A high-voltage equipment discharge source detection positioning method and device and medium

Abstract

The present application relates to high-voltage equipment discharge source positioning technical field, specifically for a kind of high-voltage equipment discharge source detection positioning method, device and medium, the method includes through sparse sensor array acquisition high-voltage equipment discharge source's time domain signal data;High-voltage equipment discharge source positioning equation group is solved to obtain the rough positioning of high-voltage equipment discharge source;According to rough positioning, determine preliminary positioning interval, control all positioning sensors of folding panel array to carry out synchronous acquisition to high-voltage equipment discharge signal;Control folding panel array to carry out fine scanning to preliminary positioning interval;Obtain the distribution of high-voltage equipment discharge source energy under different scanning positions;The energy of high-voltage equipment discharge source under different scanning positions is scaled, determines the energy peak value where the sharpening maximum energy is located, obtains the accurate positioning of high-voltage equipment discharge source position. Realize the automation of multi-angle, multi-position acquisition, reduce the dependence on manual operation, improve work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-voltage equipment discharge source positioning, in particular to a high-voltage equipment discharge source detection and positioning method, device and medium. BACKGROUND

[0002] High-voltage equipment partial discharge source positioning is a core technology to ensure the safe operation of power systems, and its necessity stems from the progressive damage of discharge to insulating materials and the risk of catastrophic failure. Although the single energy of partial discharge is weak, continuous discharge can cause the electrical treeing of insulating materials, leading to a significant decrease in breakdown voltage (e.g., a 500kV transformer can decrease by 40% in 2 years). If not accurately positioned, it may lead to escalation of high-voltage equipment failure due to the inability to intervene in time, triggering carbonization of insulation and surface flashover, and further developing into arc short circuit or even equipment explosion.

[0003] Currently, high-voltage equipment discharge source positioning is mainly achieved through manual placement of sensors. This method usually requires technicians to select appropriate sensor positions based on the structure and working environment of the equipment, and then install them one by one at the predetermined positions. During the operation, personnel need to carefully consider the coverage range, sensitivity and possible interference factors of the sensors to ensure accurate detection of discharge signals. Since this method relies on manual operation, it has the problems of inaccurate placement, low efficiency and difficulty in achieving rapid deployment in large-scale or complex environments. In addition, the placement of sensors may be affected by space limitations or environmental conditions, resulting in unsatisfactory detection results. Therefore, the traditional manual placement of sensors for discharge source positioning has certain limitations in practical application. SUMMARY

[0004] To solve the above problems, the present application provides a high-voltage equipment discharge source detection and positioning method, which comprises:

[0005] Selecting any multiple positioning sensors in the folded positioning panel array to form a sparse sensor array, and collecting time-domain signal data of the high-voltage equipment discharge source through the sparse sensor array; processing the time-domain signal data to obtain the time difference between any two positioning sensors in the sparse sensor array, and establishing a high-voltage equipment discharge source positioning equation set based on the time difference, and solving the high-voltage equipment discharge source positioning equation set to obtain the rough positioning of the high-voltage equipment discharge source;

[0006] According to the rough positioning, a preliminary positioning interval is determined, the folded panel array is controlled to rotate to face the preliminary positioning interval, and all positioning sensors on the folded panel array are used to synchronously collect the high-voltage equipment discharge signal;

[0007] The position is moved, the folded panel array is controlled to finely scan the preliminary positioning interval, and the distribution of the high-voltage equipment discharge source energy at different scanning positions is obtained;

[0008] The energy of the high-voltage equipment discharge source at different scanning positions is scaled down and transformed by an exponential adjustment factor to determine the energy peak at the location of the sharpest energy, thus obtaining a precise location of the high-voltage equipment discharge source.

[0009] The specific operation of processing the time-domain signal to obtain the time difference between any two positioning sensors in the sparse sensor array is as follows:

[0010] The time-domain signal data collected by the sparse sensor array is transformed into a data trajectory matrix, and the singular value decomposition is performed on the data trajectory matrix to obtain the singular values ​​and corresponding singular vectors.

[0011] The acquired singular values ​​are thresholded and filtered. The data trajectory matrix is ​​reconstructed based on the retained singular values ​​and corresponding singular vectors to obtain the time-domain signal data of the high-voltage equipment discharge power supply after denoising.

