Intelligent fault detection system and method based on single Beidou positioning

Abstract

The invention discloses an intelligent fault detection system and method based on single Beidou positioning, and belongs to the technical field of fault detection, and the system comprises a positioning data obtaining module which is used for obtaining the positioning information of a preset power transmission line tower, and the positioning information comprises three-dimensional coordinate information and tower inclination information; generating a database according to the positioning information; and the data distinguishing module responds to the positioning information and is used for carrying out equal-proportion distinguishing on the height of a preset power transmission line tower, including distinguishing according to a lower-layer height section, a middle-layer height section and an upper-layer height section, giving monitoring points in different height sections, and obtaining position information changes of the monitoring points in the different height sections. By means of the Beidou positioning technology, multi-dimensional data analysis, an intelligent early warning function, ground reference object auxiliary judgment and the like, faults possibly existing in a power transmission line tower can be accurately and effectively detected, and the safety and operation and maintenance efficiency of a power transmission line are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fault detection, in particular to an intelligent fault detection system and method based on single Beidou positioning. Background Art

[0002] The single Beidou positioning technology is a technology for positioning, navigation, and timing based on the Beidou satellite navigation system. It mainly realizes precise positioning and navigation of the target object by receiving the signals emitted by Beidou satellites and using the signal transmission principle and multi-point positioning principle.

[0003] In the existing research on single Beidou positioning technology, the application document with the application number CN202411920288.4 provides a single Beidou positioning intelligent switching management system and method based on 5G technology. The technical solution includes: obtaining the key signal parameters of the 5G network and the Beidou system, and dynamically evaluating the communication quality of the 5G network and the Beidou system; obtaining the network load information of the 5G network and the Beidou system, and judging the congestion degree and response speed of the current 5G network and the Beidou system; based on the evaluation and judgment results of the above two steps, automatically switching the communication mode of the load in combination with the geographical location where the load is located. This technical solution optimizes the formulated communication switching strategy based on the analysis of the pseudo-random noise code sequences of the 5G network and the Beidou network, avoiding the wrong switching of the Beidou network to a non-5G network.

[0004] Another technical application document with the application number CN201310159107.6 provides an intelligent microgrid detection system based on Beidou-GPS dual-mode timing. The technical solution includes an intelligent microgrid detection device with Beidou-GPS dual-mode timing and a standby timing center; the intelligent microgrid detection device with Beidou-GPS dual-mode timing includes a timing unit, a data acquisition unit, a data processing unit, and a communication unit; the timing unit includes a Beidou satellite positioning system receiving module, a GPS satellite positioning system receiving module, a first ZIGBEE communication module, and a timing processing module. This technical solution can meet the deployment requirements of different environments, effectively control each unit, and uses neural networks to predict the reliability of satellite signals to provide a basis for selecting timing signals.

[0005] In real life, the single Beidou positioning technology has a wide range of applications in the field of transmission lines. For example, deformation monitoring of transmission line towers, fault location and inspection of transmission lines, disaster prevention and mitigation early warning of transmission lines, and construction and maintenance management of transmission lines, etc. For the deformation monitoring of transmission line towers, by installing high-precision displacement monitoring sensors at the tower base of the tower and combining with the Beidou ground-based augmentation network and high-precision positioning algorithms (such as RTK technology), the deformation conditions such as displacement and settlement of the tower are monitored in real time. The system can monitor all-weather and automatically, and transmit the data to the monitoring center in real time.

[0006] However, the existing single Beidou positioning technology has the defect of insufficient dynamic monitoring accuracy for the deformation monitoring of transmission line towers. For the deformation monitoring of transmission line towers in a dynamic environment (such as wind vibration, earthquake, etc.), the real-time dynamic positioning accuracy of the Beidou positioning system may be limited, and it is difficult to accurately capture the rapidly changing deformation. Summary of the Invention

[0007] In view of the problems existing in the above-mentioned existing fault detection technology field, the present invention is proposed.

