Working path planning method for same-tower multi-circuit power transmission line aircraft under electromagnetic interference, storage medium and electronic equipment

Abstract

The invention discloses a same-tower multi-circuit power transmission line aircraft working path planning method under electromagnetic interference, and the method comprises the steps: setting the coordinates of two end points of a lead, the coordinates of any point in the lead and the coordinates of any point in the space in a three-dimensional space, so as to calculate the effective value of the electric field intensity of any point; obtaining the magnetic induction intensity of any point in the space according to the Bio-Savart law, and converting to obtain the effective value of the magnetic field intensity; taking any working point as an initial point, comparing the effective value of the electric field intensity and the effective value of the magnetic field intensity at the coordinate point with a preset safety threshold, performing coordinate iteration along the fastest descending direction of the electric field, and searching a point which is closest to the working point and meets the safety threshold as a safety working point; and obtaining an initial planning path according to the safe working point, and carrying out coordinate iteration on the basis of the initial planning path by taking the initial planning path meeting a safe threshold value and being shortest from the initial planning path as a reference to obtain an actual shortest working path. The problem that an aircraft is interfered by electromagnetic interference when the aircraft works on a high-voltage power transmission line is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft path planning, and in particular to a method, storage medium and electronic equipment for planning aircraft working paths for multi-circuit power transmission lines on the same tower under electromagnetic interference. Background Art

[0002] Multi-circuit transmission lines on the same tower are affected by mutual inductance, creating strong electromagnetic fields near the conductors. When an aircraft flies near these lines, if the electromagnetic interference exceeds a certain threshold, the aircraft's flight control signals may not be transmitted properly, causing internal components to experience arcing or degrade performance. In severe cases, this can lead to signal loss and a crash, potentially damaging power equipment and even causing casualties. Therefore, when operating aircraft near multi-circuit transmission lines on the same tower, it is important to consider electromagnetic interference.

[0003] Therefore, there is an urgent need for a working path planning method, storage medium and electronic equipment for aircraft on multi-circuit transmission lines on the same tower under electromagnetic interference to solve the problem that aircraft are susceptible to electromagnetic interference when working on high-voltage transmission lines. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention provides a method, storage medium and electronic equipment for planning the working path of an aircraft on a multi-circuit transmission line on the same tower under electromagnetic interference, so as to solve the problem that the aircraft is susceptible to electromagnetic interference when working on a high-voltage transmission line.

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

[0006] A method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference comprises the following steps:

[0007] In three-dimensional space, the coordinates of the two end points of a certain section of the transmission line conductor, the coordinates of any point within the length of the unit conductor, and the coordinates of any point in space are set to calculate the effective value of the electric field strength of the unit conductor at any point in space; the magnetic induction intensity generated by any point in space is obtained according to the Biot-Savart law, and the effective value of the magnetic induction intensity at any point in space is further solved and converted to obtain the effective value of the magnetic field intensity; the electric field intensity safety threshold and the magnetic field intensity safety threshold of the aircraft are preset, and the gradient descent method is used to take any preset working point as the initial point to calculate the effective value of the electric field intensity and the magnetic field intensity at the coordinate point. The effective value of is compared with the electric field strength safety threshold and the magnetic field strength safety threshold, and the coordinates are iterated along the direction of the fastest electric field decrease to find the safe point closest to the working point and meeting both the electric field strength safety threshold and the magnetic field strength safety threshold. This point is used as the safe working point for aircraft anti-interference. The initial planned path is obtained according to all safe working points. Based on the initial planned path, the coordinates are iterated based on the shortest distance from the initial planned path to meet both the electric field strength safety threshold and the magnetic field strength safety threshold. The iterated coordinates are used as waypoints, and the path passing through all safe working points and waypoints is the actual shortest working path.