[0012] The time-domain signal data of the high-voltage equipment discharge power supply is converted into a frequency-domain signal through Fourier transform, and the cross-power spectral density between any two frequency-domain signals is calculated.

[0013] The cross-power spectral density is weighted to obtain the time difference between any two positioning sensors in the sparse sensor array.

[0014] The process of establishing a set of equations for locating the high-voltage equipment discharge source based on the time difference, and then solving these equations to roughly locate the discharge source, involves the following steps:

[0015] A set of positioning equations for high-voltage equipment discharge sources is established based on the time difference. The positioning equations for high-voltage equipment discharge sources are solved to obtain the initial positioning values ​​of multiple high-voltage equipment discharge sources.

[0016] Cluster analysis was performed on multiple initial positioning values ​​to obtain a rough location of the high-voltage equipment's discharge power source.

[0017] The equations for locating the discharge source of high-voltage equipment are solved by constructing an objective function, which is:

[0018]

[0019] in, For the first The time difference between the time when each positioning sensor receives a signal and the time when the first positioning sensor begins to receive a signal. Indicates that the power supply is discharged to the first The distance between the sensors; This refers to the speed at which electromagnetic waves travel through the air.

[0020] The distribution of the discharge source energy of the high-voltage equipment at different scanning positions is obtained, specifically, phase compensation is performed on the collected high-voltage equipment discharge signal, and weighted filtering processing is performed based on an enhancement matrix to obtain the output energy of the discharge source.

[0021] In the specific embodiment, the phase compensation performed on the collected high-voltage equipment discharge signal is in a formula:

[0022]

[0023]

[0024] wherein, is a set weighting function, is a conjugate transpose; is an interpolated discharge signal of all sensors that are phase-adjusted based on the discharge signal received by the reference sensor; is a direction vector; is the discharge signal received by the reference sensor; is a center frequency of the high-voltage equipment discharge signal, is a spacing between two adjacent sensors in the sensor array, is an incident angle of the high-voltage equipment discharge signal, is a speed at which the high-voltage equipment discharge signal propagates in the air.

[0025] The output energy of the discharge source is obtained by performing weighted filtering processing based on the enhancement matrix, in a formula:

[0026]

[0027]

[0028] wherein, is not a distribution of the discharge source energy of the high-voltage equipment at the same scanning position, is a direction vector, is an enhancement coefficient matrix, is a covariance matrix; is an enhancement matrix, , , is an enhancement factor used for adjusting the enhancement matrix.

[0029] The application further provides a high-voltage equipment discharge source detection positioning device for realizing the high-voltage equipment discharge source detection positioning method.

[0030] The folding positioning panel array comprises a plurality of sub-positioning panels and panel folding driving devices independently connected with the sub-positioning panels.

[0031] The mobile vehicle body is used for carrying and installing various devices and executing a moving command around the high-voltage equipment to drag the folding positioning panel array to perform omnibearing discharge signal detection.

[0032] The lifting and rotating platform is used for controlling the height, rotating direction and pitch angle of the folding positioning panel array.

[0033] The folding positioning panel is used for unfolding the sub-positioning panels on the same plane to form a large positioning plane to receive the discharge signal.

[0034] The positioning signal processing system is used for controlling the position movement of the mobile vehicle body and the angle adjustment of the lifting and rotating platform, collecting the collection signal of the folding positioning panel array and positioning the discharge source position of the high-voltage equipment.

[0035] The sub-positioning panel is provided with an omnidirectional positioning sensing device and a sub-positioning panel attitude detector.

[0036] The application further provides a computer readable storage medium for storing a computer program, wherein the computer program is executed by a processor to realize the high-voltage equipment discharge source detection positioning method.

[0037] The application is a high-voltage equipment discharge source detection positioning method, device and medium, which realizes automatic multi-angle and multi-position collection through the mobile vehicle body, lifting and rotating platform and folding positioning panel array, reduces the dependence on manual operation and improves work efficiency.

