of the cable head is (105, 223, - 10), then the second coordinate of the cable head That is, the corrected coordinate position is (103.25, 212.39, - 10.51).

[0173] It should be noted that the method of obtaining the cable space curve by curve fitting based on the second coordinates of each cable head in the fault area, obtaining the cable fault ranging data through the fault rangefinder, and locating the cable fault point according to the cable space curve and the cable fault ranging data, and implementing repair measures for the cable fault point position includes:

[0174] One of the cable heads in the fault area is selected as the target cable head, the second coordinate of the target cable head is used as the reference point and is aggregated with the second coordinates of the cable heads of other cable heads in the fault area to form a discrete point set, and the discrete point set is subjected to curve fitting by spline interpolation to obtain the cable space curve of the fault area; the spline interpolation method can be implemented by using tools such as Matlab spline function and Python SciPy library to perform curve fitting on the discrete point set, and the cable space curve of the fault area can be obtained by inputting the discrete point set of the second coordinate of the cable head. For example: In addition to the second coordinate of the target cable head (103.25, 212.39, -10.51), if the second coordinates of other cable heads in the fault area are (113.75, 243.73, -10), (125, 244, -10.2), (133.25, 210.75, -10.12), (145, 226, -10.37), then the parameterized equation corresponding to the cable space curve can be obtained by curve fitting through spline interpolation method: X(t) = 103.25 + 42.0t - 2.5t 2 -82.5t 3 ,Y(t)=212.39+125.36t-13.75t 2 -322.0t 3 ,Z(t)=-10.51+2.04t-0.18t 2 -6.35t 3 .

[0175] The fault distance meter sends a pulse signal from the target cable head to the cable and receives the reflected signal from the fault point. The cable fault distance value D is calculated based on the time difference between the transmission time of the pulse signal and the reflected signal from the fault point. f for:

[0176]

[0177] Where c is the propagation speed of the signal in the cable, Δt is the time difference between the emission of the pulse signal and the reflected signal at the fault point, and D f is the cable fault distance value.

[0178] For example: The propagation speed of the signal in the cable is c = 2×10 8 m / s, the time difference between the emission time of the pulse signal and the reflected signal at the fault point is measured by the fault distance meter, Δt = 1.62μs, so the cable fault distance value is

[0179] According to the cable space curve and the cable fault distance value, the fault point is located by the path integration method to obtain the fault point coordinates, and repair measures are implemented at the location of the cable fault point.

[0180] It should be noted that the method for obtaining the fault point coordinates by fault point location through the path integral method according to the cable space curve and the cable fault ranging value includes:

[0181] Integrating according to the cable space curve to obtain the cable arc length integral equation as:

[0182]

[0183] where t is the independent variable of the parametric equation corresponding to the cable space curve, X, Y, Z are the dependent variables of the parametric equation corresponding to the cable space curve, and s(t) is the arc length from the target cable head to the parameter t.

[0184] For example: When the parametric equation corresponding to the cable space curve is: X(t) = 103.25 + 42.0t - 2.5t 2 - 82.5t 3 , Y(t) = 212.39 + 125.36t - 13.75t 2 - 322.0t 3 , Z(t) = - 10.51 + 2.04t - 0.18t 2 - 6.35t 3 At this time, the cable arc length integral equation obtained by integration is

[0185] Substitute the cable fault ranging value as the dependent variable of the cable arc length integral equation into the cable arc length integral equation, and solve the cable arc length integral equation by the bisection method to obtain the value of the independent variable t of the parametric equation corresponding to the cable space curve.

[0186] For example: Substitute the cable fault ranging value 162 into the cable arc length integral equation, that is

[0187] Solve the cable arc length integral equation by the bisection method through the quad function in SciPy to obtain the parameter t = 0.45.

[0188] Substitute the value of the independent variable t of the parametric equation corresponding to the cable space curve into the parametric equation corresponding to the cable space curve to obtain the fault point coordinates.

[0189] For example: Substitute t = 0.45 into the parametric equation corresponding to the cable space curve, and we can get X(0.45) = 103.25 + 42.0×0.45 - 2.5×0.45 2 - 82.5×0.45 3 = 114.12, Y(0.45) = 212.39 + 125.36×0.45 - 13.75×0.45 2 - 322.0×0.453 = 236.69, Z(0.45) = -10.51 + 2.04×0.45 - 0.18×0.45 2 - 6.35×0.45 3 = -10.21, so the fault point coordinates are (114.12, 236.69, -10.21).