[0008] To optimize the above technical solutions, specific measures taken also include:

[0009] Furthermore, the electric field strength safety threshold and the magnetic field strength safety threshold of the aircraft are preset by using a gradient descent method. With any preset working point as the initial point, the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point are compared with the electric field strength safety threshold and the magnetic field strength safety threshold, and the coordinates are iterated along the direction of the fastest electric field descent to find the safe point closest to the working point and meeting both the electric field strength safety threshold and the magnetic field strength safety threshold as the safe working point for aircraft anti-interference, including the following steps:

[0010] In three-dimensional space, let the coordinates of any preset working point g (x g ,y g ,z g ), the effective value of the electric field strength at this point is E g The effective value of the magnetic field strength is M g , preset electric field strength safety threshold and magnetic field strength safety threshold, take any preset working point g as the initial point, compare the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point with the preset electric field strength safety threshold and magnetic field strength safety threshold, if E g and M g are all less than the corresponding safety threshold, then it can be determined as a safe working point. On the contrary, if E g or M gIf there is a value greater than the corresponding safety threshold, the safe working point is re-determined. Then, based on this judgment logic, the coordinates around each working point g are iterated along the direction of the fastest electric field drop to find the safe working point closest to the working point g as the safe working point for aircraft anti-interference.

[0011] Furthermore, the iterating of the coordinates around each working point g along the direction where the electric field drops fastest includes:

[0012] The iteration formula is as follows:

[0013]

[0014] Where: is the coordinate of the kth iteration of the working point g, are the gradients of the electric field in the x, y, and z directions respectively; Δx, Δy, and Δz are the unit quantities in the x, y, and z directions respectively.

[0015] Furthermore, the method of obtaining an initial planned path based on all safe working points, iterating coordinates based on the initial planned path, satisfying the electric field strength safety threshold and the magnetic field strength safety threshold, and taking the shortest distance from the initial planned path as a benchmark, using the iterated coordinates as waypoints, and taking the path passing through all safe working points and waypoints as the actual shortest working path, includes the following steps:

[0016] First, the shortest initial planned path is obtained based on all safe working points. Based on the initial planned path, the coordinates of the points perpendicular to the initial planned path are iterated based on the points that meet the electric field strength safety threshold and the magnetic field strength safety threshold and have the shortest distance to the initial planned path. The iterated coordinates are used as the waypoints, and the path passing through all safe working points and waypoints is the actual shortest working path.

[0017] Furthermore, a computer-readable storage medium stores a computer program, characterized in that: the computer program enables a computer to execute the above-mentioned method for planning an aircraft working path for multi-circuit transmission lines on the same tower under electromagnetic interference.

[0018] Furthermore, an electronic device is provided, characterized in that it comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements a method for planning the working path of an aircraft on a multi-circuit power transmission line on the same tower under electromagnetic interference as described above.

[0019] The beneficial effects of the present invention are:

[0020] The present invention sets the relevant coordinates of a certain section of transmission line conductor in three-dimensional space, obtains the effective value of the electric field strength of the unit conductor at any point in space, and then obtains the magnetic induction strength generated at any point in space according to the Biot-Savart law, and converts it to obtain the effective value of the magnetic field strength. Then, on this basis, taking any preset working point as the initial point, the coordinates are iterated from the initial point along the direction of the fastest electric field drop, and a safe point closest to the working point and meeting both the electric field strength safety threshold and the magnetic field strength safety threshold is found as the safe working point for aircraft anti-interference, thereby confirming the safe working point closest to the expected working point and meeting the requirements and serving as the actual working point. Then, based on the shortest path between each actual working point, the path coordinates are iteratively optimized to ensure that the electric field strength or magnetic field strength in the actual working path does not exceed the safety threshold, thereby solving the problem that the aircraft is susceptible to electromagnetic interference when working on a high-voltage transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The figure is a flow chart of a method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference proposed by the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] A method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference comprises the following steps:

