Power transmission line galloping state parameter monitoring device and monitoring method

Abstract

The invention discloses a power transmission line galloping state parameter monitoring device and method, and belongs to the technical field of power transmission line galloping state parameter monitoring. According to the invention, the problems of poor reliability and poor monitoring effect of the monitoring device caused by the fact that various weather conditions and climate conditions are not fully considered in the existing method are solved. According to the monitoring device, the double-layer sealing structure design of the O-shaped ring groove and the edge protection flange is adopted, a higher protection grade can be provided, long-term stable operation of the monitoring device in a severe environment can be ensured, sliding of the power transmission line can be avoided through the line fixing unit, and after parameters of the power transmission line are collected, the monitoring device is convenient to use. And a self-adaptive Mahony filtering algorithm taking the motion acceleration as the control quantity is designed, so that the parameter monitoring effect can be improved, and the parameter monitoring precision can be ensured. The method can be applied to power transmission line galloping state parameter monitoring.

Description

Technical Field

[0001] The present invention belongs to the technical field of transmission line galloping state parameter monitoring, and in particular relates to a transmission line galloping state parameter monitoring device and a monitoring method. Background Art

[0002] Under the influence of the external environment, transmission lines may experience dancing, especially in strong wind conditions. The dancing of transmission lines will not only affect the stability of power transmission, but may also cause damage to transmission equipment, and even lead to serious problems such as line breakage and equipment failure. Traditional transmission line monitoring methods mostly rely on manual inspections or local area monitoring, and are unable to fully and comprehensively grasp the status of the line in real time. Existing monitoring devices mostly rely on wired transmission, which has problems such as complex wiring and difficult maintenance, and poor adaptability to the environment. With the development of wireless communication technology, the use of 4G wireless technology for data transmission, combined with solar power supply technology, can provide a more efficient and convenient monitoring solution, overcoming the limitations of traditional monitoring methods.

[0003] In recent years, in order to solve the relevant problems in the transmission line monitoring system, the patent application with publication number CN115526361A proposed a transmission line galloping monitoring method and device, which uses a mechanical structure to realize the collection and monitoring of galloping data. The Beidou transmission line galloping monitoring device designed by Zhao Jinghong et al. obtains and analyzes data in real time to determine whether the line is in normal operation. However, there is still a lack of a transmission line galloping characteristic parameter monitoring system that can be widely installed, has high reliability and good monitoring effect. In addition, the existing technology lacks a design solution that fully considers various weather conditions and climatic conditions, which leads to the fact that there are still few galloping monitoring equipment that can be put into actual use, which makes it difficult to meet the needs of galloping mechanism research, galloping prevention and control early warning, etc. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the existing methods do not fully consider various weather conditions and climatic conditions, resulting in poor reliability of the monitoring device and poor monitoring effect, and to propose a transmission line galloping state parameter monitoring device and monitoring method.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] According to one aspect of the present invention, a device for monitoring parameters of a transmission line galloping state is provided, the monitoring device comprising

[0007] The monitoring device includes a lower support shell, a bottom plate and a line fixing unit, and the line fixing unit includes a support frame, a top screw and a pressure block;

[0008] The lower support shell is mounted on the bottom plate, and the line fixing unit is mounted on the lower support shell, and the line fixing unit is used to fix the power transmission line to the lower support shell;

[0009] The support frame is covered on the upper surface of the lower support shell, and forms a transmission line fixing cavity with two ends open between the support frame and the lower support shell. A threaded hole is opened on the support frame, and the top screw is screwed into the threaded hole of the support frame and fixedly connected to the pressure block set in the transmission line fixing cavity;

[0010] The transmission line passes through the transmission line fixing cavity through openings on both sides of the transmission line fixing cavity and is pressed tightly by the pressing blocks.