[0008] Therefore, one of the objectives of the present invention is to provide an intelligent fault detection system and method based on single Beidou positioning, which realizes accurate and effective detection of possible faults in transmission line towers through means such as Beidou positioning technology, multi-dimensional data analysis, intelligent early warning function, ground reference object assisted judgment, inclination trend analysis, hierarchical inclination judgment, and real-time positioning information verification, improving the safety and operation and maintenance efficiency of transmission lines.

[0009] To solve the above technical problems, the present invention provides the following technical solutions:

[0010] On the one hand, the present invention provides an intelligent fault detection system based on single Beidou positioning, including:

[0011] A positioning data acquisition module, configured to acquire the positioning information of a preset transmission line tower, where the positioning information includes three-dimensional coordinate information and tower inclination information; and generate a database according to the positioning information;

[0012] A data differentiation module, which responds to the positioning information and is used to equally proportionally differentiate the height of the preset transmission line tower, including differentiating it in the way of lower height section, middle height section, and upper height section, and setting monitoring points in different height sections to obtain the change of the position information of the monitoring points in different height sections;

[0013] A data fusion processing module, which responds to the change of the position information and is used to analyze the corresponding change rule when the position information of the monitoring point changes. The data fusion processing module includes a comparison unit, a calculation unit, and a processing unit;

[0014] The comparison unit is used to compare the position information of the monitoring points in different height sections, and its comparison method includes comparing the distance between the monitoring points in the middle height section and the upper height section with the monitoring points in the lower height section based on the monitoring points in the lower height section;

[0015] The calculation unit responds to the distance comparison and is used to calculate the change value when the distance between the monitoring points in the middle height section and / or the upper height section and the monitoring points in the lower height section changes in a future period;

[0016] The processing unit responds to the calculated change value and judges and processes the state of the preset transmission line tower according to the change value; the judgment and processing method includes marking the result of distance comparison as the original result in the comparison unit. If the change value is less than the original result, the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal and issues a warning; otherwise, it does not determine.

[0017] As a preferred solution of the present invention, in the positioning data acquisition module, the three-dimensional coordinate information includes longitude, latitude and altitude, as well as relative position information; the positioning data acquisition module includes a Beidou satellite navigation and positioning instrument and a high-precision inclination sensor.

[0018] Among them, longitude and latitude are used to determine the planar position of the preset transmission line tower on the ground where it is located, and altitude is used to determine the altitude of the preset transmission line tower.

[0019] The relative position information includes the distance and direction between the preset transmission line tower and adjacent transmission line towers.

[0020] The tower inclination information includes the inclination angle and inclination direction of the preset transmission line tower.

[0021] As a preferred solution of the present invention, in the processing unit, the original result further includes the distance between the monitoring point in the lower height segment and the ground. When the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal, calculate the change in the distance between the monitoring point and the ground. If the change in the distance is lower than the original result, the system maintains the original judgment result; otherwise, it does not maintain.

[0022] As a preferred solution of the present invention, if the system maintains the original judgment result, divide the distance between the monitoring point and the ground. The division method includes selecting 3 to 5 fixed reference objects on the ground and controlling the distance between each fixed reference object and the monitoring point within 1 meter; at the same time, mark the actual distance between the monitoring point and each fixed reference object as the reference distance. If the distance between the monitoring point and each fixed reference object in the future period is equal to the reference distance, the system does not maintain the original judgment result; otherwise, it maintains.

[0023] As a preferred solution of the present invention, if the system maintains the original judgment result, calculate the distance between the monitoring point and each fixed reference object, and obtain the fixed reference object that is different from the reference distance. If the distance between the monitoring point and the fixed reference object is less than the reference distance, the system determines that the preset transmission line tower is inclined towards the fixed reference object; otherwise, it does not determine.

[0024] As a preferred embodiment of the present invention, the following is provided: according to the determination result, if the system determines that the preset transmission line tower leans towards the fixed reference object, then a preset monitoring period is set, and the monitoring period includes at least 10 natural days; and according to the calculated actual distance between the monitoring point and the fixed reference object, the change in the inclination trend of the preset transmission line tower is calculated during the monitoring period, and the calculation is obtained according to the following formula:

[0025] where δ j represents the δ-th distance between the preset transmission line tower and the fixed reference object obtained for the j-th time during the monitoring period;

[0026] In the formula, p represents the natural day corresponding to the δ-th distance, l represents the total number of distances obtained during the monitoring period, and w represents the difference between adjacent distances among the total number.