[0190] Embodiment 2: Based on the same inventive concept, as Figure 2 shown, this embodiment provides a cable fault monitoring system based on GPS positioning technology. The system includes: a data collection module, an attitude analysis module, a correction module, and a fault location module, and the modules are connected in sequence.

[0191] The data collection module is used to obtain the first coordinates of the cable head through the GPS positioning device fixed on the cable stake, measure the cable stake inclination angle data through the inclination sensor installed on the cable stake, and transmit the first coordinates of the cable head and the cable stake inclination angle data to the data processing center through wireless communication.

[0192] The attitude analysis module is used to obtain the cable inclination matrix through the Euler angle rotation matrix method from the cable stake inclination angle data, construct the characteristic equation of the cable inclination matrix and solve the maximum eigenvalue as the main direction vector of the inclination angle through the elimination method, and calculate the projection included angle according to the projection of the main direction vector of the inclination angle on the north-south plane and the east-west plane of the geographical coordinate system to obtain the cable stake attitude angle data.

[0193] The correction module is used to obtain the distance parameter from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head and calculate the initial indication vector from the GPS positioning device to the cable head, convert the initial indication vector from the GPS positioning device to the cable head into the actual indication vector according to the cable stake attitude angle data, calculate the indication deviation of the cable stake to the position of the cable head according to the initial indication vector and the actual indication vector, and correct the position of the cable head according to the first coordinates of the cable head and the indication deviation to obtain the second coordinates of the cable head.

[0194] The fault location module is used to obtain the cable space curve by curve fitting according to the second coordinates of the cable heads in the fault area, obtain the cable fault ranging data through the fault rangefinder, and obtain the cable fault point position through fault point location according to the cable space curve and the cable fault ranging data, and implement repair measures on the cable fault point position.

[0195] It should be noted that the attitude analysis module further includes: a conversion unit, a feature construction unit, a feature vector analysis unit, a first projection unit, a second projection unit, a first attitude unit, and a second attitude unit. The conversion unit, the feature construction unit, and the feature vector analysis unit are connected in sequence. The first projection unit and the second projection unit are respectively connected to the feature vector analysis unit. The first attitude unit is connected to the first projection unit, and the second attitude unit is connected to the second projection unit.

[0196] The conversion unit is used to obtain the tilt angle data of the cable stake in the X-axis, Y-axis, and Z-axis directions, and convert the tilt angle data through the Euler angle rotation matrix formula to obtain the cable tilt matrix M as:

[0197]

[0198] where θ x is the tilt angle of the cable stake in the X-axis direction, θ y is the tilt angle of the cable stake in the Y-axis direction, θ z is the tilt angle of the cable stake in the Z-axis direction, and M is the cable tilt matrix.

[0199] The feature construction unit is used to construct the characteristic equation of the cable tilt matrix as:

[0200] |M - λI| = 0.

[0201] where λ is the eigenvalue and I is the identity matrix.

[0202] The feature vector analysis unit is used to solve the characteristic equation of the cable tilt matrix according to the elimination method to obtain three eigenvalues, select the largest eigenvalue among the three eigenvalues, and substitute the largest eigenvalue into the characteristic equation to obtain the eigenvector corresponding to the largest eigenvalue as the main direction vector of the tilt angle.

[0203] The first projection unit is used to project the main direction vector of the tilt angle onto the north-south plane of the geographic coordinate system to obtain the north-south plane projection vector v s as:

[0204] v s = [v 1 , 0, v 3 .

[0205] where v 1 is the component of the main direction vector of the tilt angle in the north-south direction, v 3 is the component of the main direction vector of the tilt angle in the height direction, and v s is the north-south plane projection vector.

[0206] The second projection unit is used to project the main direction vector of the tilt angle onto the east-west plane of the geographic coordinate system to obtain the east-west plane projection vector v e which is:

[0207] v e =[0, v 2 , v 3 .

[0208] where v 2 is the component of the main direction vector of the tilt angle in the east-west direction, and v e is the east-west plane projection vector.

[0209] The first attitude unit is used to calculate the angle between the north-south plane projection vector and the height direction reference vector to obtain the north-south attitude angle θ of the cable stake s which is:

[0210]

[0211] where θ s is the north-south attitude angle of the cable stake.