[0024] In three-dimensional space, the coordinates of the two end points of a certain section of the transmission line conductor, the coordinates of any point within the length of the unit conductor, and the coordinates of any point in space are set to calculate the effective value of the electric field strength of the unit conductor at any point in space; the magnetic induction intensity generated at any point in space is obtained according to the Biot-Savart law, and the effective value of the magnetic induction intensity at any point in space is further solved and converted to obtain the effective value of the magnetic field strength; the electric field strength safety threshold and the magnetic field strength safety threshold of the aircraft are preset, and the gradient descent method is used. With any preset working point as the initial point, the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point are compared with the electric field strength safety threshold and the magnetic field strength safety threshold, and the fastest descent along the electric field is performed. The coordinates are iterated in the direction of , and the safe point closest to the working point and meeting the electric field strength safety threshold and the magnetic field strength safety threshold is found as the safe working point for the aircraft to resist interference; the initial planned path is obtained according to all the safe working points, and based on the initial planned path, the coordinates are iterated for the points perpendicular to the initial planned path, which meet the electric field strength safety threshold and the magnetic field strength safety threshold and have the shortest distance to the initial planned path. The coordinates after the iteration are used as the waypoints, and the path passing through all the safe working points and the waypoints is the actual shortest working path. That is, if the aircraft encounters a situation where the electric field strength safety threshold and the magnetic field strength safety threshold are not met during operation, it will automatically avoid to a safe distance along the waypoints.

[0025] The present invention sets the relevant coordinates of a certain section of transmission line conductor in three-dimensional space, obtains the effective value of the electric field strength of the unit conductor at any point in space, and then obtains the magnetic induction strength generated at any point in space according to the Biot-Savart law, and converts it to obtain the effective value of the magnetic field strength. Then, on this basis, taking any preset working point as the initial point, the coordinates are iterated from the initial point along the direction of the fastest electric field drop, and a safe point closest to the working point and meeting both the electric field strength safety threshold and the magnetic field strength safety threshold is found as the safe working point for aircraft anti-interference, thereby confirming the safe working point closest to the expected working point and meeting the requirements and serving as the actual working point. Then, based on the shortest path between each actual working point, the path coordinates are iteratively optimized to ensure that the electric field strength or magnetic field strength in the actual working path does not exceed the safety threshold, thereby solving the problem that the aircraft is susceptible to electromagnetic interference when working on a high-voltage transmission line.

[0026] Specifically, the above-mentioned setting of the coordinates of the two end points of a certain transmission line conductor in three-dimensional space, the coordinates of any point within the length of the unit conductor, and the coordinates of any point in space to obtain the effective value of the electric field strength of the unit conductor at any point in space includes the following steps:

[0027] In three-dimensional space, let the coordinates of the two end points of a transmission line conductor be l1 = (x1, y1, z1) and l2 = (x2, y2, z2), the coordinates of any point l3 within the length of the unit conductor be l3 = (x3, y3, z3), and the coordinates of any point l in space be l = (x, y, z), then the potential α of this conductor at any point l in space is l , which is expressed as follows:

[0028]

[0029] Where: μ is the charge density of the wire, d is the distance between any point l and the wire, λ is the local coordinate established along the wire direction, c is the wire length, and ε0 is the dielectric constant;

[0030] Then, any point l in space is l = (x, y, z). Based on the electric field strength in three directions, the electric field strength at any point l in space is The valid values ​​of can be expressed as follows:

[0031]

[0032] Specifically, the above-mentioned obtaining the magnetic induction intensity generated by any point in space according to the Biot-Savart law, further solving to obtain the effective value of the magnetic induction intensity at any point in space, and converting to obtain the effective value of the magnetic field strength, includes: obtaining the magnetic induction intensity generated by any point in space according to the Biot-Savart law, and applying the integral solution formula to further solve to obtain the effective value of the magnetic induction intensity at any point in space.

