Substation operation vehicle management method and system based on Beidou positioning

Abstract

The invention provides a transformer substation operation vehicle management method and system based on Beidou positioning, and belongs to the technical field of transformer substation operation and maintenance, aiming at the problem that in the maintenance or daily operation work of a transformer substation, operation vehicles coming and going on site lack a real-time monitoring and effective management mechanism. The method comprises the following steps: constructing a transformer substation map containing obstacle information and transformer substation information, and generating an electronic fence on the transformer substation map; acquiring the real-time position of the working vehicle by using a GPS and Beidou combined positioning model; and carrying out graded early warning based on the real-time position of the operation vehicle and the distance of the electronic fence. The safety and efficiency of operation in the transformer substation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of substation operation and maintenance, and particularly relates to a management method and system for substation operation vehicles based on Beidou positioning. Background Art

[0002] Beidou positioning, also known as the Beidou satellite navigation system, is a global satellite navigation system independently developed by China and is also the third mature satellite navigation system after GPS and GLONASS. The Beidou satellite navigation system generally consists of three parts: a space segment, a ground segment, and a user segment, and can provide all-weather, high-precision positioning, navigation, and timing services, and also has the ability of short message communication. With the development of the Beidou system construction and service capabilities, related products have been widely used in fields such as transportation, marine fisheries, hydrological monitoring, meteorological forecasting, surveying and mapping geographic information, forest fire prevention, communication systems, power dispatching, disaster relief and mitigation, emergency search and rescue, etc., gradually penetrating into all aspects of human social production and people's lives, injecting new vitality into global economic and social development.

[0003] In substation maintenance operations and daily operations, operation vehicles with different functions are often used, including manual ladder trucks, mobile power vehicles, etc. For the management of operation vehicles and the control of the operation scope, currently, it mainly relies on manual judgment methods or by setting danger signs at the operation site to prompt the operation vehicles. In a special scenario like a substation, there are numerous electrical equipment and cables. If the operation vehicle fails to notice the danger signs or maintains an improper distance from the electrical equipment, etc., it is extremely easy to cause collisions, resulting in failures of substation equipment or fires, and even endangering the safety of personnel. Summary of the Invention

[0004] In view of the problem in the prior art that there is a lack of a management mechanism for operation vehicles during substation maintenance and daily operation, which is likely to cause safety accidents, the present invention provides a management method and system for substation operation vehicles based on Beidou positioning.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A management method for substation operation vehicles based on Beidou positioning includes the following steps:

[0007] Construct a substation map containing obstacle information and substation information, and generate an electronic fence on the substation map;

[0008] Use a GPS and Beidou combined positioning model to obtain the real-time position of the operation vehicle;

[0009] Perform hierarchical early warning based on the distance between the real-time position of the operation vehicle and the electronic fence.

[0010] To optimize the above technical solutions, the specific measures also include:

[0011] Further, generating an electronic fence on the substation map specifically includes: dividing the substation map into an equipment area and a construction area, and generating an electronic fence in the construction area according to the safety distance requirements for different voltage levels in the equipment area, so as to ensure that the operation vehicle moves within the electronic fence in the construction area.

[0012] Further, obtaining the real-time position of the operation vehicle by using the GPS and Beidou combined positioning model specifically includes:

[0013] Obtaining the pseudorange observation values between the GPS satellites and Beidou satellites and their respective receivers according to the pseudorange observation equation; the receiver is located on the operation vehicle;

[0014] Constructing a state vector by combining the deviation parameters between the GPS satellites and Beidou satellites and the receiver clock error, iterating the state vector by the weight selection iteration method, outputting the weights of the GPS satellites and Beidou satellites respectively after convergence, and performing weighted fusion on the pseudorange observation values between the GPS satellites and Beidou satellites and their respective receivers to obtain the final accurate satellite-to-ground distance;

[0015] Obtaining the receiver position based on the satellite-to-ground distance, and mapping the receiver position to the actual vehicle position through coordinate transformation.