[0027] As a preferred embodiment of the present invention, the following is provided: based on the difference, a discriminative determination is made on the change in the inclination trend of the preset transmission line tower, and the discriminative determination method includes preset θ 差值 and ▽ 差值 , if the difference is greater than θ 差值 , then the system determines that the preset transmission line tower is slightly inclined; if the difference is greater than ▽ 差值 , then the system determines that the preset transmission line tower is severely inclined; where θ 差值 represents that the difference ≤ 1; ▽ 差值 represents that the difference > 1.

[0028] As a preferred embodiment of the present invention, the following is provided: according to the determination result, if the system determines that the preset transmission line tower is severely inclined, then the positioning information of the monitoring point is obtained at the time of determination, and the positioning information is marked as reference positioning information; at the same time, the change in the positioning information is obtained with two natural days as an acquisition period, and if the positioning information obtained during the acquisition period is the same as the reference positioning information, then the system determines that the preset transmission line tower is not in a trend of severe inclination; otherwise, a determination is made.

[0029] On the other hand, the present invention provides a method applied to an intelligent fault detection system based on single Beidou positioning, including the following steps:

[0030] Obtain the positioning information of the preset transmission line tower, where the positioning information includes three-dimensional coordinate information and tower inclination information; and generate a database according to the positioning information;

[0031] According to the positioning information, the height of the preset transmission line tower is proportionally divided, including being divided into a lower height section, a middle height section, and an upper height section, and monitoring points are set in different height sections to obtain the change in the position information of the monitoring points in different height sections;

[0032] When it is detected that the position information of the monitoring point changes, analyze the corresponding change rule;

[0033] Compare the position information of the monitoring points in different height sections, and the comparison method includes comparing the distances between the monitoring points in the middle height section and the upper height section with the monitoring points in the lower height section based on the monitoring points in the lower height section;

[0034] When the distances between the monitoring points in the middle height section and / or the upper height section and the monitoring points in the lower height section change in a future period, calculate the change value;

[0035] According to the change value, and judge and process the state of the preset transmission line tower according to the change value; the judgment and processing methods include:

[0036] Mark the result of the distance comparison as the original result. If the change value is less than the original result, the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal, and issues a warning; otherwise, it does not determine.

[0037] 1. The present invention divides the height of the tower into three height sections: lower, middle, and upper, and sets monitoring points in each height section. By comparing the changes in the position information of the monitoring points in different height sections and analyzing their change rules, the state of the tower can be evaluated more comprehensively. This multi-dimensional data analysis method can more accurately judge whether the tower has settled or the structure is abnormal;

[0038] 2. The present invention introduces the concept of a ground fixed reference object. By comparing the change in the distance between the monitoring point and the ground reference object, the inclination state of the tower is further verified. This method can reduce misjudgment and improve the accuracy of judgment;

[0039] 3. The present invention can not only detect the immediate state of the transmission line tower, but also predict the future state of the tower by calculating the change in the inclination trend during the monitoring period. This trend analysis function can help the operation and maintenance personnel take measures in advance to avoid further deterioration of the tower inclination;

[0040] 4. When the present invention determines that the transmission line tower is severely inclined, the system will further verify the change in its positioning information to ensure the accuracy of the judgment. This real-time verification function can avoid misjudgment caused by equipment failure or data error. Brief Description of the Drawings

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings. Among them:

[0042] Figure 1 It is a schematic modular structure diagram of the intelligent fault detection system based on single Beidou positioning according to the embodiment of the present invention;

[0043] Figure 2 It is a schematic flow structure diagram of the embodiment of the present invention;

[0044] Reference numerals in the figure: 110 - positioning data acquisition module; 120 - data discrimination module; 130 - data fusion processing module; 1301 - comparison unit; 1302 - calculation unit; 1303 - processing unit. Detailed implementation manners

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0046] Since the existing single Beidou positioning technology has the defect of insufficient dynamic monitoring accuracy for the deformation monitoring of transmission line towers, for the deformation monitoring of transmission line towers in a dynamic environment (such as wind vibration, earthquake, etc.), the real-time dynamic positioning accuracy of the Beidou positioning system may be limited, and it is difficult to accurately capture the rapidly changing deformation.