[0038] The application can help to obtain more comprehensive discharge source information, reduce errors caused by a single sensor, and help to identify a high-probability discharge source position area by clustering the obtained multiple sets of positioning initial values, and exclude isolated or abnormal initial values, so as to provide a more reliable starting point for subsequent energy distribution analysis and fine positioning. The possible area is quickly locked by rough positioning, and then a folded positioning panel array and multiple positioning sensors are used for detailed scanning, the array output is weighted and filtered by an enhancement matrix, the useful signals are enhanced, the noise and interference in the environment are suppressed, the signal-to-noise ratio is improved, and the anti-interference performance of the algorithm is improved. The energy after scaling is regulated by introducing an exponential regulation factor, the peak value at the maximum energy can be sharpened, and the high-voltage equipment discharge source position can be accurately positioned. BRIEF DESCRIPTION OF DRAWINGS

[0039] The schemes and advantages of the present application will become clear to those skilled in the art from the following detailed description of the preferred embodiments. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be limiting to the present application.

[0040] In the drawings:

[0041] Figure 1 Structure of high-voltage equipment discharge source detection positioning device Figure One ;

[0042] Figure 2 Structure of high-voltage equipment discharge source detection positioning device Figure Two ;

[0043] Figure 3 Structure of high-voltage equipment discharge source detection positioning device Figure Three ;

[0044] 1, mobile vehicle body; 2, lifting and rotating platform; 3, positioning signal processing system; 4, sub-positioning panel; 5, panel folding driving device; 6, sub-positioning panel attitude detector; 7, positioning arc-shaped sensor. DETAILED DESCRIPTION

[0045] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings.

[0046] Referring to Figures 1-3 , the embodiment provides a high-voltage equipment discharge source detection positioning device, which comprises a mobile vehicle body 1, a lifting and rotating platform 2, a folded positioning panel array and a positioning signal processing system 3.

[0047] The mobile vehicle body 1 serves as the bearing main body of all devices, and the bottom is provided with mobile wheels and universal bearing wheels that can stabilize the balance and bearing of the vehicle body, and execute the forward movement and flexible turning of the entire device.

[0048] The lifting and rotating platform 2 is installed on the upper part of the mobile vehicle body 1. The folding positioning panel array is installed on the upper end of the lifting and rotating platform 2. The lifting and rotating platform 2 is provided with three degrees of freedom: lifting, rotation and pitch. It can control the height, rotation direction and pitch angle of the folding positioning panel array, so as to realize the detection and positioning of the high voltage equipment discharge power supply at any height, any direction and any angle.

[0049] The folding positioning panel array includes several sub-positioning panels 4 and a panel folding drive device 5 independently connected to each sub-positioning panel 4. During positioning, each sub-positioning panel 4 can be unfolded to lie on the same plane, forming a large positioning plane. Each sub-positioning panel 4 is equipped with an omnidirectional positioning sensor and a sub-positioning panel attitude detector 6. The omnidirectional positioning sensor consists of four positioning arc sensors 7, which are convex structures evenly distributed around the sub-positioning panel 4, enabling the reception of signals within a wide range of 0-180° in both horizontal and vertical directions. The sub-positioning panel attitude detector 6 is installed at the center of each sub-positioning panel 4. During the folding and unfolding of the folding positioning panel array, it can detect the attitude of the sub-positioning panel 4 in real time, including pitch and roll angles, ensuring that each sub-positioning panel 4 is on the same plane during positioning, thus ensuring the accuracy of the positioning array position and guaranteeing positioning precision.

[0050] The panel folding drive device 5 is installed at the bottom of the folding positioning panel array and is used to drive the folding positioning panel array to unfold and fold. This embodiment uses... Figure 1 Taking the unfolded folding positioning panel array as an example, the sub-positioning panels 4 are numbered sequentially from the upper left along the horizontal direction, and are defined as the first sub-positioning panel, the second sub-positioning panel, ... the ninth sub-positioning panel. The folding process of the folding positioning panel array is as follows: First, the fifth sub-positioning panel at the center is fixedly connected to the lifting and rotating platform 2. The fifth sub-positioning panel is the uppermost terminal positioning panel 4 after the folding positioning panel array is folded into a square structure. The sub-positioning panels 4 connected to the upper and lower sides of the fourth, fifth and sixth sub-positioning panels are flipped downward by the panel folding drive device 5. After the first flip is completed, the fourth and sixth sub-positioning panels connected to the left and right sides of the fifth sub-positioning panel are flipped downward by the panel folding drive device 5. The first and third sub-positioning panels are set to overlap with the second sub-positioning panel, and the seventh and ninth sub-positioning panels are set to overlap with the eighth sub-positioning panel, thus completing the folding of the folding positioning panel array.

