System and method for improving measurement accuracy of electric power meteorological monitoring device and storage medium

Abstract

The invention provides a system and method for improving the measurement accuracy of an electric power meteorological monitoring device, and a storage medium. The method comprises the steps: receiving a satellite signal through a first GNSS antenna and a second GNSS antenna which are disposed on an electric power meteorological monitoring device body; determining an attitude angle of the electric power meteorological monitoring device body according to the satellite signal; obtaining a deviation angle of the electric power meteorological monitoring device according to the attitude angle of the electric power meteorological monitoring device body; the deviation angle is used for adjusting the installation angle of the electric power meteorological monitoring device, so that the deviation angle of the installed electric power meteorological monitoring device is smaller than a set angle value. According to the invention, accurate quantification and rapid correction of the installation deviation of the electric power meteorological monitoring device can be realized, and the installation standardization is guaranteed; and through wind speed data processing, orthogonal projection offset calculation and calibration compensation, attitude inclination and environmental interference are eliminated, and the wind direction measurement accuracy is improved. Extra complex hardware is not needed, and the maintenance cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of power meteorological monitoring technology, and specifically relates to a system, method and storage medium for improving the measurement accuracy of power meteorological monitoring devices. Background Technology

[0002] Power meteorological monitoring devices play a crucial role in power systems, providing real-time monitoring of environmental meteorological parameters and supporting the safe operation of the power grid. However, the installation location and orientation of these devices directly impact the accuracy of their monitoring data. Traditional installation methods often rely on manual experience and on-site surveys, making it difficult to guarantee the precision of the installation location and the accuracy of the monitoring direction. Furthermore, changes in meteorological conditions and geographical environment can cause the device's orientation to shift, leading to errors in the monitoring data. Summary of the Invention

[0003] To improve the accuracy of the installation location and the direction of monitoring of power meteorological monitoring devices, this invention proposes a system, method, and storage medium to enhance the measurement accuracy of power meteorological monitoring devices.

[0004] A system for improving the measurement accuracy of power meteorological monitoring devices, which achieves one of the objectives of this invention, includes: Signal receiving module: includes a first GNSS antenna and a second GNSS antenna, used to receive satellite signals and transmit the satellite signals to the orientation and attitude measurement module; Orientation and attitude determination module: used to determine the attitude angles of the power meteorological monitoring device body based on the satellite signals input from the signal receiving module; the attitude angles refer to a set of angles used to describe the three-dimensional attitude of the power meteorological monitoring device body, specifically including: the roll angle φ around the horizontal axis (X-axis) of the device, the pitch angle θ around the vertical axis (Y-axis) of the device, and the navigation angle ψ around the vertical axis (Z-axis) of the device; the navigation angle ψ ranges from 0° to 360°, with clockwise being positive; the roll angle ranges from -180° to 180°, with right-side upward roll being positive; the pitch angle ranges from -90° to 90°, with front-end upward pitch being positive; Main control module: used to obtain the deviation angle of the power meteorological monitoring device based on the attitude angle of the main body of the power meteorological monitoring device; the deviation angle is used to adjust the installation angle of the power meteorological monitoring device so that the deviation angle of the installed power meteorological monitoring device is less than the set angle value.

[0005] Furthermore, the first GNSS antenna is integrated and installed on the top of the external sensing device of the power meteorological monitoring device. The external sensing device extends along the main axis of the power meteorological monitoring device, is unobstructed, and meets the requirements for satellite signal reception. The second GNSS antenna is integrated and installed on the main body of the power meteorological monitoring device. Both the first GNSS antenna and the second GNSS antenna are located on the main axis of the power meteorological monitoring device, and the direction of the installation connection is consistent with the first direction of the power meteorological monitoring device.

[0006] Furthermore, the first direction is north; the satellite signal is a dual-frequency signal of the BeiDou Navigation Satellite System (BDS); the preferred range of the installation interval between the first GNSS antenna and the second GNSS antenna is [0.9m, 1.1m], with a preferred value of 1m.

[0007] Furthermore, the main control module includes a deviation calculation submodule, used to calculate the deviation angle of the power meteorological monitoring device, and the calculation method includes: Δh=arccos(cosθcosφ); Δv=arccos(|sinθ|)=90°-|θ|, θ∈[-90°,90°] In the formula, θ is the pitch angle in the attitude angle of the power meteorological monitoring device body; φ is the roll angle in the attitude angle of the power meteorological monitoring device body; Δv is the vertical deviation angle of the power meteorological monitoring device; and Δh is the horizontal deviation angle of the power meteorological monitoring device.

[0008] Furthermore, the main control module is also used to output adjustment commands until the horizontal deviation angle of the power meteorological monitoring device does not exceed the first set angle and the vertical deviation angle does not exceed the second set angle; both the first set angle and the second set angle are 0.5°.