[0011] According to another aspect of the present invention, a method for monitoring transmission line galloping state parameters comprises the following steps:

[0012] Step 1: After fixing the transmission line with a monitoring device, the data of the transmission line is collected using a three-axis gyroscope, a three-axis accelerometer, and a GPS positioning system;

[0013] The three-axis gyroscope is used to collect dancing angular velocity data and dancing angle data of the power transmission line;

[0014] The three-axis accelerometer is used to collect the acceleration data of the transmission line;

[0015] The GPS positioning system is used to collect ground clearance data, longitude and latitude data of the transmission line;

[0016] Step 2: After the dancing angular velocity data and the dancing acceleration data are queued and cached, the dancing angular velocity data and the dancing acceleration data are fused using an adaptive Mahony filtering algorithm to obtain corrected dancing angular velocity data;

[0017] Then, the three-axis dancing frequency of the transmission line is obtained according to the corrected dancing angular velocity data;

[0018] Step 3: Obtain the windage angle of the transmission line based on the Y-axis waving angle data collected by the three-axis gyroscope;

[0019] Step 4: Queue and buffer the longitude and latitude data collected by the GPS positioning system, and determine the three-axis galloping amplitude of the transmission line based on the longitude and latitude data;

[0020] Step 5: Process the ground clearance data collected by the GPS positioning system to obtain the sag height.

[0021] The beneficial effects of the present invention are:

[0022] (1) The monitoring device of the present invention adopts a double-layer sealing structure design of an O-ring groove and an edge protection flange, which can provide a higher level of protection, effectively extend the service life of the device, and significantly improve the sealing performance of the device. It can effectively prevent rainwater, dust, etc. from invading the interior of the monitoring device, ensuring the long-term stable operation of the monitoring device in harsh environments. By combining the fully sealed design with a solar power supply system, the monitoring device can operate stably and long-term at high altitudes and in remote areas, greatly improving its adaptability and reliability.

[0023] (2) The single-sided rotating shaft is connected to the lower support shell, so that during the installation process, only the bolts and nuts on the other side need to be operated to complete the fixing of the transmission line. There is no need for complex multi-point symmetrical fixing operations, which significantly reduces the complexity of the installation steps and is especially suitable for complex environments such as high-altitude operations. The three rotatable top screws on the upper part can be easily operated. The staff can quickly complete the tightening and fixing of the line without additional tools. The replaceable pressure block design allows the device to adapt to transmission lines of different specifications and materials, meeting the needs of various application scenarios; the anti-slip surface further increases the friction between the device and the line, effectively preventing sliding or offset under external environmental interference.

[0024] (3) After collecting the transmission line parameters, the present invention pre-processes the original dancing data and solves the dancing posture of important intermediate parameters in the process of identifying the dancing characteristic parameters. In order to obtain more accurate posture estimation, the present invention chooses to use a six-axis sensor for data fusion and designs an adaptive Mahony filtering algorithm with motion acceleration as the control quantity, which can improve the accuracy of parameter monitoring and ensure the effect of parameter monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the combined structure of a transmission line galloping state parameter monitoring device of the present invention;

[0026] Figure 2 This is a front view of a device for monitoring parameters of a transmission line galloping state according to the present invention;

[0027] Figure 3 It is a side view of a device for monitoring parameters of a transmission line galloping state according to the present invention;

[0028] Figure 4 It is a top view of a device for monitoring parameters of a transmission line galloping state according to the present invention;

[0029] Figure 5 It is a structural diagram of the line fixing unit;

[0030] Figure 6 It is a schematic diagram of the double-layer sealing structure design of the sealing ring groove and the edge protection flange;

[0031] Figure 7 It is a schematic diagram of the structure of the solar panel embedded in the shell;

[0032] Figure 8 This is an exploded diagram of the structure of a transmission line galloping state parameter monitoring device of the present invention;

[0033] In the figure: 1 represents the lower supporting shell, 2 represents the bottom plate, 3 represents the solar panel, 4 represents the supporting frame, 5 represents the top screw, 6 represents the pressing block, 8 represents the transmission line, 9 represents the sealing ring, and 10 represents the edge protection flange.