[0051] The positioning signal processing system 3 is installed on the mobile vehicle body 1 and is electrically connected with the folding positioning panel array, is used for controlling the mobile vehicle body 1 to move and adjust the angle of the lifting rotating platform 2, and collects the collection signal of the folding positioning panel array to position the high-voltage equipment discharge source.

[0052] Meanwhile, the device adopts a high-voltage equipment discharge source detection positioning method to realize accurate positioning of the high-voltage equipment discharge source position, and the method comprises the following steps:

[0053] S1, any multiple positioning sensors in the folding positioning panel array are selected to form a sparse sensor array, time domain signal data of the high-voltage equipment discharge source is collected through the sparse sensor array, the time domain signal data is processed to obtain the time difference between any two positioning sensors in the sparse sensor array, a high-voltage equipment discharge source positioning equation set is established based on the time difference, and the high-voltage equipment discharge source positioning equation set is solved to obtain the rough positioning of the high-voltage equipment discharge source, and the operation comprises the following steps:

[0054] S1.1, any positioning sensor in the folding positioning panel array is selected to form a sparse sensor array, and time domain signal data of the high-voltage equipment discharge source is collected through the sparse sensor array;

[0055] In this embodiment, the minimum redundancy array method is adopted to select a plurality of positioning sensors in the folding positioning panel array to form a sparse sensor array. In order to obtain the maximum signal coverage range and the optimal detection effect, six positioning sensors at the upper left corner, the upper right corner, the lower left corner, the lower right corner and the central main diagonal of the folding positioning panel array are selected to form a sparse array.

[0056] The mobile vehicle body 1 is rotated in place, and the rotation angle includes but is not limited to 0°, 90°, 180°, 270°, etc. The folding positioning panel array is rotated to realize all-around collection of the time domain signal data of the high-voltage equipment discharge source.

[0057] S1.2, the time domain signal data collected by the sparse sensor array is converted into a data trajectory matrix, singular value decomposition is performed on the data trajectory matrix to obtain singular values and corresponding singular vectors, threshold filtering is performed on the obtained singular values, the data trajectory matrix is reconstructed according to the singular values and corresponding singular vectors reserved after filtering, and the time domain signal data of the high-voltage equipment discharge source after denoising is obtained;

[0058] The time domain signal data collected by the sparse sensor array is a one-dimensional noisy signal y(t) ( t = 1, 2,..., N ). The time domain signal data collected by the sparse sensor array is converted into a data trajectory matrix, which is represented as:

[0059]

[0060] in, , ,when When it is even, ,when When it is an odd number, .

[0061] right H Linear decomposition yields:

[0062]

[0063] in, , , U yes The matrix consisting of all left singular vectors is of order m; V yes The matrix consisting of all right singular vectors has an order of n. and All are orthogonal matrices. A diagonal matrix containing singular values ​​can be represented as:

[0064]

[0065] in, , Representation matrix H The i There are singular values ​​that satisfy... Larger singular values ​​correspond to important components in the signal, while smaller singular values ​​correspond to noise components.

[0066] An adaptive threshold function is used to filter out singular values, truncating those below a threshold and retaining those greater than or equal to the threshold. (Before retention...) A singular value, ,Will After Set all values ​​to 0 and reconstruct the data trajectory matrix, which is represented as follows:

[0067]

[0068] in, This represents the newly constructed data trajectory matrix. and These are the corresponding numbers. There are three left singular vectors and one right singular value vector.

[0069] right The time-domain signal data of the high-voltage equipment discharge power supply is obtained by averaging the anti-diagonal elements. .

[0070] S1.3, the time domain signal data of the high voltage equipment discharge source is converted into frequency domain signal through Fourier transform, and the cross power spectral density between any two frequency domain signals is calculated; the cross power spectral density is weighted to obtain the time difference between any two positioning sensors in the sparse sensor array, and the specific operation is as follows:

[0071] The de-noised time domain signal data is converted into frequency domain signal through Fourier transform, and the transformation formula is as follows:

[0072]

[0073] Among them, represents the frequency domain signal, the time domain signal data; is an imaginary unit, is a frequency variable.

[0074] The cross power spectral density between any two frequency domain signals is calculated, and the cross power spectral density formula is as follows:

[0075]

[0076] The time difference between any two positioning sensors in the sparse sensor array receiving signals is represented as follows:

[0077]

[0078] Among them, i , j respectively represent different serial numbers of the positioning sensor, i ≠ j ; is a weighting function, , is an adjustment factor, and γ is a coherence coefficient, satisfying ; is the self-power spectral density of the frequency domain signal , is the self-power spectral density of the frequency domain signal .