[0212] The second attitude unit is used to calculate the angle between the east-west plane projection vector and the height direction reference vector to obtain the east-west attitude angle θ of the cable stake e which is:

[0213]

[0214] where θ e is the east-west attitude angle of the cable stake.

[0215] It should be noted that the correction module further includes: an initial indication vector unit, a rotation matrix unit, an actual indication vector unit, a deviation analysis unit, and a deviation adjustment unit, and the units are connected in sequence.

[0216] The initial indication vector unit is used to obtain the vertical distance from the GPS positioning device to the bottom of the stake and the buried depth of the cable head, and calculate the initial indication vector V from the GPS positioning device to the cable head 0 which is:

[0217] V 0 =[0, 0, -(L 0 +d)].

[0218] where L 0 is the vertical distance from the GPS positioning device to the bottom of the stake, d is the buried depth of the cable head, and V 0 is the initial indication vector from the GPS positioning device to the cable head.

[0219] The rotation matrix unit is used to establish a spatial rotation transformation matrix T according to the north-south attitude angle and the east-west attitude angle of the cable stake as follows:

[0220]

[0221] where θ s is the north-south attitude angle of the cable stake, θ e is the east-west attitude angle of the cable stake, and T is the spatial rotation transformation matrix.

[0222] The actual indication vector unit is used to convert the initial indication vector from the GPS positioning device to the cable head according to the spatial rotation transformation matrix to obtain the actual indication vector V 1 from the GPS positioning device to the cable head as:

[0223] V 1 = T · V 0 .

[0224] where V 1 is the actual indication vector from the GPS positioning device to the cable head.

[0225] The deviation analysis unit is used to calculate the indication deviation ΔV of the cable stake from the position of the cable head according to the initial indication vector from the GPS positioning device to the cable head and the actual indication vector from the GPS positioning device to the cable head:

[0226] ΔV = x 1 - V 0 .

[0227] where ΔV is the indication deviation of the cable stake from the position of the cable head.

[0228] The deviation adjustment unit is used to correct the position of the cable head according to the first coordinates of the cable head and the indication deviation to obtain the second coordinates (x′, y′, z′) of the cable head as:

[0229] x′ = x - ΔV x ;

[0230] y′ = y - ΔV y ;

[0231] z′ = z - ΔV z .

[0232] where ΔV x is the component of the indication deviation ΔV of the cable stake from the position of the cable head in the east-west direction, and ΔV y is the component of the indication deviation ΔV of the cable stake from the position of the cable head in the north-south direction, and ΔV zΔV is the component of the indication deviation of the cable stake from the cable head position in the vertical direction, (x, y, z) is the original GPS coordinates of the cable stake, and (x′, y′, z′) is the second coordinates of the cable head.

[0233] It should be noted that the fault location module further includes: a curve fitting unit, a fault distance measuring unit, and a path integration unit, and the units are connected in sequence.

[0234] The curve fitting unit is used to select one of the cable heads in the fault area as the target cable head, use the second coordinates of the cable head of the target cable head as the reference point and summarize it with the second coordinates of the cable heads of other cable heads in the fault area to form a discrete point set, and perform curve fitting on the discrete point set by the spline interpolation method to obtain the cable space curve of the fault area.

[0235] The fault distance measuring unit is used to send a pulse signal from the target cable head to the cable through a fault distance measuring instrument and receive the reflected signal at the fault point, and calculate the cable fault distance measurement value D according to the time difference between the emission time of the pulse signal and the reflected signal at the fault point f as:

[0236]

[0237] where c is the propagation speed of the signal in the cable, Δt is the time difference between the emission time of the pulse signal and the reflected signal at the fault point, and D f is the cable fault distance measurement value.

[0238] The path integration unit is used to perform fault point positioning according to the cable space curve and the cable fault distance measurement value by the path integration method to obtain the fault point coordinates, and implement repair measures for the cable fault point position.

[0239] It should be noted that the path integration unit further includes: an arc length analysis unit, a parameter determination unit, and a solution unit, and the units are connected in sequence.

[0240] The arc length analysis unit is used to perform integration according to the cable space curve to obtain the cable arc length integral equation as:

[0241]

[0242] where t is the independent variable of the parametric equation corresponding to the cable space curve, X, Y, Z are the dependent variables of the parametric equation corresponding to the cable space curve, and s(t) is the arc length from the target cable head to the parameter t.