[0009] Furthermore, the main control module also includes a data analysis and processing submodule, used to acquire wind speed data along the X, Y, and Z axes that are consistent with the coordinate system of the power meteorological monitoring device, and to perform vector sum calculations on the wind speed data to obtain the wind direction angle; the wind direction angle is corrected according to the attitude angle of the power meteorological monitoring device; wherein, the coordinate system of the device body follows the right-hand rule, the X-axis points directly in front of the device, the Y-axis is horizontal and perpendicular to the X-axis pointing to the right side of the device, and the Z-axis is perpendicular to the device mounting plane and upward is positive; the X, Y, and Z axes are completely consistent with the coordinate system of the device body, and the wind speed data V along the X, Y, and Z axes... x V y V z These correspond to the wind speed components along the X, Y, and Z axes of the device body, respectively.

[0010] Furthermore, the main control module includes a direction angle offset calculation submodule, used to calculate the angular offset values ​​of the attitude angle of the power meteorological monitoring device body in three orthogonal planes based on the device body coordinate system. The calculation method includes: The sliding average value of the attitude angle of the power meteorological monitoring device body over a set time period is obtained; the set time period is 24 hours. The moving average value is converted into angular offset values ​​Δa, Δb, and Δc of the power meteorological monitoring device body in the X-axis and Y-axis planes, respectively, using an orthogonal projection method. The calculation method includes: Δa = φ_avg × cosψ_avg, Δb = φ_avg × sinψ_avg, Δc = θ_avg × sinψ_avg; where φ_avg is the sliding average of the roll angle in the attitude angle of the power meteorological monitoring device over a set time period, θ_avg is the sliding average of the pitch angle in the attitude angle of the power meteorological monitoring device over a set time period, and ψ_avg is the sliding average of the navigation angle in the attitude angle of the power meteorological monitoring device over a set time period.

[0011] Furthermore, the main control module includes a direction calibration compensation submodule, used to calibrate the wind direction angle based on the angular offset values ​​of the three orthogonal planes. The calibration method includes: When the angular offset value of any orthogonal plane exceeds a preset threshold, the wind direction angle value in each direction is calibrated according to the following formula: The horizontal angle value A = α ± Δa; The first vertical angle value B = β ± Δb; The second vertical angle value C = γ ± Δc; α is the wind direction angle of the XY plane before calibration; β and γ are the wind direction angles of the YZ plane and XZ plane before calibration, respectively; the preset threshold is 0.8°; the selection rule for the ± sign is: when Δa / Δb / Δc is positive, take the negative sign to cancel the positive deviation error of the corresponding wind direction angle; when Δa / Δb / Δc is negative, take the positive sign to cancel the negative deviation error of the corresponding wind direction angle.

[0012] Furthermore, it also includes a data analysis and processing submodule, used to acquire wind speed data of the X-axis, Y-axis, and Z-axis consistent with the coordinate system of the power meteorological monitoring device body, and to perform vector sum calculation on the wind speed data to obtain the wind direction angle; and to correct the wind direction angle according to the attitude angle of the power meteorological monitoring device body; the wind direction angle includes the wind direction angle of the horizontal plane and the wind direction angle of the two vertical planes.

[0013] A method for improving the measurement accuracy of a power meteorological monitoring device to achieve the second objective of this invention includes: Satellite signals are received using the first and second GNSS antennas installed on the main body of the power meteorological monitoring device. The attitude angles of the power meteorological monitoring device are determined based on the satellite signals. The attitude angles refer to a set of angles used to describe the three-dimensional attitude of the power meteorological monitoring device, specifically including: the roll angle φ around the horizontal axis (X-axis) of the device, the pitch angle θ around the vertical axis (Y-axis) of the device, and the navigation angle ψ around the vertical axis (Z-axis) of the device. The navigation angle ψ ranges from 0° to 360°, with clockwise being positive; the roll angle ranges from -180° to 180°, with right-side upward roll being positive; and the pitch angle ranges from -90° to 90°, with front-end upward pitch being positive. The deviation angle of the power meteorological monitoring device is obtained based on the attitude angle of the device itself; the deviation angle is used to adjust the installation angle of the power meteorological monitoring device so that the deviation angle of the installed power meteorological monitoring device is less than the set angle value.

[0014] Furthermore, the first GNSS antenna is integrated and installed on the top of the external sensing device of the power meteorological monitoring device. The external sensing device extends along the main axis of the power meteorological monitoring device, is unobstructed, and meets the requirements for satellite signal reception. The second GNSS antenna is integrated and installed on the main body of the power meteorological monitoring device. Both the first and second GNSS antennas are located on the main axis of the power meteorological monitoring device, and the direction indicated by the installation connection is consistent with the first direction of the power meteorological monitoring device. The first direction is north. The satellite signal is a dual-frequency signal of the BeiDou Navigation Satellite System (BDS).