[0079] When the signal energy is small, the denominator of the weighting function tends to 0, and the overall weighting function tends to infinity, which will cause a larger error. The existence of the coherence coefficient adds a non-zero factor to the denominator of the weighting function to ensure that the denominator is not zero, thereby stabilizing the weighting function.

[0080] By peak searching , the time difference between any two positioning sensors in the sparse sensor array receiving signals can be obtained.

[0081] S1.4. Establish a set of positioning equations for high-voltage equipment discharge sources based on time difference, solve the set of positioning equations for high-voltage equipment discharge sources to obtain initial positioning values ​​for multiple high-voltage equipment discharge sources, and perform cluster analysis on multiple initial positioning values ​​to obtain a rough positioning of the high-voltage equipment discharge sources.

[0082] Assume the coordinates of the partial discharge source are The coordinate positions of any four positioning sensors are as follows: , , , The established set of equations for locating the discharge source of the high-voltage equipment is as follows:

[0083]

[0084] In the formula, The speed at which electromagnetic waves propagate in the air is given by a value of . ; For the first The time difference between the time when each positioning sensor receives a signal and the time when the first positioning sensor begins to receive a signal. Indicates that the power supply is discharged to the first The distance between the sensors, i.e.:

[0085]

[0086] The equations for locating the discharge source of high-voltage equipment are solved using a search algorithm by constructing an objective function. The objective function is:

[0087]

[0088] in, For the first The time difference between the time when each positioning sensor receives a signal and the time when the first positioning sensor begins to receive a signal. Indicates that the power supply is discharged to the first The distance between the sensors.

[0089] For a sparse sensor array consisting of six positioning sensors, a system of positioning equations can be constructed by taking the discharge signals of the high-voltage equipment collected by any four of the positioning sensors and the corresponding time difference information, thus obtaining an initial positioning value. This system has a total of [number missing]. By using a set of localization equations, 15 initial localization values ​​can be obtained. Clustering these initial values ​​and identifying the cluster center of the cluster with the most elements yields the final coarse localization result. .

[0090] S2, determine a preliminary positioning interval according to the rough positioning, control the folding panel array to rotate to face the preliminary positioning interval, and use all positioning sensors on the folding panel array to synchronously collect the high-voltage equipment discharge signal

[0091] S2.1, obtain a preliminary positioning interval according to the obtained rough positioning result, the preliminary positioning interval is:

[0092]

[0093]

[0094]

[0095] wherein, , , are error ranges in x-axis, y-axis and z-axis directions, i.e. distances extended from the rough positions x, y and z to both sides.

[0096] S2.2, control the folding panel array to rotate to face the preliminary positioning interval, and use all positioning sensors on the folding panel array to synchronously collect the high-voltage equipment discharge signal.

[0097] After obtaining the preliminary positioning interval, the foldable positioning panel array faces the preliminary positioning interval, and all positioning sensors carried in the foldable positioning panel array are used to synchronously collect the high-voltage equipment discharge signal again, and the collection of the high-voltage equipment discharge signal by the Mth positioning sensor is represented as:

[0098]

[0099] wherein, is the discharge signal received by the reference sensor, is a phase shift of the high-voltage equipment discharge signal,

[0100]

[0101] wherein, is an angular frequency, is a propagation time delay, is a center frequency of the high-voltage equipment discharge signal, is a distance between two adjacent sensors in the sensor array, is an incident angle of the high-voltage equipment discharge signal, is a propagation speed of the high-voltage equipment discharge signal in air.

[0102] S3, perform position movement, control the folding panel array to finely scan the preliminary positioning interval, and obtain a distribution of high-voltage equipment discharge source energy at different scanning positions.

[0103] By performing phase compensation on the collected high-voltage equipment discharge signal and weighted filtering based on the enhancement matrix, the output energy of the high-voltage equipment discharge power supply can be obtained.

[0104]

[0105] in, This refers to the interpolated discharge signals of all sensors, with phase adjustment based on the discharge signal received by the reference sensor. This is a transpose operation; It is the direction vector.

[0106] Phase compensation is performed on the collected discharge signals from high-voltage equipment.

[0107]

[0108] In the formula, The weighting function is set. This is the conjugate transpose.