[0047] Based on this, the present invention proposes an intelligent fault detection system and method based on single Beidou positioning. By combining various detection means and analysis methods, the system can comprehensively judge the state of the tower, reduce the limitations of a single detection means, and this comprehensive judgment ability improves the reliability of the system.

[0048] The following will further specifically describe this solution through embodiments in conjunction with the accompanying drawings.

[0049] Refer to Figures 1 to 2 , which is an embodiment of the present invention. This embodiment provides an intelligent fault detection system based on single Beidou positioning, including:

[0050] A positioning data acquisition module 110, configured to acquire the positioning information of a preset transmission line tower, where the positioning information includes three-dimensional coordinate information and tower inclination information; and generate a database according to the positioning information;

[0051] The data differentiation module 120 responds to the positioning information and is used to proportionally differentiate the height of the preset transmission line tower, including differentiating it in the way of lower height section, middle height section and upper height section, and setting monitoring points in different height sections to obtain the change of the position information of the monitoring points in different height sections;

[0052] In this embodiment, the height of the transmission line tower is divided into three height sections: lower, middle and upper for monitoring, which can capture the changes of different parts of the tower more carefully;

[0053] The data fusion processing module 130 responds to the change of position information and is used to analyze the corresponding change rule when the position information of the monitoring point changes. The data fusion processing module 130 includes a comparison unit 1301, a calculation unit 1302 and a processing unit 1303;

[0054] The comparison unit 1301 is used to compare the position information of the monitoring points in different height sections. The comparison method includes comparing the distance between the monitoring points in the middle height section and the upper height section based on the monitoring points in the lower height section;

[0055] By comparing the change of the position information of the monitoring points in different height sections, the system can intelligently analyze the change rule and issue a warning when an anomaly is detected, so as to timely discover potential faults;

[0056] The calculation unit 1302 responds to the distance comparison and is used to calculate the change value when the distance between the monitoring points in the middle height section and / or the upper height section and the monitoring points in the lower height section changes in the future period;

[0057] The processing unit 1303 responds to the calculated change value and judges and processes the state of the preset transmission line tower according to the change value; the judgment and processing method includes marking the result of the distance comparison as the original result in the comparison unit. If the change value is less than the original result, the system determines that the preset transmission line tower has settlement and / or tower structure anomaly and issues a warning; otherwise, it does not determine;

[0058] In the positioning data acquisition module, the three-dimensional coordinate information includes longitude, latitude and height, as well as relative position information; the positioning data acquisition module includes a Beidou satellite navigation positioning instrument and a high-precision inclination sensor;

[0059] Among them, longitude and latitude are used to determine the plane position of the preset transmission line tower on the ground where it is located, and height is used to determine the altitude of the preset transmission line tower;

[0060] The relative position information includes the distance and direction between the preset transmission line tower and the adjacent transmission line towers;

[0061] The tower inclination information includes the inclination angle and inclination direction of the preset transmission line tower;

[0062] The obtained three-dimensional coordinate information includes longitude, latitude, altitude, and relative position information, which can comprehensively reflect the spatial position and mutual relationship of the towers;

[0063] It not only monitors the planar position and altitude of the tower, but also monitors the inclination angle and direction of the tower, providing data support for comprehensively evaluating the tower status;

[0064] In the processing unit, the original result also includes the distance between the monitoring points in the lower height segment and the ground. When the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal, it calculates the change in the distance between the monitoring points and the ground. If the change in the distance is lower than the original result, the system maintains the original determination result; otherwise, it does not maintain it;

[0065] In this embodiment, when determining the tower status, not only the change in the distance between the monitoring points is considered, but also the change in the distance between the monitoring points and the ground is combined for double verification, improving the accuracy of the judgment;

[0066] Moreover, the system can dynamically adjust the judgment result according to the change in the distance between the monitoring points and the ground, avoiding misjudgment caused by a single factor and enhancing the adaptability and reliability of the system;