[0015] Furthermore, the calculation method for the deviation angle of the power meteorological monitoring device includes: Δh=arccos(cosθcosφ); Δv=arccos(|sinθ|)=90°-|θ|, θ∈[-90°,90°] In the formula, θ is the pitch angle in the attitude angle of the power meteorological monitoring device body; φ is the roll angle in the attitude angle of the power meteorological monitoring device body; Δv is the vertical deviation angle of the power meteorological monitoring device; and Δh is the horizontal deviation angle of the power meteorological monitoring device.

[0016] Furthermore, it also includes: acquiring wind speed data along the X, Y, and Z axes that are consistent with the coordinate system of the power meteorological monitoring device, and calculating the wind direction angle by performing vector sum calculation on the wind speed data; correcting the wind direction angle according to the attitude angle of the power meteorological monitoring device; wherein, the coordinate system of the device body follows the right-hand rule, the X-axis points directly in front of the device, the Y-axis is horizontal and perpendicular to the X-axis pointing to the right side of the device, and the Z-axis is perpendicular to the device mounting plane and upward is positive; the wind direction angle is corrected according to the attitude angle of the power meteorological monitoring device body.

[0017] Furthermore, the external sensing device is a device for collecting wind speed data.

[0018] Furthermore, it also includes calculating the angular offset values ​​of the attitude angle of the power meteorological monitoring device body in three orthogonal planes based on the device body coordinate system. The calculation method includes: The sliding average value of the attitude angle of the power meteorological monitoring device body over a set time period is obtained; the set time period is 24 hours. The moving average value is converted into angular offset values ​​Δa, Δb, and Δc of the power meteorological monitoring device body in the X-axis and Y-axis planes, respectively, using an orthogonal projection method. The calculation method includes: Δa = φ_avg × cosψ_avg, Δb = φ_avg × sinψ_avg, Δc = θ_avg × sinψ_avg; where φ_avg is the sliding average of the roll angle in the attitude angle of the power meteorological monitoring device over a set time period, θ_avg is the sliding average of the pitch angle in the attitude angle of the power meteorological monitoring device over a set time period, and ψ_avg is the sliding average of the navigation angle in the attitude angle of the power meteorological monitoring device over a set time period.

[0019] Furthermore, it also includes calibrating the wind direction angle based on the angular offset values ​​of the three orthogonal planes, the calibration method including: When the angular offset value of any orthogonal plane exceeds a preset threshold, the wind direction angle value in each direction is calibrated according to the following formula: The horizontal angle value A = α ± Δa; The first vertical angle value B = β ± Δb; The second vertical angle value C = γ ± Δc; α is the wind direction angle of the XY plane before calibration; β and γ are the wind direction angles of the YZ plane and XZ plane before calibration, respectively; the preset threshold is 0.8°; the selection rule for the ± sign is: when Δa / Δb / Δc is positive, take the negative sign to cancel the positive deviation error of the corresponding wind direction angle; when Δa / Δb / Δc is negative, take the positive sign to cancel the negative deviation error of the corresponding wind direction angle.

[0020] Furthermore, it also includes: outputting adjustment commands until the horizontal deviation angle of the power meteorological monitoring device does not exceed a first set angle, and the vertical deviation angle does not exceed a second set angle; both the first set angle and the second set angle are 0.5°. Furthermore, it also includes vector summation calculation of the wind speed data of the X-axis, Y-axis, and Z-axis to obtain the wind direction angle; the wind direction angle includes the wind direction angle in the horizontal plane and the wind direction angle in the two vertical planes.

[0021] A non-transitory computer-readable storage medium for achieving the third objective of the present invention, wherein a computer program is stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of a method for measuring the accuracy of the power meteorological monitoring device.

[0022] The beneficial effects of this invention include: 1. By receiving satellite signals through dual GNSS antennas and combining them with the orientation and attitude measurement module, the attitude angle of the power meteorological monitoring device is accurately obtained, providing reliable data support for device installation calibration and wind direction measurement correction, effectively improving the dual accuracy of device installation and wind direction measurement; 2. The horizontal and vertical deviation angles are derived from the attitude angles, providing a clear technical basis for installation and adjustment, controlling the installation deviation of the device within the set range, avoiding subsequent measurement errors caused by the offset of the installation reference, and ensuring the standardization and accuracy of the device installation. 3. By performing a moving average on the attitude angle, random errors caused by environmental interference can be effectively eliminated. Combined with the three orthogonal plane angle offset values ​​obtained by the orthogonal projection method, the influence of the measurement reference tilt caused by the device's roll angle and pitch angle can be specifically compensated, thereby achieving accurate calibration of the wind direction angle and significantly improving the authenticity and reliability of the wind direction measurement data. 4. The arrangement of dual GNSS antennas, in conjunction with the reception and analysis of dual-frequency satellite signals, ensures the accuracy and real-time performance of attitude angle calculation, providing high-quality basic data for installation calibration and wind direction correction.