[0243] The parameter determination unit is used to substitute the cable fault distance measurement value as the dependent variable of the cable arc length integral equation into the cable arc length integral equation and solve the cable arc length integral equation by the bisection method to obtain the value of the independent variable t of the parametric equation corresponding to the cable space curve.

[0244] The solving unit is configured to substitute the value of the independent variable t of the parametric equation corresponding to the cable space curve into the parametric equation corresponding to the cable space curve to obtain the coordinates of the fault point.

[0245] It should be noted that regarding the system in the above embodiments, the specific manners in which each module performs operations have been described in detail in Embodiment 1 of the related method, and will not be elaborated herein.

[0246] Finally, it should be noted that although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art may still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cable fault monitoring method based on GPS positioning technology, characterized in that: The method comprises: The first coordinate of the cable head is obtained by a GPS positioning device fixed on the cable stake, the cable stake inclination angle data is measured by a tilt sensor installed on the cable stake, and the first coordinate of the cable head and the cable stake inclination angle data are transmitted to a data processing center via wireless communication; The cable marker inclination angle data is obtained by the Euler angle rotation matrix method to obtain the cable inclination matrix, the characteristic equation of the cable inclination matrix is ​​constructed, and the maximum eigenvalue is solved by the elimination method as the main direction vector of the inclination angle, and the main direction vector of the inclination angle is projected on the north-south plane and the east-west plane of the geographic coordinate system and the projection angle is calculated to obtain the cable marker attitude angle data; Obtain the distance parameters from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head and calculate the initial indication vector from the GPS positioning device to the cable head; convert the initial indication vector from the GPS positioning device to the cable head into an actual indication vector according to the cable stake attitude angle data; calculate the indication deviation of the cable stake to the cable head position according to the initial indication vector and the actual indication vector; correct the cable head position according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate of the cable head; The cable space curve is obtained by curve fitting according to the second coordinates of the cable heads of each cable head in the fault area, the cable fault distance measurement data is obtained by the fault distance meter, the cable fault point position is obtained by fault point positioning according to the cable space curve and the cable fault distance measurement data, and repair measures are implemented at the cable fault point position.

2. The cable fault monitoring method based on GPS positioning technology according to claim 1 is characterized in that: The method of obtaining a cable tilt matrix by using the Euler angle rotation matrix method to obtain the cable tilt angle data, constructing the characteristic equation of the cable tilt matrix and solving the maximum eigenvalue by the elimination method as the main direction vector of the tilt angle, and projecting the main direction vector of the tilt angle on the north-south plane and the east-west plane of the geographic coordinate system and calculating the projection angle to obtain the cable stake attitude angle data comprises: Obtain the inclination angle data of the cable stake in the X-axis, Y-axis and Z-axis directions, and convert the inclination angle data using the Euler angle rotation matrix formula to obtain the cable inclination matrix M: where θ x is the inclination angle of the cable stake in the X-axis direction, θ y is the inclination angle of the cable stake in the Y-axis direction, θ z is the inclination angle of the cable stake in the Z-axis direction, and M is the cable inclination matrix; The characteristic equation for constructing the cable tilt matrix is: |M-λI|=0; Where λ is the eigenvalue and I is the identity matrix; The characteristic equation of the cable tilt matrix is ​​solved by the elimination method to obtain three eigenvalues, the largest eigenvalue among the three eigenvalues ​​is selected, and the largest eigenvalue is substituted into the characteristic equation to obtain the eigenvector corresponding to the largest eigenvalue as the main direction vector of the tilt angle; Project the main direction vector of the tilt angle on the north-south plane of the geographic coordinate system to obtain the north-south plane projection vector v s for: v s =[v1,0,v3]; Where v1 is the north-south component of the main direction vector of the tilt angle, v3 is the height component of the main direction vector of the tilt angle, and v s is the projection vector of the north-south plane; Project the main direction vector of the tilt angle on the east-west plane of the geographic coordinate system to obtain the east-west plane projection vector v e for: v e =[0,v2,v3]; Where v2 is the component of the main direction vector of the tilt angle in the east-west direction, v e is the projection vector of the east-west plane; The north-south attitude angle θ of the cable stake is obtained by calculating the angle between the north-south plane projection vector and the height direction reference vector. s for: where θ s is the north-south attitude angle of the cable stake; The east-west attitude angle θ of the cable stake is obtained by calculating the angle between the east-west plane projection vector and the height direction reference vector. e for: where θ e It is the east-west attitude angle of the cable stake.