[0067] On this basis, if the system maintains the original determination result, the distance between the monitoring points and the ground is divided. The division method includes selecting 3 to 5 fixed reference objects on the ground and controlling the distance between each fixed reference object and the monitoring points within 1 meter; at the same time, marking the actual distance between the monitoring points and each fixed reference object as the reference distance. If the distance between the monitoring points and each fixed reference object in the future period is equal to the reference distance, the system does not maintain the original determination result; otherwise, it maintains it;

[0068] In this embodiment, by selecting fixed reference objects on the ground, the position change of the monitoring points is further verified, reducing misjudgment caused by environmental factors or equipment errors;

[0069] At the same time, comparing the distances between each monitoring point and multiple fixed reference objects can more accurately judge the local inclination state of the tower, improving the refinement degree of monitoring;

[0070] In this embodiment further, if the system maintains the original determination result, it calculates the distances between the monitoring points and each fixed reference object, obtains the fixed reference objects different from the reference distance among them. If the distance between the monitoring point and the fixed reference object is less than the reference distance, the system determines that the preset transmission line tower inclines towards the fixed reference object; otherwise, it does not determine;

[0071] In this embodiment, by calculating the change in the distance between the monitoring point and the fixed reference object, the system can clearly determine the tilting direction of the pole tower, providing specific direction information for subsequent maintenance and repair;

[0072] Meanwhile, it can accurately point out the specific direction of the pole tower's tilt, facilitating the maintenance personnel to quickly locate the problem and take targeted measures;

[0073] Furthermore, in this embodiment, according to the determination result, if the system determines that the preset transmission line pole tower tilts towards the fixed reference object, a preset monitoring period is set, and the monitoring period includes at least 10 natural days; and based on the calculated actual distance between the monitoring point and the fixed reference object, the change in the tilt trend of the preset transmission line pole tower is calculated within the monitoring period, and is calculated according to the following formula:

[0074] wherein, δ j represents the δ-th distance between the preset transmission line pole tower and the fixed reference object obtained at the j-th time within the monitoring period;

[0075] In the formula, p represents the natural day corresponding to the δ-th distance, l represents the total number of distances obtained within the monitoring period, and w represents the difference between adjacent distances among the total number;

[0076] And by calculating the change in the tilt trend within the monitoring period and keeping in touch at any time, the system can predict the future tilt trend of the pole tower and discover potential safety hazards in advance;

[0077] Moreover, by continuously monitoring the tilt change of the pole tower within the preset monitoring period, the dynamic change of the pole tower state can be captured in time, providing a basis for maintenance decision-making;

[0078] Meanwhile, based on the difference value, the change in the tilt trend of the preset transmission line pole tower is distinguished and judged, and the way of distinguishing and judging includes presetting θ 差值 and If the difference value is greater than θ 差值 , then the system determines that the preset transmission line pole tower is slightly tilted; if the difference value is greater than then the system determines that the preset transmission line pole tower is severely tilted; wherein, θ 差值 represents that the difference value ≤ 1; represents that the difference value > 1;

[0079] In this embodiment, the tilt state of the pole tower is divided into slightly tilted and severely tilted, which is convenient for the maintenance personnel to take corresponding measures according to different tilt degrees, improving the maintenance efficiency;

[0080] Based on the above, according to the determination result, if the system determines that the preset transmission line tower is severely inclined, the positioning information of the monitoring point is obtained at the time of determination and marked as the reference positioning information; at the same time, the change of the positioning information is obtained with two natural days as an acquisition period. If the positioning information obtained within the acquisition period is the same as the reference positioning information, the system determines that the preset transmission line tower is not in the trend of severe inclination; otherwise, it determines.

[0081] In this embodiment, for the tower determined to be severely inclined, the system will further verify the change of its positioning information to ensure the accuracy and reliability of the judgment.

[0082] At the same time, by obtaining the change of the positioning information in real time, the system can dynamically adjust the judgment of the inclination state of the tower, avoid misjudgment caused by short-term fluctuations, and enhance the stability of the system.