[0023] This invention requires no complex additional hardware configuration. Through the optimized combination of hardware and software structure, it achieves an integrated design of installation guidance and wind direction correction. It is easy to operate and highly adaptable, and can meet the requirements of power meteorological monitoring scenarios for installation accuracy and data reliability. It also extends the stable operation cycle of the device and reduces the later maintenance costs. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the system described in this invention; Figure 2 This is a schematic diagram of the functional structure of the main control module of the system described in this invention; Figure 3 This is a schematic diagram of the power meteorological monitoring device in the embodiment of the present invention; 1-Ultrasonic wind speed and direction measurement module; 2-First GNSS antenna; 3-Second GNSS antenna; 4-Main control module; 5-Orientation and attitude measurement module; Figure 4 This is a schematic diagram of wind speed data and wind direction angle in the embodiments described in this invention. Detailed Implementation

[0025] The following detailed embodiments are provided to explain the technical solutions of the present invention, so that those skilled in the art can understand the present invention. The scope of protection of the present invention is not limited to the following specific embodiments. Any modifications or improvements made by those skilled in the art that incorporate the technical solutions of the present invention but differ from the following detailed embodiments are also within the scope of protection of the present invention.

[0026] A system for improving the measurement accuracy of power meteorological monitoring devices, comprising, for example: Figure 3 The device shown specifically includes an ultrasonic wind speed and direction measurement module 1, a first GNSS antenna 2, a second GNSS antenna 3, a main control module 4, and a orientation and attitude measurement module 5. The installation positions of the main body of the power meteorological monitoring device and each module are as follows: Figure 3 As shown.

[0027] The first GNSS antenna 2 and the second GNSS antenna 3 constitute the signal receiving module of the system, and are integrated and installed on the main axis of the power meteorological monitoring device. The direction of their installation connection is consistent with the northward direction of the power meteorological monitoring device. The installation method is specifically designed taking into account the structure of the power meteorological device itself, the layout characteristics of its internal sensing electronic components, and the principles of BeiDou differential technology. According to the differential technology principle of the BeiDou navigation system, the measurement of the azimuth angle requires the installation of two sets of antennas.

[0028] In one embodiment, the two sets of GNSS antennas are used to receive BeiDou satellite signals. The second GNSS antenna 3 is integrated and installed on the main body of the power meteorological monitoring device, and the first GNSS antenna 2 is integrated and installed on the top of the ultrasonic wind speed and direction measurement module 1 of the power meteorological monitoring device. The installation distance between the two antennas is a preset distance to meet the directional accuracy. According to the BeiDou dual-antenna RTK directional principle, the length of the connection between the two antennas must meet the requirement of directional accuracy ≤ 0.1° and not exceed the maximum structural size of the power meteorological monitoring device. The antenna spacing is determined to be 0.8-1.2m. In this embodiment, the installation interval between the two sets of antennas is set to 1m to balance accuracy and installation space. In one embodiment, the two GNSS antennas can also be used to receive GPS satellite signals. The orientation and attitude measurement module 5 is a dual-antenna single-frequency RTK high-precision orientation and attitude measurement module adapted to the GPS dual-antenna RTK orientation algorithm. The antenna spacing is adjusted to 1.2-1.5m to meet the requirement of GPS orientation accuracy ≤0.1°.

[0029] In one embodiment, the signal receiving module can also receive GLONASS satellite signals, and the orientation and attitude measurement module 5 is adapted to the GLONASS differential resolution protocol.

[0030] The orientation and attitude measurement module 5 is integrated into the cabin of the meteorological monitoring device and connected to the first GNSS antenna 2 and the second GNSS antenna 3. It is used to analyze the received satellite signals and output the analyzed navigation angle, roll angle and pitch angle information to the main control module 4 of the power meteorological monitoring device. The main control module 4 is used to receive wind speed data in various directions (X-axis, Y-axis, and Z-axis, with X-axis corresponding to the front of the device, Y-axis corresponding to the right side of the device, and Z-axis corresponding to the vertical upward direction of the device mounting plane) collected by the ultrasonic wind speed and direction measurement module 1, as well as navigation angle, roll angle, and pitch angle information of the meteorological monitoring device obtained after analysis by the orientation and attitude measurement module 5, and outputs the calibrated wind direction value and the angle deviation information of the installation direction of the meteorological monitoring device through wireless transmission.

[0031] The system described above for improving the measurement accuracy of power meteorological monitoring devices, such as Figure 1 As shown, it includes: Signal receiving module: includes a first GNSS antenna and a second GNSS antenna, used to receive satellite signals and transmit the satellite signals to the orientation and attitude measurement module; Orientation and attitude measurement module: used to determine the attitude angle of the power meteorological monitoring device body based on the satellite signals input from the signal receiving module; Main control module: used to obtain the deviation angle of the power meteorological monitoring device based on the attitude angle of the main body of the power meteorological monitoring device; the deviation angle is used to adjust the installation angle of the power meteorological monitoring device so that the deviation angle of the installed power meteorological monitoring device is less than the set angle value.