[0034] Figure 9 This is the overall flow chart of the calculation of dancing monitoring indicators of the present invention;

[0035] Figure 10 This is the overall adaptive Mahony filter attitude estimation flow chart. DETAILED DESCRIPTION

[0036] Specific implementation method 1: Combination Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 8 This embodiment describes a device for monitoring parameters of a transmission line galloping state, the device comprising a lower support shell 1, a bottom plate 2, and a line fixing unit, the line fixing unit comprising a support frame 4, a top screw 5, and a pressure block 6;

[0037] The lower support shell 1 is mounted on the bottom plate 2, and the line fixing unit is mounted on the lower support shell 1, and the line fixing unit is used to fix the power transmission line 8 to the lower support shell 1;

[0038] The support frame 4 is covered on the upper surface of the lower support shell 1, and forms a transmission line fixing cavity with two ends open between the support frame 4 and the lower support shell 1. A threaded hole is opened on the support frame 4, and the top screw 5 is screwed into the threaded hole of the support frame 4 and fixedly connected to the pressure block 6 set in the transmission line fixing cavity;

[0039] The transmission line 8 passes through the transmission line fixing cavity through the openings on both sides of the transmission line fixing cavity and is pressed by the pressing block 6.

[0040] The device of the present invention has a quick-change interface, which allows it to be quickly and stably installed on different types of lines. At the same time, it has undergone special waterproof and low-temperature resistance treatment to ensure long-term stable operation in harsh environments.

[0041] The present invention is designed with three rotatable top screws 5 on the upper part of the support frame 4, which are used to compress and fix the transmission line after the device is installed. One side of the support frame 4 is connected to the lower support shell 1 through a rotating shaft, and the two ends of the rotating shaft are fixed with set screws. The other side of the support frame 4 is fixed to the lower support shell 1 by bolts and nuts, thereby simplifying the installation operation and improving the installation efficiency; when the support frame 4 is in the open state, the transmission line 8 is placed between the semicircular groove and the semicircular groove 7 of the pressure block 6, and then the support frame 4 is closed and the connecting bolts are tightened, and then the top screw 5 is rotated, and the top screw 5 drives the pressure block 6 to move downward to compress and fix the transmission line 8. The two antennas of the monitoring device in the present invention are respectively fixed in the designed antenna slots, and the wiring is sealed with a waterproof rubber plug. In addition, the monitoring device is made of insulating material as a whole, and flame-retardant heat-insulating cotton is added inside for heat preservation to avoid low temperature causing equipment performance degradation or component damage, which is more suitable for cold areas.

[0042] Specific implementation method 2: Combination Figure 3 This embodiment is described below. The difference between this embodiment and the first embodiment is that the monitoring device further comprises a solar panel 3 , which is placed in a groove on the side of the lower supporting shell 1 .

[0043] Other steps and parameters are the same as those in the first embodiment.

[0044] This invention features solar panels 3 embedded on the left and right sides of the lower support housing 1, secured to the housing 1 via bolts and nuts. These polycrystalline panels boast a conversion efficiency exceeding 20%, providing a stable power supply under normal operation. A toggle switch on the front of the housing controls the monitoring device's overall power supply system. Flame-retardant insulation is applied to the interior of the housing to enhance the device's safety and low-temperature resistance. Waterproof sealant is used to seal the housing on all sides.

[0045] Specific implementation method three: Combination Figure 7 This embodiment is different from the first or second embodiment in that a semicircular groove 7 is provided on the upper surface of the lower support shell 1 and a semicircular groove is also provided on the lower surface of the pressure block 6, and the power transmission line 8 is located between the semicircular groove 7 of the lower support shell 1 and the semicircular groove of the pressure block 6.

[0046] Other steps and parameters are the same as those in the first or second embodiment.

[0047] In addition, the pressing block 6 is replaceable, and the semicircular groove designed on the upper part of the lower support shell 1 can prevent the transmission line from sliding, so as to enhance adaptability and stability and ensure the efficient use of the device in different transmission line environments.

[0048] Specific implementation method four: Combination Figure 6This embodiment is described below. The difference between this embodiment and any one of the first to third embodiments is that the bottom plate 2 is provided with an edge protection flange 10, and the connection between the lower support shell 1 and the bottom plate 2 is located outside the edge protection flange 10.

[0049] A sealing ring 9 is provided at the connection between the lower supporting shell 1 and the bottom plate 2 .

[0050] The other steps and parameters are the same as those in the first to third embodiments.

[0051] This embodiment features an annular sealing ring groove symmetrically positioned at the junction of the lower support housing 1 and the base plate 2. The sealing ring is positioned within the groove. The sealing ring employed in this invention is a nitrile rubber O-ring. The double-layer sealing structure of the sealing ring and the edge protection flange effectively blocks the infiltration of external liquids and dust, enhancing the sealing effect and achieving a higher level of protection.