[0033] Specifically, the above-mentioned method of obtaining the magnetic induction intensity generated at any point in space according to the Biot-Savart law and further solving the effective value of the magnetic induction intensity at any point in space by applying the integral solution formula includes the following steps:

[0034] According to the Biot-Savart law, the magnetic induction intensity generated at any point l = (x, y, z) in space can be expressed as:

[0035]

[0036] Where: τ0 is the magnetic permeability of vacuum, is the mth phase current, l i is the overhead catenary, d i is the spatial distance between any point l and the power point i;

[0037] For the magnetic field of three-phase N-split overhead line, the superposition principle is used to discretize the continuous integral of the above equation, and we can get:

[0038]

[0039] Where: are the unit vectors in the x, y, and z directions respectively, Rn represents the distance from the current element on the nth wire to the target point, and D represents the length range of the wire distribution;

[0040] Applying the integral solution formula to solve the equation, we can get the effective value of the magnetic induction intensity at any point in space, which is expressed as follows:

[0041]

[0042] Where: are the magnetic induction intensities of the space point in the x, y, and z directions, respectively. are their conjugates respectively.

[0043] Specifically, the above conversion to obtain the effective value of the magnetic field strength includes the following steps:

[0044] The effective value of the magnetic field strength M g =effective value of magnetic induction intensity B*magnetic permeability τ0.

[0045] Specifically, the above-mentioned preset aircraft electric field strength safety threshold and magnetic field strength safety threshold adopt a gradient descent method, with any preset working point as the initial point, the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point are compared with the electric field strength safety threshold and the magnetic field strength safety threshold, and the coordinates are iterated along the direction of the fastest electric field descent, and the safe point closest to the working point and meeting the electric field strength safety threshold and the magnetic field strength safety threshold is found as the safe working point for aircraft anti-interference, including the following steps:

[0046] In three-dimensional space, let the coordinates of any preset working point g (x g ,y g ,z g ), the effective value of the electric field strength at this point is E g The effective value of the magnetic field strength is M g , preset electric field strength safety threshold and magnetic field strength safety threshold, take any preset working point g as the initial point, compare the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point with the preset electric field strength safety threshold and magnetic field strength safety threshold, if E g and M g are all less than the corresponding safety threshold, then it can be determined as a safe working point. On the contrary, if E g or M g If there is a value greater than the corresponding safety threshold, the safe working point is re-determined. Then, based on this judgment logic, the coordinates around each working point g are iterated along the direction of the fastest electric field drop to find the safe working point closest to the working point g as the safe working point for aircraft anti-interference.

[0047] Specifically, the above-mentioned iteration of the coordinates around each working point g along the direction where the electric field drops fastest includes:

[0048] The iteration formula is as follows:

[0049]

[0050] Where: is the coordinate of the kth iteration of the working point g, k=1,2,3......, are the gradients of the electric field in the x, y, and z directions respectively; Δx, Δy, and Δz are the unit quantities in the x, y, and z directions respectively. When the iteration reaches a certain point, E g and M g When both are less than the safety threshold, the iteration is stopped and the safe working stop point of the aircraft anti-interference is determined.

[0051] Specifically, the above-mentioned initial planned path is obtained based on all safe working points. Based on the initial planned path, the coordinates of the points perpendicular to the initial planned path are iterated based on the points that meet the electric field strength safety threshold and the magnetic field strength safety threshold and have the shortest distance to the initial planned path. The iterated coordinates are used as waypoints, and the path passing through all safe working points and waypoints is used as the actual shortest working path, including the following steps:

[0052] First, the shortest initial planned path is obtained based on all safe working points. Based on the initial planned path, the coordinates of the points perpendicular to the initial planned path are iterated based on the points that meet the electric field strength safety threshold and the magnetic field strength safety threshold and have the shortest distance to the initial planned path. The iterated coordinates are used as the waypoints, and the path passing through all safe working points and waypoints is the actual shortest working path.

[0053] In another embodiment, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the above-mentioned method for planning an aircraft working path for multi-circuit transmission lines on the same tower under electromagnetic interference.

[0054] In another embodiment, the present invention proposes an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a method for planning the working path of an aircraft on a multi-circuit transmission line on the same tower under electromagnetic interference as described above.