[0032] In one embodiment, the first GNSS antenna is integrated and mounted on the top of the external sensing device of the power meteorological monitoring device, the external sensing device being as follows: Figure 3The ultrasonic wind speed and direction measurement module 1 shown has an external sensing device that extends along the main axis of the power meteorological monitoring device. The second GNSS antenna is integrated and installed on the main body of the power meteorological monitoring device. Both the first GNSS antenna and the second GNSS antenna are located on the main axis of the power meteorological monitoring device, and the direction of the installation connection is consistent with the first direction of the power meteorological monitoring device.

[0033] In one embodiment, such as Figure 2 As shown, the main control module includes a deviation calculation submodule, used to calculate the deviation angle of the power meteorological monitoring device. The calculation method includes: Δh=arccos(cosθcosφ); Δv=arccos(|sinθ|)=90°-|θ|, θ∈[-90°,90°] In the formula, θ is the pitch angle in the attitude angle of the power meteorological monitoring device body; φ is the roll angle in the attitude angle of the power meteorological monitoring device body; Δv is the vertical deviation angle of the power meteorological monitoring device; and Δh is the horizontal deviation angle of the power meteorological monitoring device.

[0034] In one embodiment, such as Figure 2 As shown, the main control module also includes a data analysis and processing submodule, which is used to acquire wind speed data of the X-axis, Y-axis and Z-axis consistent with the coordinate system of the power meteorological monitoring device body, and to perform vector sum calculation on the wind speed data to obtain the wind direction angle; and to correct the wind direction angle according to the attitude angle of the power meteorological monitoring device body.

[0035] In one embodiment, such as Figure 2 As shown, the main control module includes a direction angle offset calculation submodule, used to calculate the angular offset values ​​of the attitude angle of the power meteorological monitoring device body in three orthogonal planes based on the device body coordinate system. The calculation method includes: Obtain the sliding average value of the attitude angle of the power meteorological monitoring device body over a set time period; The moving average value is converted into angular offset values ​​Δa, Δb, and Δc of the power meteorological monitoring device body in the X-axis and Y-axis planes, respectively, by the orthogonal projection method.

[0036] In one embodiment, such as Figure 2 As shown, the main control module includes a direction calibration compensation submodule, used to calibrate the wind direction angle based on the angular offset values ​​of the three orthogonal planes. The calibration method includes: When the angular offset value of any orthogonal plane exceeds a preset threshold, the wind direction angle value in each direction is calibrated according to the following formula: The horizontal angle value A = α ± Δa; The first vertical angle value B = β ± Δb; The second vertical angle value C = γ ± Δc; α is the wind direction angle of the XY plane before calibration; β and γ are the wind direction angles of the YZ plane and XZ plane before calibration, respectively.

[0037] In one embodiment, the data analysis and processing submodule is a program module running on the main control module 4 in the device, used to acquire the wind speed V in the vertical direction (Z-axis) measured by the ultrasonic wind speed and direction measurement module 1. z Wind speed V in the horizontal direction (X-axis, Y-axis) x and V y ; respectively the wind speed V in the XY plane x and V y The angle value α of the wind direction in the XY plane is obtained by vector summation calculation, and the wind speed value V in the YZ plane is obtained by vector summation calculation. y and V z The angle β of the wind direction in the YZ plane is obtained by vector summation calculation, and the wind speed V in the XZ plane is obtained by vector summation calculation. x and V z The angle value γ of the wind direction XZ plane is obtained by vector summation calculation, such as... Figure 4 As shown; In one embodiment, the deviation calculation submodule is a program module running in the main control module 4 of the device. It is used to save the acquired navigation angle, roll angle, and pitch angle information, analyze and calculate the horizontal and vertical deviation angles of the power meteorological monitoring device. In the horizontal direction, tilting to the left is defined as a positive deviation, tilting to the right as a negative deviation, tilting to the east as positive, and tilting to the west as negative. The installation deviation angle information of the device is output wirelessly at a frequency of once per second to guide the installers to adjust the installation angle of the device until the actual installation deviation does not exceed 0.5 degrees.