[0052] Specific implementation method five: Combination Figure 9 This embodiment describes a method for monitoring parameters of a transmission line galloping state, the method specifically comprising the following steps:

[0053] Step 1: After fixing the transmission line 8 with a monitoring device, the data of the transmission line is collected using the three-axis gyroscope, three-axis accelerometer and GPS positioning system on the transmission line;

[0054] The three-axis gyroscope is used to collect dancing angular velocity data and dancing angle data of the power transmission line 8;

[0055] The three-axis accelerometer is used to collect the acceleration data of the transmission line 8;

[0056] The GPS positioning system is used to collect ground clearance data, longitude and latitude data of the power transmission line 8;

[0057] Step 2: After the dancing angular velocity data and dancing acceleration data are sorted in a queue cache (after collecting the data, the queue cache length is set according to the frequency measurement range to ensure that all dancing position data within the complete cycle of the minimum detectable dancing frequency can be collected as a basis, and the sequence cache is based on first-in-first-out), the dancing angular velocity data and dancing acceleration data are fused using an adaptive Mahony filtering algorithm to obtain the corrected dancing angular velocity data;

[0058] Then, the three-axis dancing frequency of the transmission line 8 is obtained according to the corrected dancing angular velocity data;

[0059] Step 3: Obtain the windage angle of the transmission line 8 based on the Y-axis waving angle data collected by the three-axis gyroscope;

[0060] Step 4: Queue and buffer the longitude and latitude data collected by the GPS positioning system, and determine the three-axis galloping amplitude of the transmission line based on the longitude and latitude data;

[0061] Step 5: Process the ground clearance data collected by the GPS positioning system to obtain the sag height.

[0062] The method of the present invention includes three main parts: input level, algorithm level and output level. The data input includes a three-axis gyroscope (used to measure the dancing angular velocity and dancing angle, and provide rotational motion information), a three-axis accelerometer (used to measure the dancing acceleration, reflecting the vibration state of the transmission line), and a GPS positioning system (used to obtain longitude and latitude and ground separation, provide high-precision location data, and at the same time, the GPS positioning system deployed according to the ground reference station can obtain the measurement error of the GPS positioning system). These sensor data are queued and cached to ensure that the data is processed in chronological order to avoid data loss or confusion. Multi-sensor fusion technology and adaptive Mahony filtering algorithm are used to monitor and calculate the dancing state of the transmission line in real time, so as to finally obtain the key indicators such as the dancing frequency, amplitude, windage angle of the line. The parameters output in steps 2 to 5 are transmitted to the monitoring system through a remote signal transmission module (using ZigBee wireless transmission), so as to realize remote monitoring and intelligent analysis of the dancing state of the transmission line, and provide technical support for the operation and maintenance and safety protection of the transmission line.

[0063] This invention uses Kalman filtering to filter the Y-axis yaw angle and ground clearance data. By using Kalman filtering for data fusion, high-precision parameter estimation can be achieved. Kalman filtering can successfully suppress signal fluctuations and quickly restore the signal to a stable state after sudden changes, thereby improving the system's robustness and reliability. It is suitable for data processing and optimization of real-time dynamic systems.

[0064] Specific implementation method six: combination Figure 10 The present embodiment is different from the fifth embodiment in that the adaptive Mahony filtering algorithm is used to fuse the dancing angular velocity data and the dancing acceleration data to obtain the corrected dancing angular velocity data; the specific process is as follows:

[0065] Step 1: Initialize quaternion q(0) = (q0(0), q1(0), q2(0), q3(0)) and initialize control parameters and

[0066] The quaternion q(0) = (q0(0), q1(0), q2(0), q3(0)) is initialized as follows:

[0067] Initialize the attitude angles ψ(0), θ(0), and γ(0), and then get the initial quaternion based on the conversion relationship between the attitude angles and the quaternion:

[0068]

[0069] Step 2: Initialization time t=0;

[0070] Step 3: The dancing acceleration data at time t a(t) = [a x (t),a y (t),a z (t)] is normalized to obtain the normalized dancing acceleration vector

[0071] Step 4: Calculate the guide vector based on the quaternion q(t)

