Lightning strike positioning method, device, equipment and readable storage medium

Abstract

A lightning stroke positioning method, device and equipment and readable storage medium, the lightning stroke positioning method comprises: for each acquisition device, a first equation is established with the spatial position of lightning stroke occurrence, the spatial position of the acquisition device, the propagation speed of the electric field signal and the arrival time of the electric field signal; for each acquisition device, a second equation is established with the spatial position of lightning stroke occurrence, the spatial position of the equivalent action point, the propagation speed of the electric field signal, the spatial position of the acquisition device, the propagation speed of the traveling wave signal and the arrival time of the traveling wave signal, wherein the spatial position of the equivalent action point satisfies the spatial distribution constraint of the transmission line; according to the spatial position of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, the joint equation obtained based on the first equation and the second equation is solved to obtain the spatial position of lightning stroke occurrence and the spatial position of the equivalent action point. By the present application, compared with using a single signal for lightning stroke positioning, the positioning accuracy can be improved.

Description

Technical Field

[0001] This application relates to the field of power system safety technology, and in particular to a lightning strike location method, apparatus, device, and readable storage medium. Background Technology

[0002] Lightning strikes are one of the main external factors causing power transmission line tripping, insulation damage, and equipment failure. Accurately locating the site of a lightning strike is a crucial foundation for conducting line condition assessments and optimizing lightning protection measures.

[0003] However, the current lightning strike location methods lack sufficient accuracy and reliability. Summary of the Invention

[0004] This application provides a lightning strike location method, apparatus, device, and readable storage medium, aiming to solve the technical problems of insufficient positioning accuracy and reliability of current lightning strike location methods.

[0005] In a first aspect, embodiments of this application provide a lightning strike location method, in which multiple acquisition devices are deployed along a power transmission line. Each acquisition device acquires the electric field signal that reaches the acquisition device after a lightning strike propagates through the air and the traveling wave signal that reaches the acquisition device through a conductor after a lightning strike injects into the power transmission line. The lightning strike location method includes:

[0006] The spatial location of each acquisition device is obtained, and for each acquisition device, the arrival time of the electric field signal and the traveling wave signal is determined based on the acquired electric field signal and traveling wave signal.

[0007] For each data acquisition device, a first equation is established based on the spatial location of the lightning strike, the spatial location of the data acquisition device, the propagation speed of the electric field signal, and the arrival time of the electric field signal.

[0008] For each data acquisition device, a second equation is established based on the spatial location of the lightning strike, the spatial location of the equivalent point of action, the propagation speed of the electric field signal, the spatial location of the data acquisition device, the propagation speed of the traveling wave signal, and the arrival time of the traveling wave signal. The spatial location of the equivalent point of action satisfies the spatial distribution constraints of the transmission line.

[0009] Based on the spatial location of each acquisition device and the arrival times of the electric field signal and traveling wave signal, the joint equation obtained from the first and second equations is solved to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action.

[0010] Optionally, the propagation speed of the electric field signal is the speed of light, and the propagation speed of the traveling wave signal is predicted by a first machine learning model using the line parameters of the transmission line. The machine learning model is trained based on multiple historical data, each of which includes the line parameters of the transmission line and the corresponding propagation speed of the traveling wave signal.

[0011] Optionally, before solving the joint equation obtained from the first and second equations based on the spatial location of each acquisition device and the arrival times of the electric field signal and traveling wave signal to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action, the following steps are included:

[0012] The range of traveling wave signal propagation speed is determined based on a second machine learning model or the line parameters of the transmission line;

[0013] The propagation speed of the traveling wave signal is taken as the solution, and the propagation speed of the traveling wave signal satisfies the range constraint of the propagation speed of the traveling wave signal.

[0014] The process involves solving the joint equations derived from the first and second equations based on the spatial location of each acquisition device and the arrival times of the electric field and traveling wave signals. This yields the spatial location of the lightning strike and the spatial location of its equivalent point of impact, including:

[0015] Based on the spatial location of each acquisition device and the arrival times of the electric field signal and the traveling wave signal, the joint equation obtained from the first and second equations is solved to obtain the spatial location of the lightning strike, the spatial location of the equivalent point of action, and the propagation speed of the traveling wave signal. The number of acquisition devices is at least three.