3. The cable fault monitoring method based on GPS positioning technology according to claim 1 is characterized in that: The method of obtaining the distance parameter from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head and calculating the initial indication vector from the GPS positioning device to the cable head, converting the initial indication vector from the GPS positioning device to the cable head into an actual indication vector according to the attitude angle data of the cable stake, calculating the indication deviation of the cable stake to the cable head position according to the initial indication vector and the actual indication vector, and correcting the cable head position according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate of the cable head comprises: Obtain the vertical distance between the GPS positioning device and the bottom of the stake and the buried depth of the cable head, and calculate the initial indication vector V0 from the GPS positioning device to the cable head: V0=[0,0,-(L0+d)]; Where L0 is the vertical distance from the GPS positioning device to the bottom of the stake, d is the buried depth of the cable head, and V0 is the initial indication vector from the GPS positioning device to the cable head; According to the north-south attitude angle of the cable stake and the east-west attitude angle of the cable stake, the space rotation transformation matrix T is established as: where θ s is the north-south attitude angle of the cable stake, θ e is the east-west attitude angle of the cable stake, T is the space rotation transformation matrix; According to the space rotation transformation matrix, the initial indication vector from the GPS positioning device to the cable head is transformed to obtain the actual indication vector V1 from the GPS positioning device to the cable head: V1=T·V0; Where V1 is the actual indication vector from the GPS positioning device to the cable head; The indication deviation ΔV of the cable stake to the cable head position is calculated based on the initial indication vector from the GPS positioning device to the cable head and the actual indication vector from the GPS positioning device to the cable head: ΔV=V1-V0; Where ΔV is the indication deviation of the cable stake to the cable head position; According to the first coordinate of the cable head and the indicated deviation, the position of the cable head is corrected to obtain the second coordinate of the cable head (x ′ ,y ′ ,z ′ )for: x ′ =x-ΔV x ; y ′ =y-ΔV y ; z ′ =z-ΔV z ; Where ΔV x is the component of the indication deviation ΔV of the cable stake to the cable head position in the east-west direction, ΔV y is the component of the deviation ΔV indicated by the cable stake to the cable head position in the north-south direction, ΔV z is the vertical component of the deviation ΔV of the cable stake from the cable head position, (x, y, z) is the original GPS coordinate of the cable stake, (x ′ ,y ′ ,z ′ ) is the second coordinate of the cable head.

4. The cable fault monitoring method based on GPS positioning technology according to claim 3 is characterized in that: The method of obtaining a cable space curve by curve fitting according to the second coordinates of the cable heads of each cable head in the fault area, obtaining cable fault distance measurement data by a fault distance meter, obtaining the cable fault point position by fault point positioning according to the cable space curve and the cable fault distance measurement data, and implementing repair measures on the cable fault point position includes: Select one of the cable heads in the fault area as the target cable head, take the second coordinate of the target cable head as the reference point and aggregate it with the second coordinates of the cable heads of other cable heads in the fault area to form a discrete point set, and perform curve fitting on the discrete point set by spline interpolation method to obtain the cable space curve of the fault area; The fault distance meter sends a pulse signal from the target cable head to the cable and receives the reflected signal from the fault point. The cable fault distance value D is calculated based on the time difference between the transmission time of the pulse signal and the reflected signal from the fault point. f for: Where c is the propagation speed of the signal in the cable, Δt is the time difference between the emission of the pulse signal and the reflected signal at the fault point, and D f is the cable fault distance value; According to the cable space curve and the cable fault distance value, the fault point is located by the path integration method to obtain the fault point coordinates, and repair measures are implemented at the location of the cable fault point.

5. The cable fault monitoring method based on GPS positioning technology according to claim 4 is characterized in that: The method for locating the fault point by using the path integration method according to the cable space curve and the cable fault distance value to obtain the fault point coordinates includes: According to the cable space curve, the cable arc length integral equation is obtained: Where t is the independent variable of the parameterized equation corresponding to the cable space curve, X, Y, Z are the dependent variables of the parameterized equation corresponding to the cable space curve, and s(t) is the arc length from the target cable head to the parameter t; Substitute the cable fault distance value as the dependent variable of the cable arc length integral equation into the cable arc length integral equation and solve the cable arc length integral equation by bisection method to obtain the value of the independent variable t of the parameterized equation corresponding to the cable space curve; Substitute the value of the independent variable t of the parameterized equation corresponding to the cable space curve into the parameterized equation corresponding to the cable space curve to obtain the coordinates of the fault point.