[0072]

[0073] Step 5: According to and Calculate the error e(t):

[0074]

[0075] in, express and Do the cross product;

[0076] The correction value δ is calculated based on e(t) and the control parameters of the proportional-integral controller (PI):

[0077]

[0078] Step 6: Compare the correction value δ with the dancing angular velocity data [w x (t),w y (t),w z (t)] to obtain the corrected dancing angular velocity data w; then substitute w into Calculate the quaternion q′(t), represents the Kronecker product, The first-order derivative of q′(t) is represented by q′(t)=(q′0(t),q′1(t),q′2(t),q′3(t));

[0079] Then calculate the attitude angles ψ(t+1), θ(t+1) and γ(t+1) based on q′(t):

[0080]

[0081] Calculate the quaternion q(t+1) based on the attitude angles ψ(t+1), θ(t+1) and γ(t+1), q(t+1) = (q0(t+1), q1(t+1), q2(t+1), q3(t+1)):

[0082]

[0083] Step 7: Update the control parameters of the proportional-integral controller according to the dancing acceleration data a(t+1) at time t+1:

[0084]

[0085] Among them, g represents the acceleration of gravity, |·| represents the calculation of the absolute value, and ||·|| represents the calculation of the 2 norm. and represents the control parameter at time t, and represents the control parameters at time t+1;

[0086] By dynamically adjusting the control parameter k p and k i , which can enhance the system's adaptability to acceleration errors;

[0087] Step 8: Set t=t+1 and return to step 3.

[0088] Other steps and parameters are the same as those in the fifth embodiment.

[0089] The accelerometer's static stability suppresses the gyroscope's zero-point drift, while the gyroscope's dynamic performance compensates for the accelerometer's high-frequency interference. This implementation uses an error feedback control strategy to compensate for the accelerometer's high-frequency noise and eliminate the gyroscope's low-frequency drift, achieving high-precision angular velocity estimation. The resulting results are more reliable and accurate, and multiple data sources improve system stability compared to a single one.

[0090] Specific embodiment seven: This embodiment differs from specific embodiment five or six in that the three-axis dancing frequency of the transmission line 8 is obtained according to the corrected dancing angular velocity data, specifically:

[0091] The corrected dancing angular velocity data in each axis (i.e., the three coordinate axes of the spatial rectangular coordinate system) are subjected to fast Fourier transform (FFT) to extract the dancing frequency characteristics in each axis direction, and then the dancing frequency in each axis direction is obtained based on the dancing frequency characteristics.

[0092] Other steps and parameters are the same as those in the fifth or sixth embodiment.

[0093] In order to effectively utilize the relatively limited memory space and avoid wasting resources due to repeated calculations, the present invention introduces a fast Fourier transform algorithm for fast discrete Fourier transform. The fast Fourier transform algorithm based on the butterfly algorithm can greatly reduce the amount of calculation to improve the calculation speed to meet the needs of high-frequency data solution.

[0094] Specific embodiment eight: This embodiment differs from any one of specific embodiments five to seven in that the specific process of step four is as follows:

[0095] The longitude and latitude measurement data of the GPS positioning system deployed by the ground reference station are subtracted from the known longitude and latitude data to obtain the longitude data measurement error and latitude data measurement error of the GPS positioning system; the longitude and latitude data collected by the GPS positioning system on the transmission line are corrected using the data measurement error, and the corrected longitude and latitude data are queued and buffered, and the maximum and minimum values of the longitude and the maximum and minimum values of the latitude are found in the buffer queue, and the three-axis dancing amplitude is calculated based on the maximum and minimum values of the longitude, the maximum and minimum values of the latitude and the position and direction of the transmission line.

[0096] The other steps and parameters are the same as those in any one of the fifth to seventh embodiments.

[0097] Specific embodiment 9: This embodiment differs from any one of specific embodiments 5 to 8 in that the specific process of step 3 is as follows:

[0098] The y-axis waving angle data is filtered to obtain the windage angle of the transmission line 8 .

[0099] The other steps and parameters are the same as those in any one of the fifth to eighth embodiments.