[0016] Further, obtaining the pseudorange observation values between the GPS satellites and Beidou satellites and their respective receivers according to the pseudorange observation equation specifically includes:

[0017] Obtaining the broadcast ephemeris parameters of the GPS satellites and Beidou satellites, including satellite orbit information and clock error data, calculating the signal propagation time between the receiver and the satellite, and then substituting the speed of light and various errors into the pseudorange observation equation to obtain the pseudorange observation values of the GPS satellites and Beidou satellites respectively. The pseudorange observation equation is as follows:

[0018] R = r + cDt + d lon + d Trop + e

[0019] In the formula, R represents the pseudorange observation value between the GPS satellite and the receiver or the pseudorange observation value between the Beidou satellite and the receiver; r represents the spatial geometric distance between the GPS satellite and the ground control center or the spatial geometric distance between the Beidou satellite and the ground control center, c represents the propagation speed of light in vacuum; d lon represents the ionospheric error; d Trop represents the tropospheric error; e represents the noise, Δt represents the clock error between the ground receiver and the space satellite, Dt = t r - t s , t r represents the time of the receiver, t sRepresents the time of the space satellite.

[0020] Furthermore, the specific process of iterating the state vector by the weighted iteration method and outputting the respective weights of GPS satellites and Beidou satellites after convergence is as follows:

[0021] S1. Initialize the iteration number i = 0 and give the initial weight vector;

[0022] S2. Calculate the residual v i of the state vector and the mean square error s at the current iteration;

[0023] S3. Update the weight vector, and the formula is as follows:

[0024]

[0025] In the formula, p i+1 is the updated weight vector, p i is the weight vector at the current iteration, |V i | = |v i / s|, V i is the ratio of the residual of the state vector to the mean square error, k 0 and k 1 are harmonic coefficients used to divide the residual interval, k 0 is used to distinguish reliable observations from observations that need to adjust the weights, and k 1 is used to distinguish observations containing gross errors from observations that need to adjust the weights;

[0026] S4. Judge whether the absolute value of the ratio of the residual to the mean square error is less than the preset threshold. If so, output the updated weight vector, and the elements in the weight vector are the respective weights of GPS satellites and Beidou satellites. Otherwise, increment the iteration number i by one and return to step S2.

[0027] Furthermore, the specific method of mapping the receiver position to the actual vehicle position through coordinate transformation is as follows:

[0028] Map the receiver position to the actual vehicle position through the conversion relationship between the vehicle coordinate system and the global coordinate system;

[0029]

[0030] In the formula, (X global , Y global , Z global ) represents the actual position of the vehicle in the global coordinate system, R is the attitude rotation matrix, T is the translation vector, θ is the pitch angle of the vehicle, φ is the roll angle of the vehicle, ψ is the yaw angle of the vehicle, (X vehicle , Y vehicle , Z vehicle ) represents the actual position of the vehicle in the vehicle coordinate system, (X0 , Y 0 , Z 0 ) represents the receiver position.

[0031] Furthermore, the distance - grading early warning based on the real - time position of the work vehicle and the electronic fence is specifically as follows:

[0032] Judge the relationship between the distance between the real - time position of the work vehicle and the electronic fence and the first distance threshold and the second distance threshold. If d v > d 1 , then the work vehicle is located in the low - risk area. If d 2 < d v ￡d 1 , then the work vehicle is located in the medium - risk area, and the first - level early warning is activated. If d v ￡d 2 , then the work vehicle is located in the high - risk area, and the second - level early warning is activated.

[0033] Furthermore, the method further includes:

[0034] When the vehicle is stationary, automatically trigger the coordinate calibration program, and use the least - squares method to fit multiple positioning data to eliminate installation errors and system biases.