[0109] The output energy obtained by weighted filtering based on the enhancement matrix is:

[0110]

[0111] In the formula, The distribution of power supply energy of high-voltage equipment at different scanning positions is not considered. It is a direction vector. To enhance the coefficient matrix, Let covariance matrix be the variance matrix. To enhance the matrix:

[0112]

[0113] in, , , To adjust the enhancement factor used in the enhancement matrix, when , hour, At this point, only the One column of data can reduce the impact of noise on energy distribution at low signal-to-noise ratios. At even lower signal-to-noise ratios, it can be set... .

[0114] S4. Scale the power supply energy of the high-voltage equipment at different scanning positions and introduce an exponential adjustment factor to transform it, determine the energy peak at the location of the sharpest maximum energy, and obtain the accurate location of the power supply of the high-voltage equipment.

[0115] The power supply energy of the high-voltage equipment at different scanning positions is proportionally scaled to limit the power supply energy of the high-voltage equipment within the range of (0,1).

[0116]

[0117] for The maximum value in, (0,1).

[0118] An exponential adjustment factor is introduced to transform the energy after scaling.

[0119]

[0120] As an exponential adjustment factor, .

[0121] This further sharpens the energy peak at the location of maximum energy, enabling precise positioning of the discharge source of high-voltage equipment.

[0122] This embodiment achieves automated multi-angle, multi-position data acquisition through a mobile vehicle, a lifting and rotating platform, and a folding positioning panel array, reducing reliance on manual operation and improving work efficiency. During coarse positioning, the high-voltage equipment discharge source detection and positioning method uses multiple positioning sensors to acquire signals, helping to obtain more comprehensive discharge source information and reducing errors that may arise from a single sensor. By clustering multiple sets of initial positioning values, it helps identify high-probability discharge source location areas, eliminating isolated or abnormal initial values, and providing a more reliable starting point for subsequent energy distribution analysis and fine positioning. Coarse positioning quickly locks down possible areas, and then a fine scan is performed using a folding positioning panel array and multiple positioning sensors. Weighted filtering of the array output is performed using an enhancement matrix to enhance useful signals while suppressing environmental noise and interference, improving the signal-to-noise ratio and the algorithm's anti-interference performance. The scaled energy is controlled by introducing an exponential adjustment factor, which sharpens the peak value at the maximum energy level, achieving precise positioning of the high-voltage equipment discharge source.

[0123] Finally, this embodiment also provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the high-voltage equipment discharge detection and positioning method as described above.

Claims

1. A discharge source detection positioning method for a high voltage device, characterized by, include: Select any number of positioning sensors from the folded positioning panel array to form a sparse sensor array, and collect time-domain signal data of the high-voltage equipment discharge power supply through the sparse sensor array; The time-domain signal data is processed to obtain the time difference between any two positioning sensors in the sparse sensor array. Based on the time difference, a set of positioning equations for the high-voltage equipment discharge power source is established. The coarse positioning of the high-voltage equipment discharge power source is obtained by solving the set of positioning equations. The specific operation of processing the time-domain signal to obtain the time difference between any two positioning sensors in the sparse sensor array is as follows: The time-domain signal data collected by the sparse sensor array is transformed into a data trajectory matrix, and the singular value decomposition is performed on the data trajectory matrix to obtain the singular values ​​and corresponding singular vectors. The acquired singular values ​​are thresholded and filtered. The data trajectory matrix is ​​reconstructed based on the retained singular values ​​and corresponding singular vectors to obtain the time-domain signal data of the high-voltage equipment discharge power supply after denoising. The time-domain signal data of the high-voltage equipment discharge power supply is converted into a frequency-domain signal through Fourier transform, and the cross-power spectral density between any two frequency-domain signals is calculated. The cross-power spectral density is weighted to obtain the time difference between any two positioning sensors in the sparse sensor array. The preliminary positioning range is determined based on the rough positioning. The folding panel array is controlled to rotate to face the preliminary positioning range, and all positioning sensors on the folding panel array are used to synchronously collect the discharge signal of the high-voltage equipment. The system moves to control the folded panel array to perform a fine scan of the initial positioning area; and obtains the distribution of power supply energy of the high-voltage equipment at different scanning positions. The energy of the high-voltage equipment discharge source at different scanning positions is scaled down and transformed by an exponential adjustment factor to determine the energy peak at the location of the sharpest energy, thus obtaining the precise location of the high-voltage equipment discharge source.