[0083] Based on the above, through means such as high-precision positioning and inclination monitoring, hierarchical monitoring, intelligent analysis and early warning, ground reference object assisted judgment, inclination direction judgment, inclination trend change analysis, hierarchical inclination judgment, and real-time verification, this application realizes the comprehensive, accurate, and real-time monitoring of the state of transmission line towers.

[0084] Combined with the above intelligent fault detection system based on single Beidou positioning, this embodiment also proposes a working method applied to the system, and the steps are as follows:

[0085] S10: Obtain the positioning information of the preset transmission line tower, where the positioning information includes three-dimensional coordinate information and tower inclination information; and generate a database according to the positioning information.

[0086] S20: According to the positioning information, divide the height of the preset transmission line tower proportionally, including dividing it into a lower height section, a middle height section, and an upper height section, and given monitoring points in different height sections, and obtain the change of the position information of the monitoring points in different height sections.

[0087] S30: Analyze the corresponding change rule when the position information of the monitoring point is monitored to change.

[0088] S40: Compare the position information of the monitoring points in different height sections, and the comparison method includes comparing the distance between the monitoring points in the middle height section and the upper height section based on the monitoring points in the lower height section.

[0089] S50: When the distance between the monitoring points in the middle height section and / or the upper height section and the monitoring points in the lower height section changes in the future period, calculate the change value.

[0090] S60: Based on the change value, judge and process the state of the preset transmission line tower; the ways of judgment and processing include:

[0091] S70: Mark the result of distance comparison as the original result. If the change value is less than the original result, the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal, and issues a warning; otherwise, it does not determine.

[0092] In summary, through means such as Beidou positioning technology, multi-dimensional data analysis, intelligent warning function, ground reference object assisted judgment, tilt trend analysis, hierarchical tilt judgment, and real-time positioning information verification, the present invention realizes accurate and effective detection of possible faults in transmission line towers, improving the safety and operation and maintenance efficiency of transmission lines.

[0093] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. Intelligent fault detection system based on single Beidou positioning, characterized in that: include: A positioning data acquisition module is used to obtain the positioning information of a preset transmission line tower, wherein the positioning information includes three-dimensional coordinate information and tower inclination information; and generating a database according to the positioning information; A data differentiation module, the data differentiation module responds to the positioning information, and is used to proportionally differentiate the heights of the preset transmission line towers, including differentiating according to the lower height segment, the middle height segment and the upper height segment, and giving monitoring points in different height segments to obtain changes in position information of the monitoring points in different height segments; A data fusion processing module, wherein the data fusion processing module responds to the change of the position information and is used to analyze the corresponding change rule when the position information of the monitoring point is monitored to change, and the data fusion processing module includes a comparison unit, a calculation unit and a processing unit; The comparison unit is used to compare the position information of the monitoring points of different height segments, and the comparison method includes comparing the distance between the monitoring points of the lower height segment and the monitoring points of the middle height segment and the upper height segment based on the monitoring points of the lower height segment; The calculation unit is responsive to the distance comparison, and is used to calculate a change value when the distance between the monitoring point of the middle altitude segment and / or the upper altitude segment and the monitoring point of the lower altitude segment in the future time period changes; The processing unit responds to the calculated change value and determines the state of the preset transmission line tower according to the change value; The judgment and processing method includes marking the result of the distance comparison as the original result in the comparison unit. If the change value is less than the original result, the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal, and issues an early warning. Otherwise, no judgment is made.

2. The intelligent fault detection system based on single Beidou positioning as claimed in claim 1, characterized in that: In the positioning data acquisition module, the three-dimensional coordinate information includes longitude, latitude and altitude, as well as relative position information; the positioning data acquisition module includes a Beidou satellite navigation locator and a high-precision inclination sensor; The longitude and latitude are used to determine the plane position of the preset transmission line tower on the ground where the tower is located, and the height is used to determine the altitude of the preset transmission line tower; The relative position information includes the distance and direction between the preset transmission line tower and the adjacent transmission line tower; The tower inclination information includes the inclination angle and inclination direction of the preset transmission line tower.

3. The intelligent fault detection system based on single Beidou positioning as claimed in claim 1, characterized in that: In the processing unit, the original result also includes the distance between the monitoring point of the lower height segment and the ground. When the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal, the change in the distance between the monitoring point and the ground is calculated. If the change in the distance is lower than the original result, the system maintains the original determination result. Otherwise, it will not be maintained.