[0035] The beneficial effects of the present invention are:

[0036] Based on the combined positioning technology of GPS and Beidou, it provides accurate position information and safety early - warning services for the operating personnel in the substation. The present invention can timely monitor the position of the vehicle, realize the accurate positioning, real - time tracking and safety area setting of the work vehicle, thus greatly improving the safety and efficiency of the operation in the substation. This innovation not only improves the working conditions in the power industry, but also provides a new solution for preventing potential hazards and improving the operation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is the flow chart of the substation work vehicle management method based on Beidou positioning proposed by the present invention.

[0038] Figure 2 is the schematic diagram of the substation work vehicle management system based on Beidou positioning proposed by the present invention.

[0039] Figure 3 is the functional block diagram of the substation work vehicle management system based on Beidou positioning in the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0041] Embodiment 1

[0042] The present invention provides a management method for substation operation vehicles based on Beidou positioning. The flowchart of this method is as Figure 1 shown and includes the following steps:

[0043] Construct a substation map containing obstacle information and substation information, and generate an electronic fence on the substation map. Specifically, generating an electronic fence on the substation map means dividing the substation map into an equipment area and a construction area. According to the safety distance requirements for different voltage levels in the equipment area, an electronic fence is generated in the construction area to ensure that the operation vehicle moves within the electronic fence in the construction area.

[0044] Use a GPS and Beidou combined positioning model to obtain the real-time position of the operation vehicle. Specifically:

[0045] According to the pseudorange observation equation, obtain the pseudorange observation values between GPS satellites and Beidou satellites and their respective receivers. The receiver is located on the operation vehicle. Specifically, obtaining the pseudorange observation values between GPS satellites and Beidou satellites and their respective receivers according to the pseudorange observation equation means:

[0046] Obtain the broadcast ephemeris parameters of GPS satellites and Beidou satellites, including satellite orbit information and clock error data, calculate the signal propagation time between the receiver and the satellite, and then substitute the speed of light and various errors into the pseudorange observation equation to obtain the pseudorange observation values of GPS satellites and Beidou satellites respectively. The pseudorange observation equation is as follows:

[0047] R = r + cDt + d lon + d Trop + e

[0048] In the formula, R represents the pseudorange observation value between a GPS satellite and the receiver or the pseudorange observation value between a Beidou satellite and the receiver; r represents the spatial geometric distance between a GPS satellite and the ground control center or the spatial geometric distance between a Beidou satellite and the ground control center, c represents the propagation speed of light in a vacuum; d lon represents the ionospheric error; d Trop represents the tropospheric error; e represents noise, Δt represents the clock difference between the ground receiver and the space satellite, Dt = t r - t s , t r represents the time of the receiver, ts Represents the time of a space satellite.

[0049] The deviation parameters between GPS satellites and Beidou satellites and the receiver clock error are jointly used to form a state vector. The state vector is iterated by the weight selection iteration method. After convergence, the respective weights of GPS satellites and Beidou satellites are output. The pseudo-range observations between GPS satellites and Beidou satellites and their respective receivers are weighted and fused to obtain the final accurate satellite-to-ground distance. The specific process of iterating the state vector by the weight selection iteration method and outputting the respective weights of GPS satellites and Beidou satellites after convergence is as follows:

[0050] S1. Initialize the iteration number i = 0 and give the initial weight vector.

[0051] S2. Calculate the residual v of the state vector i and the mean square error s at the current iteration.

[0052] S3. Update the weight vector, and the formula is as follows:

[0053]

[0054] In the formula, p i+1 is the updated weight vector, p i is the weight vector at the current iteration, |V i | = |v i / s|, V i is the ratio of the residual of the state vector to the mean square error, k 0 and k 1 are harmonic coefficients used to divide the residual interval. k 0 is used to distinguish reliable observations from observations that need to adjust the weights, and k 1 is used to distinguish observations containing gross errors from observations that need to adjust the weights.