[0100] Windage occurs when a line stably deviates from its central axis for a short period of time under the influence of wind. This creates a deflection angle between the line and the central axis. Assuming the equipment is tightly fitted and properly secured, the line deflection angle is strongly correlated with the equipment's posture. Among the multiple sensors integrated into the equipment, the gyroscope can monitor the deflection angle in real time. Therefore, the windage information can be derived from the gyroscope's feedback through simple processing.

[0101] Specific embodiment 10: This embodiment differs from any one of specific embodiments 5 to 9 in that the specific process of step 5 is as follows:

[0102] The ground clearance measurement data of the GPS positioning system deployed by the ground reference station is subtracted from the known ground clearance data to obtain the ground clearance data measurement error of the GPS positioning system. The ground clearance data collected by the GPS positioning system on the transmission line is corrected using the ground clearance data measurement error, and the corrected ground clearance data is then filtered to obtain the sag height.

[0103] The other steps and parameters are the same as those in any one of the fifth to ninth embodiments.

[0104] Sag is a normal phenomenon in power lines. When a line is stationary and uniform in mass, the sag configuration conforms to the sag formula, which is dependent solely on the distance between the two ends of the sag. Compared to the actual weight of the transmission line itself, the added weight of the equipment below is essentially negligible, so the sag condition can be considered unaffected. To directly determine the line sag, simply determine the lowest sag point as a reference, and the sag formula can be used to describe the line sag condition. The multi-sensor system includes RTK, which can monitor the equipment's height in real time. Therefore, the sag condition can be determined by simply processing the RTK height feedback.

[0105] The above examples are merely illustrative of the calculation model and process of the present invention and are not intended to limit the embodiments of the present invention. Persons skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. This list of embodiments is not exhaustive; however, any obvious variations or modifications derived from the technical solution of the present invention remain within the scope of protection of the present invention.

Claims

1. A device for monitoring parameters of transmission line galloping state, characterized in that: The monitoring device comprises a lower supporting shell (1), a bottom plate (2) and a line fixing unit, wherein the line fixing unit comprises a supporting frame (4), a top screw (5) and a pressing block (6); The lower supporting shell (1) is mounted on the bottom plate (2), and the line fixing unit is mounted on the lower supporting shell (1), and the line fixing unit is used to fix the power transmission line (8) to the lower supporting shell (1); The support frame (4) is covered on the upper surface of the lower support shell (1), and forms a transmission line fixing cavity with two ends open between the support frame (4) and the lower support shell (1). A threaded hole is opened on the support frame (4), and the top screw (5) is screwed into the threaded hole of the support frame (4) and fixedly connected to the pressure block (6) arranged in the transmission line fixing cavity; The transmission line (8) passes through the transmission line fixing cavity through openings on both sides of the transmission line fixing cavity and is pressed tightly by the pressing block (6).

2. A transmission line galloping state parameter monitoring device according to claim 1, characterized in that: The monitoring device further comprises a solar panel (3), and the solar panel (3) is placed in a groove on the side of the lower supporting shell (1).

3. A transmission line galloping state parameter monitoring device according to claim 2, characterized in that: The upper surface of the lower support shell (1) is provided with a semicircular groove (7), and the lower surface of the pressing block (6) is also provided with a semicircular groove, and the power transmission line (8) is located between the semicircular groove (7) of the lower support shell (1) and the semicircular groove of the pressing block (6).

4. A transmission line galloping state parameter monitoring device according to claim 3, characterized in that: An edge protection flange (10) is provided on the bottom plate (2), and the connection between the lower support shell (1) and the bottom plate (2) is located outside the edge protection flange (10); A sealing ring (9) is provided at the connection between the lower supporting shell (1) and the bottom plate (2).

5. A monitoring method for a transmission line galloping state parameter monitoring device according to claim 1, characterized in that: The method specifically comprises the following steps: Step 1: After fixing the transmission line (8) using a monitoring device, data of the transmission line is collected using a three-axis gyroscope, a three-axis accelerometer, and a GPS positioning system; The three-axis gyroscope is used to collect dancing angular velocity data and dancing angle data of the power transmission line (8); The three-axis accelerometer is used to collect the acceleration data of the transmission line (8); The GPS positioning system is used to collect ground clearance data, longitude and latitude data of the power transmission line (8); Step 2: After the dancing angular velocity data and the dancing acceleration data are queued and cached, the dancing angular velocity data and the dancing acceleration data are fused using an adaptive Mahony filtering algorithm to obtain corrected dancing angular velocity data; Then, the three-axis dancing frequency of the transmission line (8) is obtained according to the corrected dancing angular velocity data; Step 3: Obtain the windage angle of the transmission line (8) based on the y-axis waving angle data collected by the three-axis gyroscope; Step 4: Queue and buffer the longitude and latitude data collected by the GPS positioning system, and determine the three-axis galloping amplitude of the transmission line based on the longitude and latitude data; Step 5: Process the ground clearance data collected by the GPS positioning system to obtain the sag height.