[0038] In one embodiment, the method for calculating the horizontal and vertical deviation angles of the power meteorological monitoring device includes: The attitude angles of the power meteorological monitoring device are based on the angle between the device's own coordinate system and the geodetic coordinate system. The navigation angle ψ is the horizontal angle between the device's X-axis (which points directly in front of the device by default) and the north direction of the geodetic coordinate system. The device's own coordinate system follows the right-hand rule, with the Y-axis horizontal and perpendicular to the X-axis, pointing to the right side of the device, and the Z-axis perpendicular to the device's mounting plane, with upward being positive. The X / Y / Z axes of the ultrasonic wind speed and direction measurement module 1 are completely consistent with the device's own coordinate system. The roll angle φ is the rotation angle of the device around its own X-axis, with upward roll to the right being positive, and the range is -180° to 180°. The pitch angle θ is the rotation angle of the device around its own Y-axis. The angle is positive when the front end is tilted upwards, and the range is -90° to 90°; the geodetic coordinate system has its X-axis pointing north, Y-axis pointing west, and Z-axis perpendicular to the earth and upwards (right-hand rule); the horizontal deviation angle ∆h is the angle between the device installation plane (X, Y plane) and the horizontal plane of the earth, which is equivalent to the angle between the Z-axis of the device coordinate system and the Z-axis of the earth, Δh=arccos(cosθcosφ); the vertical deviation angle ∆v is the angle between the device detection axis and the vertical line (X-axis) of the earth, reflecting the degree of deviation in the vertical direction, Δv=arccos(|sinθ|)=90°-|θ|, (θ∈[-90°,90°]).

[0039] In one embodiment, the orientation angle offset calculation submodule runs on the main control module 4, reads navigation angle, roll angle, and pitch angle information at a rate of once per hour, calculates and outputs the 24-hour moving average of each angle, and then, based on the orthogonality between the monitoring device's body coordinate system and the geodetic coordinate system, uses the navigation angle, roll angle, and pitch angle output by the orientation and attitude measurement module 5 as the raw data; and employs an orthogonal projection method to project the navigation angle ψ_avg, roll angle φ_avg, and pitch angle θ_avg from the 24-hour moving average of each angle onto the following three planes, specifically including: Projecting to the YZ plane (vertical plane 1): Δb = φ_avg × sinψ_avg, the projection offset of the roll angle φ_avg after 24-hour moving average in the YZ plane; Projecting to the XZ plane (vertical plane 2): Δa = φ_avg × cosψ_avg, the projection offset of the roll angle φ_avg after 24-hour moving average in the XZ plane; Projecting to the XY plane (horizontal plane): Δc = θ_avg×sin_avg, the projection offset of the pitch angle θ_avg onto the XY plane after a 24-hour moving average.

[0040] In one embodiment, the method for calculating the 24-hour moving average includes: using the attitude angles (ψi, φi, θi) read every hour as data points, adopting a moving average algorithm, with a window size of 24, i.e., ψ_avg=Σ(ψi) / 24 (i=1~24), and the calculation methods for φ_avg and θ_avg are similar.

[0041] The angular offset values ​​Δα, Δb, and Δc of the three orthogonal planes are calculated using the YZ-axis plane (vertical plane 1) and the XY plane (horizontal plane). In one embodiment, the direction calibration compensation submodule runs on the main control module 4 and acquires the direction angle offset values ​​Δa, Δb, and Δc of the three orthogonal planes output by the direction angle offset calculation submodule in real time. The direction calibration compensation submodule internally sets a preset threshold. When the direction angle offset value of any plane exceeds the preset threshold, the following direction calibration compensation algorithm is activated: The direction of the direction angle deviation of each plane (positive or negative deviation) is determined. The horizontal wind direction α in the device coordinate system is calibrated using Δa to obtain the true horizontal direction angle value A=α±Δa in the geodetic coordinate system. This corrects the wind direction measurement error introduced by the device's tilt causing its horizontal plane to be non-horizontal. The sign determination rules include: when Δa is positive, i.e., a positive offset in the XY plane, it is negative; when Δa is negative, it is positive. The true vertical direction angle values ​​in the geodetic coordinate system are B=β±Δb (negative when Δb is positive, positive when Δb is negative) and C=γ±Δc (negative when Δc is positive, positive when Δc is negative). This ensures the accuracy of the wind direction data. The preset threshold is set based on the performance requirements of the device. In this embodiment, the wind direction angle calculation error of the device is required to be no more than 1°. Therefore, the preset threshold is 0.8°, that is, calibration is started when any plane offset value is greater than 0.8°.

[0042] This invention also provides a method for improving the measurement accuracy of power meteorological monitoring devices, comprising: Satellite signals are received using the first and second GNSS antennas installed on the main body of the power meteorological monitoring device. The attitude angle of the power meteorological monitoring device body is determined based on the satellite signals; The deviation angle of the power meteorological monitoring device is obtained based on the attitude angle of the device itself; the deviation angle is used to adjust the installation angle of the power meteorological monitoring device so that the deviation angle of the installed power meteorological monitoring device is less than the set angle value.