[0055] |V i | < k 0 The interval is the reliable observation interval. Observation values with smaller residuals maintain high weights of 0.8 - 1. k 0 ￡|V i | < k 1 The interval is the suspicious observation interval. The weights of observation values with medium residuals decay proportionally (e.g., the weights decrease as the residuals increase). |V i | 3 k 1 Indicates a gross error observation. Observation values with excessive residuals are directly assigned a weight of 0 to exclude their influence on the results.

[0056] S4. Determine whether the absolute value of the ratio of the residual to the mean square error is less than the preset threshold. If so, output the updated weight vector, and the elements in the weight vector are the respective weights of GPS satellites and Beidou satellites. Otherwise, increment the iteration number i by one and return to step S2.

[0057] The receiver position is obtained based on the distance from the base station, and the receiver position is mapped to the actual vehicle position through coordinate transformation. Specifically:

[0058] The receiver position is mapped to the actual vehicle position through the conversion relationship between the vehicle coordinate system and the global coordinate system;

[0059]

[0060] In the formula, (X global , Y global , Z global ) represents the actual position of the vehicle in the global coordinate system, R is the attitude rotation matrix, T is the translation vector, θ is the vehicle pitch angle, φ is the vehicle roll angle, ψ is the vehicle yaw angle, (X vehicle , Y vehicle , Z vehicle ) represents the actual position of the vehicle in the vehicle coordinate system, (X 0 , Y 0 , Z 0 ) represents the receiver position.

[0061] Distance-based warning classification is performed based on the real-time position of the working vehicle and the electronic fence. Specifically:

[0062] The relationship between the distance between the real-time position of the working vehicle and the electronic fence and the first distance threshold and the second distance threshold is judged. If d v >d 1 , then the working vehicle is located in the low-risk area. If d 2 <d v ￡d 1 , then the working vehicle is located in the medium-risk area, and the first-level warning is activated. If d v ￡d 2 , then the working vehicle is located in the high-risk area, and the second-level warning is activated.

[0063] Whether the vehicle is stationary is detected by the accelerometer. When the vehicle is stationary, the coordinate calibration program is automatically triggered, and the least squares method is used to fit the vehicle positioning data multiple times to eliminate the installation error and system deviation.

[0064] For large vehicles, the present invention can be further improved by multi-receiver collaborative positioning. For large working vehicles (such as cranes), dual receivers are installed at both ends of the vehicle body, and the baseline vector is calculated by the phase difference technology (RTK): Δ where λ is the carrier wavelength, is the phase difference gradient, x2 is the position coordinate of the second receiver, x1 is the position coordinate of the first receiver, and Δx is the position difference between the two receivers.

[0065] As known, a vehicle-mounted receiver simultaneously observes 4 GPS satellites (G1 - G4) and 3 Beidou satellites (B1 - B3), and the initial weights are all 1. Assuming that the norm difference of the results obtained from two iterations is 0.05 meters, the two weight matrices are respectively: 1, 0.93, 1, 0, 1, 1, 0; 1, 0.74, 1, 0, 1, 1, 0.

[0066] Then the weight allocation effect is as follows:

[0067] GPS: Only using G1 and G3, the positioning accuracy is ±1.2 meters, and the solution success rate is 85%.

[0068] Beidou: Only using B1 and B2, the positioning accuracy is ±1.5 meters, and the solution success rate is 80%.

[0069] Combined positioning result:

[0070] After weight allocation:

[0071] G1 (weight 1), G3 (weight 1), B1 (weight 1), B2 (weight 1)

[0072] G2 (weight 0.74) contributes part of the weight

[0073] Positioning accuracy: Improved to ±3 cm (plane), and the solution success rate is 98%.

[0074] Gross error rejection:

[0075] G4 (residual 4.2 meters) and B3 (residual 3.5 meters) are weighted as 0 and completely excluded.