[0055] In the embodiments disclosed herein, computer storage media can be tangible media that can contain or store programs for use by or in conjunction with an instruction execution system, device, or apparatus. Computer storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. More specific examples of computer storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0056] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0057] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference, characterized in that: The method comprises the following steps: in three-dimensional space, setting the coordinates of the two end points of a certain section of a multi-circuit transmission line on the same tower, the coordinates of any point within the length of the unit conductor, and the coordinates of any point in space, so as to calculate the effective value of the electric field strength of the unit conductor at any point in space; obtaining the magnetic induction strength generated at any point in space according to the Biot-Savart law, further solving to obtain the effective value of the magnetic induction strength at any point in space, and converting to obtain the effective value of the magnetic field strength; presetting the electric field strength safety threshold and the magnetic field strength safety threshold of the aircraft, using the gradient descent method, taking any preset working point as the initial point, comparing the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point with the electric field strength safety threshold and the magnetic field strength safety threshold, and iterating the coordinates along the direction of the fastest electric field descent, finding a safe point closest to the working point and simultaneously meeting the electric field strength safety threshold and the magnetic field strength safety threshold, and using the safe working point for anti-interference of the aircraft; An initial planned path is obtained based on all safe working points. Based on the initial planned path, the coordinates are iterated based on the criteria of meeting the electric field strength safety threshold and the magnetic field strength safety threshold and having the shortest distance to the initial planned path. The iterated coordinates are used as waypoints, and the path passing through all safe working points and waypoints is the actual shortest working path.

2. The method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference according to claim 1, characterized in that: The electric field strength safety threshold and magnetic field strength safety threshold of the aircraft are preset by using a gradient descent method. With any preset working point as the initial point, the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point are compared with the electric field strength safety threshold and the magnetic field strength safety threshold, and the coordinates are iterated along the direction of the fastest electric field descent to find a safe point closest to the working point and meeting both the electric field strength safety threshold and the magnetic field strength safety threshold, as the safe working point for aircraft anti-interference, including the following steps: In three-dimensional space, let the coordinates of any preset working point g (x g ,y g ,z g ), the effective value of the electric field strength at this point is E g The effective value of the magnetic field strength is M g , preset electric field strength safety threshold and magnetic field strength safety threshold, take any preset working point g as the initial point, compare the effective value of the electric field strength and the effective value of the magnetic field strength at the coordinate point with the preset electric field strength safety threshold and magnetic field strength safety threshold, if E g and M g are all less than the corresponding safety threshold, then it can be determined as a safe working point. On the contrary, if E g or M g If there is a value greater than the corresponding safety threshold, the safe working point is re-determined. Then, based on this judgment logic, the coordinates around each working point g are iterated along the direction of the fastest electric field drop to find the safe working point closest to the working point g as the safe working point for aircraft anti-interference.

3. The method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference according to claim 2, characterized in that: The iterating of the coordinates around each working point g along the direction in which the electric field drops fastest includes: The iteration formula is as follows: Where: is the coordinate of the kth iteration of the working point g, are the gradients of the electric field in the x, y, and z directions respectively; Δx, Δy, and Δz are the unit quantities in the x, y, and z directions respectively.

4. The method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference according to claim 3, characterized in that: The method of obtaining an initial planned path based on all safe working points, iterating coordinates based on the initial planned path with the electric field strength safety threshold and the magnetic field strength safety threshold being satisfied and the shortest distance from the initial planned path being the benchmark, using the iterated coordinates as waypoints, and using the path passing through all safe working points and waypoints as the actual shortest working path, includes the following steps: First, the shortest initial planned path is obtained based on all safe working points. Based on the initial planned path, the coordinates of the points perpendicular to the initial planned path are iterated based on the points that meet the electric field strength safety threshold and the magnetic field strength safety threshold and have the shortest distance to the initial planned path. The iterated coordinates are used as the waypoints, and the path passing through all safe working points and waypoints is the actual shortest working path.

5. A computer-readable storage medium storing a computer program, characterized in that: The computer program enables a computer to execute a method for planning an aircraft working path for multi-circuit power transmission lines on the same tower under electromagnetic interference as described in any one of claims 1 to 4.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for planning the working path of an aircraft for multi-circuit power transmission lines on the same tower under electromagnetic interference as described in any one of claims 1 to 4 is implemented.

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