[0043] In one embodiment, the first GNSS antenna is integrated and mounted on the top of the external sensing device of the power meteorological monitoring device, the external sensing device being as follows: Figure 3The ultrasonic wind speed and direction measurement module 1 shown has an external sensing device that extends along the main axis of the power meteorological monitoring device. The second GNSS antenna is integrated and installed on the main body of the power meteorological monitoring device. Both the first GNSS antenna and the second GNSS antenna are located on the main axis of the power meteorological monitoring device, and the direction of the installation connection is consistent with the first direction of the power meteorological monitoring device.

[0044] In one embodiment, the method for calculating the deviation angle of the power meteorological monitoring device includes: Δh=arccos(cosθcosφ); Δv=arccos(|sinθ|)=90°-|θ|, θ∈[-90°,90°] In the formula, θ is the pitch angle in the attitude angle of the power meteorological monitoring device body; φ is the roll angle in the attitude angle of the power meteorological monitoring device body; Δv is the vertical deviation angle of the power meteorological monitoring device; and Δh is the horizontal deviation angle of the power meteorological monitoring device.

[0045] In one embodiment, the method further includes: acquiring wind speed data along the X, Y, and Z axes that are consistent with the coordinate system of the power meteorological monitoring device body, and performing vector sum calculation on the wind speed data to obtain the wind direction angle; and correcting the wind direction angle according to the attitude angle of the power meteorological monitoring device body.

[0046] In one embodiment, the method further includes calculating the angular offset values ​​of the attitude angle of the power meteorological monitoring device body in three orthogonal planes based on the device body coordinate system. Obtain the sliding average value of the attitude angle of the power meteorological monitoring device body over a set time period; The moving average value is converted into angular offset values ​​Δa, Δb, and Δc of the power meteorological monitoring device body in the X-axis and Y-axis planes, respectively, by the orthogonal projection method.

[0047] In one embodiment, the method further includes calibrating the wind direction angle based on the angular offset values ​​of the three orthogonal planes, wherein the calibration method includes: When the angular offset value of any orthogonal plane exceeds a preset threshold, the wind direction angle value in each direction is calibrated according to the following formula: The horizontal angle value A = α ± Δa; The first vertical angle value B = β ± Δb; The second vertical angle value C = γ ± Δc; α is the wind direction angle of the XY plane before calibration; β and γ are the wind direction angles of the YZ plane and XZ plane before calibration, respectively.

[0048] This invention also provides a non-transitory computer-readable storage medium storing a computer program. The computer program includes program instructions that, when executed by a processor, implement the various steps of the method described in this invention, which will not be elaborated further here.

[0049] The computer-readable storage medium can be the data transmission apparatus or the internal storage unit of a computer device provided in any of the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device.

[0050] Furthermore, the computer-readable storage medium may include both internal storage units and external storage devices of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data that is to be output or has already been output.

[0051] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0052] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0053] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0054] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0055] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A system for improving the measurement accuracy of a power weather monitoring device, characterized by, The utility model relates to a kind of electric power meteorological monitoring device, including: Signal receiving module: including first GNSS antenna and second GNSS antenna, for receiving satellite signal, and the satellite signal is transmitted to directional attitude determination module; Directional attitude determination module: for determining the attitude angle of electric power meteorological monitoring device body according to satellite signal input by signal receiving module; Master module: for obtaining the deviation angle of electric power meteorological monitoring device according to the attitude angle of electric power meteorological monitoring device body;The deviation angle is used to adjust the installation angle of electric power meteorological monitoring device, so that the deviation angle of the electric power meteorological monitoring device after installation is less than set angle value.

2. The system for improving measurement accuracy of a power weather monitoring device of claim 1, wherein, The first GNSS antenna is integratedly installed on the top of the external sensing device of electric power meteorological monitoring device, which extends along the main axis of electric power meteorological monitoring device, and the second GNSS antenna is integratedly installed on the body of electric power meteorological monitoring device; The first GNSS antenna and the second GNSS antenna are located on the main axis of electric power meteorological monitoring device, and the installation connection direction indication direction is consistent with the first direction of electric power meteorological monitoring device.

3. The system for improving measurement accuracy of a power weather monitoring device of claim 1 or 2, wherein, The master module includes deviation calculation submodule, which is used to calculate the deviation angle of electric power meteorological monitoring device, and the calculation method includes: Δh=arccos(cosθcosφ);Δv=arccos(|sinθ|)=90°-|θ|, θ∈[-90°, 90°] In the formula, θ is the pitch angle in the attitude angle of the body of electric power meteorological monitoring device;φ is the roll angle in the attitude angle of the body of electric power meteorological monitoring device;Δv is the deviation angle in the vertical direction of electric power meteorological monitoring device;Δh is the deviation angle in the horizontal direction of electric power meteorological monitoring device.

4. The system for improving measurement accuracy of a power weather monitoring device of claim 1, wherein, The master module includes data analysis processing submodule, which is used to obtain the wind speed data of X axis, Y axis and Z axis consistent with the coordinate system of the body of electric power meteorological monitoring device, and to calculate the wind direction angle by vector sum of the wind speed data;The wind direction angle is corrected according to the attitude angle of the body of electric power meteorological monitoring device.