[0076] Summary of the core mechanism of the GPS and Beidou combined positioning model: (1) Dynamic weighting: The weights are adjusted in real time according to the satellite observation residuals, and satellites with poor signal quality (such as G2 and B3) are down-weighted or excluded. (2) System cooperation: The weights of GPS and Beidou satellites are adjusted independently to complement each other's advantages. For example, GPS satellites G1 and G3 maintain high weights due to small residuals; Beidou satellites B1 and B2 supplement the positioning geometric strength due to small residuals. (3) Accuracy improvement: The combined model significantly improves the positioning reliability by increasing the number of effective satellites (from 4 in a single system to 6) and optimizing the weight allocation.

[0077] Embodiment 2

[0078] The present invention proposes a substation operation vehicle management system based on Beidou positioning corresponding to the method of Embodiment 1, including:

[0079] A receiver, installed on the operation vehicle, for receiving satellite signals.

[0080] The ground control center is used to receive satellite signals, obtain the real-time position of the operation vehicle by using the GPS and Beidou combined positioning model, and send the real-time position of the vehicle to the monitoring and dispatching center based on the communication network.

[0081] The monitoring and dispatching center is used to construct a substation map containing obstacle information and substation information, and generate an electronic fence on the substation map; issue graded warnings based on the distance between the real-time position of the operation vehicle and the electronic fence.

[0082] The implementation manners of each module and its functions in the system are exactly the same as the steps of the method in the first embodiment, so they will not be elaborated here.

[0083] Based on the system proposed in the second embodiment, some improvements can also be made. For example, Figure 3 as shown, for example, adding a video monitoring system can further standardize the operation vehicle; adding a data statistics and analysis module can statistically analyze various types of data to facilitate the management staff to adjust the management strategy later. Adding an emergency intervention rule library can further standardize the rules of risk intervention. Adding path planning before operation and formulating an operation specification rule library can guide the operation vehicle to execute the operation task according to the operation specification.

[0084] In the embodiments disclosed in the present application, the computer storage medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of the computer storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0085] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0086] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should be regarded as within the protection scope of the present invention.

Claims

1. A method for managing substation operation vehicles based on Beidou positioning, characterized in that: The following steps are involved: Construct a substation map including obstacle information and substation information, and generate an electronic fence on the substation map; Use GPS and Beidou combined positioning model to obtain the real-time position of the operating vehicle; Graded warning based on the real-time location of the operating vehicle and the distance from the electronic fence.

2. The method for managing substation operation vehicles based on Beidou positioning according to claim 1, characterized in that: The generating of the electronic fence on the substation map specifically includes: dividing the substation map into an equipment area and a construction area, generating an electronic fence in the construction area according to the safety distance requirements of different voltage levels in the equipment area, and ensuring that the operating vehicles in the construction area remain within the electronic fence.

3. The method for managing substation operation vehicles based on Beidou positioning according to claim 1, characterized in that: The method of using the GPS and Beidou combined positioning model to obtain the real-time position of the operating vehicle is as follows: According to the pseudo-range observation equation, the pseudo-range observation values ​​between the GPS satellite and the Beidou satellite and their respective receivers are obtained; the receiver is located on the working vehicle; The bias parameters between GPS satellites and BeiDou satellites and the receiver clock error together form a state vector, which is iterated by weighted iteration. After convergence, the weights of GPS satellites and BeiDou satellites are output. The pseudo-range observations between GPS satellites and BeiDou satellites and their respective receivers are weightedly fused to obtain the final accurate satellite-to-earth distance. The receiver position is obtained based on the satellite-ground distance, and the receiver position is mapped to the actual vehicle position through coordinate transformation.