2. The method of claim 1, wherein, The process of establishing a set of equations for locating the high-voltage equipment discharge source based on the time difference, and then solving these equations to roughly locate the discharge source, involves the following steps: A set of positioning equations for high-voltage equipment discharge sources is established based on the time difference. The positioning equations for high-voltage equipment discharge sources are solved to obtain the initial positioning values ​​of multiple high-voltage equipment discharge sources. Cluster analysis was performed on multiple initial positioning values ​​to obtain a rough location of the high-voltage equipment's discharge power source.

3. The method of claim 2, wherein the step of detecting the discharge source is performed by a method comprising: The equations for locating the discharge source of high-voltage equipment are solved by constructing an objective function, which is: wherein is the time difference between the time the signal is received by the nthpositioning sensor and the time the signal is received by the first positioning sensor, is the distance from the discharge source to the nthsensor; is the distance from the discharge source to the nthsensor; is the distance from the discharge source to the nthsensor; is the speed of propagation of the electromagnetic wave signal in air.

4. The method of claim 1, wherein, The method of obtaining the energy distribution of the high-voltage equipment discharge source at different scanning positions specifically involves performing phase compensation on the collected high-voltage equipment discharge signal and performing weighted filtering based on the enhancement matrix to obtain the output energy of the discharge source.

5. The method of claim 4, wherein the step of detecting the discharge source of the high voltage equipment is performed by a method comprising: The phase compensation for the collected high-voltage equipment discharge signal is calculated using the following formula: wherein is a set weighting function, is a conjugate transpose; is an interpolated discharge signal of all sensors phase adjusted to the discharge signal received by the reference sensor; is a direction vector; is a discharge signal received by the reference sensor; is a center frequency of the high voltage equipment discharge signal, is a distance between two adjacent sensors in the sensor array, is an angle of incidence of the high voltage equipment discharge signal, is a speed of propagation of the high voltage equipment discharge signal in air.

6. The method of claim 4, wherein, The formula for obtaining the output energy of the power supply by weighted filtering based on the enhancement matrix is ​​as follows: in, The distribution of power supply energy of high-voltage equipment at different scanning positions is not considered. It is a direction vector. To enhance the coefficient matrix, It is the covariance matrix; To enhance the matrix, , , The enhancement factor used to adjust the enhancement matrix.

7. A high-voltage equipment discharge power detection and positioning device for implementing the high-voltage equipment discharge power detection and positioning method as described in any one of claims 1-6, characterized in that, It includes a mobile vehicle body, a lifting and rotating platform, a folding positioning panel array, and a positioning signal processing system; the lifting and rotating platform is installed on the upper part of the mobile vehicle body, and the folding positioning panel array is installed on the upper end of the lifting and rotating platform; the positioning signal processing system is installed on the mobile vehicle body and is electrically connected to the folding positioning panel array. The folding positioning panel array includes several sub-positioning panels and a panel folding drive device independently connected to each sub-positioning panel; the panel folding drive device is installed at the bottom of the folding positioning panel array and is used to drive the folding positioning panel array to unfold and fold. The mobile vehicle is used to carry and install various devices, and executes movement commands around the high-voltage equipment, dragging the folding positioning panel array to perform omnidirectional discharge signal detection. The lifting and rotating platform is used to control the height, rotation orientation, and pitch angle of the folding positioning panel array. The folding positioning panel is used to unfold each sub-positioning panel to be located on the same plane, forming a large positioning plane for receiving discharge signals. The positioning signal processing system is used to control the movement of the mobile vehicle and the angle adjustment of the lifting and rotating platform, and to collect the acquisition signals of the folding positioning panel array to locate the power supply position of the high-voltage equipment.

8. The high-voltage equipment discharge detection and positioning device according to claim 7, characterized in that, The sub-positioning panel is equipped with an omnidirectional positioning sensor and a sub-positioning panel attitude detector. The omnidirectional positioning sensor consists of four positioning arc sensors, which are convex and evenly distributed around the sub-positioning panel. The sub-positioning panel attitude detector is installed at the center of the sub-positioning panel.

9. A computer-readable storage medium, characterized in that, Used to store a computer program, wherein the computer program, when executed by a processor, implements the high-voltage equipment discharge power detection and positioning method as described in any one of claims 1-6.

Images