6. Cable fault monitoring system based on GPS positioning technology, characterized in that: The system comprises: a data collection module, a posture analysis module, a correction module, and a fault location module, and the modules are connected in sequence; The data collection module is used to obtain the first coordinate of the cable head through the GPS positioning device fixed on the cable stake, measure the cable stake inclination angle data through the inclination sensor installed on the cable stake, and transmit the first coordinate of the cable head and the cable stake inclination angle data to the data processing center through wireless communication; The attitude analysis module is used to obtain the cable tilt matrix by using the Euler angle rotation matrix method to transform the cable stake tilt angle data, construct the characteristic equation of the cable tilt matrix and solve the maximum eigenvalue as the main direction vector of the tilt angle by using the elimination method, and project the main direction vector of the tilt angle on the north-south plane and the east-west plane of the geographic coordinate system and calculate the projection angle to obtain the cable stake attitude angle data; The correction module is used to obtain the distance parameter from the GPS positioning device to the bottom surface of the cable stake and the buried depth of the cable head and calculate the initial indication vector from the GPS positioning device to the cable head, convert the initial indication vector from the GPS positioning device to the cable head into an actual indication vector according to the cable stake attitude angle data, calculate the indication deviation of the cable stake to the cable head position according to the initial indication vector and the actual indication vector, and correct the cable head position according to the first coordinate of the cable head and the indication deviation to obtain the second coordinate of the cable head; The fault location module is used to obtain a cable space curve through curve fitting according to the second coordinates of the cable heads of each cable head in the fault area, obtain cable fault distance data through a fault distance meter, obtain the cable fault point position through fault point positioning according to the cable space curve and the cable fault distance data, and implement repair measures for the cable fault point position.

7. The cable fault monitoring system based on GPS positioning technology according to claim 6 is characterized in that: The posture analysis module further includes: a conversion unit, a feature construction unit, a feature vector analysis unit, a first projection unit, a second projection unit, a first posture unit, and a second posture unit, wherein the conversion unit, the feature construction unit, and the feature vector analysis unit are connected in sequence, the first projection unit and the second projection unit are connected to the feature vector analysis unit respectively, the first posture unit is connected to the first projection unit, and the second posture unit is connected to the second projection unit; The conversion unit is used to obtain the inclination angle data of the cable stake in the X-axis, Y-axis and Z-axis directions, and converts the inclination angle data through the Euler angle rotation matrix formula to obtain the cable inclination matrix M: where θ x is the inclination angle of the cable stake in the X-axis direction, θ y is the inclination angle of the cable stake in the Y-axis direction, θ z is the inclination angle of the cable stake in the Z-axis direction, and M is the cable inclination matrix; The characteristic equation used by the characteristic construction unit to construct the cable tilt matrix is: |M-λI|=0; Where λ is the eigenvalue and I is the identity matrix; The eigenvector analysis unit is used to solve the characteristic equation of the cable tilt matrix according to the elimination method to obtain three eigenvalues, select the largest eigenvalue among the three eigenvalues, substitute the largest eigenvalue into the characteristic equation to obtain the eigenvector corresponding to the largest eigenvalue as the main direction vector of the tilt angle; The first projection unit is used to project the main direction vector of the tilt angle on the north-south plane of the geographic coordinate system to obtain the north-south plane projection vector v s for: v s =[v1,0,v3]; Where v1 is the north-south component of the main direction vector of the tilt angle, v3 is the height component of the main direction vector of the tilt angle, and v s is the projection vector of the north-south plane; The second projection unit is used to project the main direction vector of the tilt angle on the east-west plane of the geographic coordinate system to obtain the east-west plane projection vector v e for: v e =[0,v2,v3]; Where v2 is the component of the main direction vector of the tilt angle in the east-west direction, v e is the projection vector of the east-west plane; The first posture unit is used to calculate the angle between the north-south plane projection vector and the height direction reference vector to obtain the north-south posture angle θ of the cable stake. s for: where θ s is the north-south attitude angle of the cable stake; The second posture unit is used to calculate the angle between the projection vector of the east-west plane and the height direction reference vector to obtain the east-west posture angle θ of the cable stake. e for: where θ e It is the east-west attitude angle of the cable stake.