4. The method for managing substation operation vehicles based on Beidou positioning as claimed in claim 3, characterized in that: The pseudo-range observation values ​​between the GPS satellite and the Beidou satellite and their respective receivers are obtained according to the pseudo-range observation equation as follows: Obtain the broadcast ephemeris parameters of GPS satellites and Beidou satellites, including satellite orbit information and clock error data, calculate the signal propagation time between the receiver and the satellite, and then bring the speed of light and various errors into the pseudorange observation equation to obtain the pseudorange observation values ​​of GPS satellites and Beidou satellites respectively. The pseudorange observation equation is as follows: R=r+cDt+d lon +d Trop +e Where R represents the pseudorange observation value between the GPS satellite and the receiver or the pseudorange observation value between the BeiDou satellite and the receiver; r represents the spatial geometric distance between the GPS satellite and the ground control center or the spatial geometric distance between the BeiDou satellite and the ground control center; c represents the propagation speed of light in a vacuum; d lon represents the ionospheric error; d Trop represents the tropospheric error; e represents noise, Δt represents the clock difference between the ground receiver and the space satellite, Dt = t r -t s , t r represents the receiver time, t s Represents the time of a satellite in space.

5. The method for managing substation operation vehicles based on Beidou positioning as claimed in claim 3, characterized in that: The specific process of iterating the state vector by weighted iteration method and outputting the weights of GPS satellites and Beidou satellites after convergence is as follows: S1, initialization iteration number i = 0, given the initial weight vector; S2. Calculate the residual v of the state vector at the current iteration i and mean error s; S3. Update the weight vector. The formula is as follows: In the formula, p i+1 is the updated weight vector, p i is the weight vector of the current iteration, |V i |=|v i / s|,V i is the ratio of the residual to the mean error of the state vector, k0 and k1 are the harmonic coefficients used to divide the residual interval, k0 is used to distinguish reliable observations from observations that need to be adjusted, and k1 is used to distinguish observations with gross errors from observations that need to be adjusted; S4. Determine whether the absolute value of the ratio of the residual to the mean error is less than a preset threshold. If so, output an updated weight vector, where the elements in the weight vector are the weights of the GPS satellite and the Beidou satellite respectively. Otherwise, add one to the number of iterations i and return to step S2.

6. The method for managing substation operation vehicles based on Beidou positioning as claimed in claim 3, characterized in that: The mapping of the receiver position to the actual vehicle position through coordinate conversion is specifically as follows: The receiver position is mapped to the actual position of the vehicle through the conversion relationship between the vehicle coordinate system and the global coordinate system; In the formula, (X global , Y global , Z global ) represents the actual position of the vehicle in the global coordinate system, R is the attitude rotation matrix, T is the translation vector, θ is the vehicle pitch angle, φ is the vehicle roll angle, ψ is the vehicle yaw angle, (X vehicle , Y vehicle , Z vehicle ) represents the actual position of the vehicle in the vehicle coordinate system, and (X0, Y0, Z0) represents the receiver position.

7. The method for managing substation operation vehicles based on Beidou positioning according to claim 1, characterized in that: The graded warning based on the distance between the real-time position of the working vehicle and the electronic fence is specifically: Determine the relationship between the distance between the real-time position of the operating vehicle and the electronic fence and the first distance threshold and the second distance threshold. If d v >d1, the operating vehicle is located in a low-risk area. If d2 <d v If the vehicle is in a medium risk area, the first level warning will be activated. v If the vehicle is in a high-risk area, the secondary warning will be activated.

8. The method for managing substation operation vehicles based on Beidou positioning according to claim 1, characterized in that: The method further comprises: When the vehicle is stationary, the coordinate calibration program is automatically triggered, and the least squares method is used to fit multiple vehicle positioning data to eliminate installation errors and system deviations.

9. A substation operation vehicle management system based on Beidou positioning, characterized in that: include: The receiver is installed on the working vehicle and is used to receive satellite signals. The ground control center is used to receive satellite signals, obtain the real-time position of the operating vehicle using the combined positioning model of GPS and Beidou, and send the real-time position of the vehicle to the monitoring and dispatching center based on the communication network; The monitoring and dispatching center is used to construct a substation map containing obstacle information and substation information, generate an electronic fence on the substation map, and provide graded warnings based on the distance between the real-time location of the operating vehicle and the electronic fence.

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