5. The system for improving the measurement accuracy of a power weather monitoring device of claim 4, wherein, The master module further includes direction angle deviation calculation submodule, which is used to calculate the angle deviation value of the attitude angle of the body of electric power meteorological monitoring device in the three orthogonal planes based on the coordinate system of the device body, and the calculation method includes: Obtain the sliding average value of the attitude angle of the body of electric power meteorological monitoring device within a set time length; The sliding average value is converted into the angle deviation value Δa of the body of electric power meteorological monitoring device in the X-Y plane, the angle deviation value Δb in the Y-Z plane and the angle deviation value Δc in the X-Z plane by projection using orthogonal projection method.

6. The system for improving the measurement accuracy of a power weather monitoring device of claim 5, wherein, The master module further includes direction calibration compensation submodule, which is used to calibrate the wind direction angle according to the angle deviation value of the three orthogonal planes, and the calibration method includes: When the angle deviation value of any one orthogonal plane exceeds the preset threshold value, the wind direction angle value of each direction is calibrated according to the following formula: Horizontal direction angle value A=α±Δa; First vertical direction angle value B=β±Δb; Second vertical direction angle value C=γ±Δc; α is the wind direction angle of X-Y plane before calibration;β and γ are the wind direction angles of Y-Z plane and X-Z plane before calibration respectively.

7. A method of improving the measurement accuracy of a power weather monitoring device, characterized by, The method comprises the following steps: receiving satellite signals by using a first GNSS antenna and a second GNSS antenna installed on the body of the power weather monitoring device; determining the attitude angle of the body of the power weather monitoring device according to the satellite signals; obtaining the deviation angle of the power weather monitoring device according to the attitude angle of the body of the power weather monitoring device; the deviation angle is used to adjust the installation angle of the power weather monitoring device, so that the deviation angle of the installed power weather monitoring device is less than a set angle value.

8. The method for improving the measurement accuracy of a power weather monitoring device according to claim 7, wherein, The first GNSS antenna is integrally installed on the top of an external sensing device of the power weather monitoring device, and the external sensing device extends along the main axis of the power weather monitoring device; the second GNSS antenna is integrally installed on the body of the power weather monitoring device. The first GNSS antenna and the second GNSS antenna are located on the main axis of the power weather monitoring device, and the installation connection direction is consistent with the first direction of the power weather monitoring device.

9. The method of claim 7 or 8, wherein, The method for calculating the deviation angle of the power weather monitoring device comprises the following steps: Δh = arccos (cosθcosφ); Δv = arccos (|sinθ|) = 90° - |θ|, θ ∈ [-90°, 90°] In the formula, θ is the pitch angle in the attitude angle of the body of the power weather monitoring device; φ is the roll angle in the attitude angle of the body of the power weather monitoring device; Δv is the deviation angle in the vertical direction of the power weather monitoring device; Δh is the deviation angle in the horizontal direction of the power weather monitoring device.

10. The method for improving the measurement accuracy of a power weather monitoring device of claim 9, wherein, The method further comprises the following steps: obtaining wind speed data of X-axis, Y-axis and Z-axis consistent with the coordinate system of the body of the power weather monitoring device, and performing vector sum calculation on the wind speed data to obtain a wind direction angle; correcting the wind direction angle according to the attitude angle of the body of the power weather monitoring device.

11. The method for improving the measurement accuracy of a power weather monitoring device of claim 10, wherein, The method further comprises the following steps of calculating the angle deviation value of the attitude angle of the body of the power weather monitoring device in three orthogonal planes based on the coordinate system of the device body: obtaining the sliding average value of the attitude angle of the body of the power weather monitoring device within a set time length; using the orthogonal projection method to convert the sliding average value into the angle deviation value Δa of the body of the power weather monitoring device in the X-axis and Y-axis plane, the angle deviation value Δb in the Y-axis and Z-axis plane, and the angle deviation value Δc in the X-axis and Z-axis plane.

12. The method for improving the measurement accuracy of a power weather monitoring device of claim 11, wherein, The method further comprises the following steps of calibrating the wind direction angle according to the angle deviation value of the orthogonal plane: when the angle deviation value of any one of the orthogonal planes exceeds a preset threshold value, the wind direction angle value in each direction is calibrated according to the following formula: horizontal direction angle value A = α ± Δa; first vertical direction angle value B = β ± Δb; second vertical direction angle value C = γ ± Δc; α is the wind direction angle of the X-Y plane before calibration; β and γ are the wind direction angles of the Y-Z plane and the X-Z plane before calibration, respectively.

13. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method for improving the measurement accuracy of the power weather monitoring device according to any one of claims 7-12.

Images