8. The cable fault monitoring system based on GPS positioning technology according to claim 6 is characterized in that: The correction module further includes: an initial indication vector unit, a rotation matrix unit, an actual indication vector unit, a deviation analysis unit, and a deviation adjustment unit, wherein the units are connected in sequence; The initial indication vector unit is used to obtain the vertical distance between the GPS positioning device and the bottom of the stake and the buried depth of the cable head, and calculate the initial indication vector V0 from the GPS positioning device to the cable head as: V0=[0,0,-(L0+d)]; Where L0 is the vertical distance from the GPS positioning device to the bottom of the stake, d is the buried depth of the cable head, and V0 is the initial indication vector from the GPS positioning device to the cable head; The rotation matrix unit is used to establish a spatial rotation transformation matrix T according to the north-south attitude angle of the cable stake and the east-west attitude angle of the cable stake: where θ s is the north-south attitude angle of the cable stake, θ e is the east-west attitude angle of the cable stake, T is the space rotation transformation matrix; The actual indication vector unit is used to convert the initial indication vector from the GPS positioning device to the cable head according to the space rotation transformation matrix to obtain the actual indication vector V1 from the GPS positioning device to the cable head: V1=T·V0; Where V1 is the actual indication vector from the GPS positioning device to the cable head; The deviation analysis unit is used to calculate the indication deviation ΔV of the cable stake to the cable head position according to the initial indication vector from the GPS positioning device to the cable head and the actual indication vector from the GPS positioning device to the cable head: ΔV=V1-V0; Where ΔV is the indication deviation of the cable stake to the cable head position; The deviation adjustment unit is used to correct the position of the cable head according to the first coordinate of the cable head and the indicated deviation to obtain the second coordinate of the cable head (x ′ ,y ′ ,z ′ )for: x ′ =x-ΔV x ; y ′ =y-ΔV y ; z ′ =z-ΔV z ; Where ΔV x is the component of the indication deviation ΔV of the cable stake to the cable head position in the east-west direction, ΔV y is the component of the deviation ΔV indicated by the cable stake to the cable head position in the north-south direction, ΔV z is the vertical component of the deviation ΔV of the cable stake from the cable head position, (x, y, z) is the original GPS coordinate of the cable stake, (x ′ ,y ′ ,z ′ ) is the second coordinate of the cable head.

9. The cable fault monitoring system based on GPS positioning technology according to claim 8, characterized in that: The fault location module further comprises: a curve fitting unit, a fault distance measurement unit, and a path integration unit, wherein the units are connected in sequence; The curve fitting unit is used to select one of the cable heads in the fault area as the target cable head, take the second coordinate of the target cable head as the reference point and aggregate it with the second coordinates of the cable heads of other cable heads in the fault area to form a discrete point set, and perform curve fitting on the discrete point set by spline interpolation to obtain the cable space curve of the fault area; The fault distance measuring unit is used to send a pulse signal from the target cable head to the cable through the fault distance measuring instrument and receive the reflected signal of the fault point, and calculate the cable fault distance value D according to the time difference between the transmission time of the pulse signal and the reflected signal of the fault point. f for: Where c is the propagation speed of the signal in the cable, Δt is the time difference between the emission of the pulse signal and the reflected signal at the fault point, and D f is the cable fault distance value; The path integration unit is used to locate the fault point by the path integration method according to the cable space curve and the cable fault distance value to obtain the coordinates of the fault point, and implement repair measures on the cable fault point position.

10. The cable fault monitoring system based on GPS positioning technology according to claim 9, characterized in that: The path integration unit further comprises: an arc length analysis unit, a parameter determination unit, and a solution unit, and the units are connected in sequence; The arc length analysis unit is used to integrate the cable space curve to obtain the cable arc length integral equation: Where t is the independent variable of the parameterized equation corresponding to the cable space curve, X, Y, Z are the dependent variables of the parameterized equation corresponding to the cable space curve, and s(t) is the arc length from the target cable head to the parameter t; The parameter determination unit is used to substitute the cable fault distance measurement value as the dependent variable of the cable arc length integral equation into the cable arc length integral equation to solve the cable arc length integral equation by bisection method to obtain the value of the independent variable t of the parameterized equation corresponding to the cable space curve; The solving unit is used to substitute the value of the independent variable t of the parameterized equation corresponding to the cable space curve into the parameterized equation corresponding to the cable space curve to obtain the coordinates of the fault point.

Images