4. The intelligent fault detection system based on single Beidou positioning as claimed in claim 3, characterized in that: If the system maintains the original judgment result, the distance between the monitoring point and the ground will be divided. The division method includes selecting 3 to 5 fixed reference objects on the ground, and controlling the distance between each fixed reference object and the monitoring point within 1 meter; at the same time, the actual distance between the monitoring point and each fixed reference object is marked as the reference distance. If the distance between the monitoring point and each fixed reference object in the future time period is equal to the reference distance, the system will not maintain the original judgment result; otherwise, it will be maintained.

5. The intelligent fault detection system based on single Beidou positioning as claimed in claim 4, characterized in that: If the system maintains the original judgment result, the distance between the monitoring point and each fixed reference object is calculated, and the fixed reference object that is different from the reference distance is obtained. If the distance between the monitoring point and the fixed reference object is smaller than the reference distance, the system determines that the preset transmission line tower is tilted toward the fixed reference object; otherwise, no judgment is made.

6. The intelligent fault detection system based on single Beidou positioning as claimed in claim 5, characterized in that: According to the determination result, if the system determines that the preset transmission line tower is tilted toward the fixed reference object, a monitoring period is preset, and the monitoring period includes at least 10 natural days; And according to the calculated actual distance between the monitoring point and the fixed reference object, the inclination trend change of the preset transmission line tower is calculated during the monitoring period, and is calculated according to the following formula: Among them, δ j represents the δth distance between the preset transmission line tower and the fixed reference object obtained for the jth time during the monitoring period; Wherein, p represents the natural day corresponding to the δth interval, l represents the total number of intervals obtained during the monitoring period, and w represents the difference between adjacent intervals in the total number.

7. The intelligent fault detection system based on single Beidou positioning as claimed in claim 6, characterized in that: Based on the difference, the tilt trend change of the preset transmission line tower is distinguished and judged, and the distinguishing and judging method includes preset θ 差值 and 差值 , if the difference is greater than the θ 差值 , the system determines that the preset transmission line tower is slightly tilted; If the difference is greater than the 差值 , the system determines that the preset transmission line tower is severely tilted; wherein, the θ 差值 , indicating that the difference is ≤1; 差值 , indicating that the difference is greater than 1.

8. The intelligent fault detection system based on single Beidou positioning as claimed in claim 7, characterized in that: According to the judgment result, if the system judges that the preset transmission line tower is severely tilted, the positioning information of the monitoring point is obtained during the judgment, and the positioning information is marked as reference positioning information; at the same time, the change of the positioning information is obtained with two natural days as an acquisition period. If the positioning information obtained during the acquisition period is the same as the reference positioning information, the system judges that the preset transmission line tower is not in a trend change of severe tilt; otherwise, it is judged.

9. The method applied to the intelligent fault detection system based on single Beidou positioning as claimed in claim 1, characterized in that: The following steps are involved: Acquire positioning information of a preset transmission line tower, the positioning information including three-dimensional coordinate information and tower inclination information; and generate a database based on the positioning information; According to the positioning information, the height of the preset transmission line tower is divided into equal proportions, including being divided into lower height segments, middle height segments and upper height segments, and monitoring points are given in different height segments to obtain changes in position information of the monitoring points in different height segments; When the position information of the monitoring point is monitored to change, the corresponding change rule is analyzed; Comparing the location information of the monitoring points at different height segments, wherein the comparison method includes comparing the distances of the monitoring points at the lower height segment with the monitoring points at the middle height segment and the upper height segment based on the monitoring points at the lower height segment; When the distance between the monitoring point of the middle height segment and / or the upper height segment and the monitoring point of the lower height segment in the future time period changes, calculating the change value; According to the change value, the state of the preset transmission line tower is judged and processed according to the change value; The judgment and processing methods include: The result of the distance comparison is marked as the original result. If the change value is less than the original result, the system determines that the preset transmission line tower has settled and / or the tower structure is abnormal, and issues an early warning; Otherwise, no judgment is made.

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