6. A method for monitoring transmission line galloping state parameters according to claim 5, characterized in that: The adaptive Mahony filtering algorithm is used to fuse the dancing angular velocity data and the dancing acceleration data to obtain the corrected dancing angular velocity data; The specific process is: Step 1: Initialize quaternion q(0) = (q0(0), q1(0), q2(0), q3(0)) and initialize control parameters and Step 2: Initialization time t=0; Step 3: The dancing acceleration data at time t a(t) = [a x (t),a y (t),a z (t)] is normalized to obtain the normalized dancing acceleration vector Step 4: Calculate the guide vector based on the quaternion q(t) Step 5: According to and Calculate the error e(t): in, express and Do the cross product; The correction value δ is calculated based on e(t) and the control parameters of the proportional-integral controller: Step 6: Compare the correction value δ with the dancing angular velocity data [w x (t),w y (t),w z (t)] to obtain the corrected dancing angular velocity data w; then substitute w into Calculate the quaternion q′(t), represents the Kronecker product, The first-order derivative of q′(t) is represented by q′(t)=(q′0(t),q′1(t),q′2(t),q′3(t)); Then calculate the attitude angles ψ(t+1), θ(t+1) and γ(t+1) based on q′(t): Calculate the quaternion q(t+1) based on the attitude angles ψ(t+1), θ(t+1) and γ(t+1), q(t+1) = (q0(t+1), q1(t+1), q2(t+1), q3(t+1)): Step 7: Update the control parameters of the proportional-integral controller according to the dancing acceleration data a(t+1) at time t+1: Among them, g represents the acceleration of gravity, |·| represents the calculation of the absolute value, and ||·|| represents the calculation of the 2 norm. and represents the control parameter at time t, and represents the control parameters at time t+1; Step 8: Set t=t+1 and return to step 3.

7. A method for monitoring transmission line galloping state parameters according to claim 6, characterized in that: The three-axis dancing frequency of the transmission line (8) is obtained according to the corrected dancing angular velocity data, specifically: The corrected dancing angular velocity data of each axis direction is subjected to fast Fourier transform respectively to extract the dancing frequency characteristics of each axis direction, and then the dancing frequency of each axis direction is obtained according to the dancing frequency characteristics.

8. A method for monitoring transmission line galloping state parameters according to claim 7, characterized in that: The specific process of step 4 is as follows: The longitude and latitude measurement data of the GPS positioning system deployed by the ground reference station are subtracted from the known longitude and latitude data to obtain the longitude data measurement error and latitude data measurement error of the GPS positioning system; the longitude and latitude data collected by the GPS positioning system on the transmission line are corrected using the data measurement error, and the corrected longitude and latitude data are queued and buffered, and the maximum and minimum values of the longitude and the maximum and minimum values of the latitude are found in the buffer queue, and the three-axis dancing amplitude is calculated based on the maximum and minimum values of the longitude, the maximum and minimum values of the latitude and the position and direction of the transmission line.

9. A method for monitoring transmission line galloping state parameters according to claim 8, characterized in that: The specific process of step three is: The y-axis waving angle data is filtered to obtain the windage angle of the transmission line (8).

10. A method for monitoring transmission line galloping state parameters according to claim 9, characterized in that: The specific process of step five is: The ground clearance measurement data of the GPS positioning system deployed by the ground reference station is subtracted from the known ground clearance data to obtain the ground clearance data measurement error of the GPS positioning system. The ground clearance data collected by the GPS positioning system on the transmission line is corrected using the ground clearance data measurement error, and the corrected ground clearance data is then filtered to obtain the sag height.

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