[0016] Optionally, the step of solving the joint equation obtained from the first and second equations based on the spatial location of each acquisition device and the arrival times of the electric field signal and traveling wave signal to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action includes:

[0017] By employing a parameter estimation method based on least squares, a numerical solution method based on constraint optimization, or a maximum likelihood estimation method based on a probability model, the joint equation obtained from the first and second equations is solved based on the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, thus obtaining the spatial location of the lightning strike and the spatial location of the equivalent point of action.

[0018] Optionally, the first equation is:

[0019] ;

[0020] The second equation is:

[0021] ;

[0022] The joint equation is: ;

[0023] in, Let t0 be the arrival time of the electric field signal, t0 be the time of the lightning strike, P = (x, y, z) be the spatial location of the lightning strike, and S be the location of the electric field signal arrival time. i = (x i y i , z i Let be the spatial location of the i-th data acquisition device, and c be the propagation speed of the electric field signal, using the speed of light. Let Q be the arrival time of the traveling wave signal, and Q = (x p y p , z p L represents the spatial location of the equivalent point of action. qi Let be the distance from the equivalent point of action to the i-th acquisition device, and v be the propagation speed of the traveling wave signal.

[0024] Optionally, when the number of data acquisition devices is at least three, the lightning strike location method further includes:

[0025] Multiple acquisition devices are randomly selected from a pool of acquisition devices. The spatial locations of these randomly selected acquisition devices, as well as the arrival times of the electric field signal and the traveling wave signal, are used to perform multiple solutions.

[0026] Calculate the mean, standard deviation, and residuals based on the results obtained from multiple solutions;

[0027] The mean is used as the final solution, the standard deviation is used as the uncertainty index, and the acquisition devices corresponding to the results with residuals greater than the threshold are eliminated.

[0028] Secondly, embodiments of this application provide a lightning strike location device, comprising multiple acquisition devices deployed along a power transmission line. Each acquisition device acquires the electric field signal that propagates through the air to the acquisition device after a lightning strike and the traveling wave signal that propagates through a conductor to the acquisition device from the equivalent point of action injected into the power transmission line after a lightning strike. The lightning strike location device includes:

[0029] The acquisition module is used to acquire the spatial position of each acquisition device, and for each acquisition device, it determines the arrival time of the electric field signal and the traveling wave signal based on the acquired electric field signal and traveling wave signal.

[0030] The first module is used to establish a first equation for each acquisition device, taking into account the spatial location of the lightning strike, the spatial location of the acquisition device, the propagation speed of the electric field signal, and the arrival time of the electric field signal.

[0031] The second module is used to establish a second equation for each acquisition device, based on the spatial location of the lightning strike, the spatial location of the equivalent point of action, the propagation speed of the electric field signal, the spatial location of the acquisition device, the propagation speed of the traveling wave signal, and the arrival time of the traveling wave signal. The spatial location of the equivalent point of action satisfies the spatial distribution constraints of the transmission line.

[0032] The solution module is used to solve the joint equations obtained from the first and second equations based on the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, so as to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action.

[0033] Optionally, the propagation speed of the electric field signal is the speed of light, and the propagation speed of the traveling wave signal is predicted by a first machine learning model using the line parameters of the transmission line. The machine learning model is trained based on multiple historical data, each of which includes the line parameters of the transmission line and the corresponding propagation speed of the traveling wave signal.

[0034] Thirdly, embodiments of this application provide a lightning strike location device, which includes a processor, a memory, and a lightning strike location program stored in the memory and executable by the processor, wherein when the lightning strike location program is executed by the processor, it implements the steps of the lightning strike location method as described above.

[0035] Fourthly, embodiments of this application provide a readable storage medium storing a lightning strike location program, wherein when the lightning strike location program is executed by a processor, it implements the steps of the lightning strike location method as described above.

[0036] The beneficial effects of the technical solutions provided in this application include:

[0037] In this embodiment, the spatial location of each acquisition device is obtained. For each acquisition device, the arrival time of the electric field signal and the traveling wave signal is determined based on the acquired electric field signal and the traveling wave signal. For each acquisition device, a first equation is established based on the spatial location of the lightning strike, the spatial location of the acquisition device, the propagation speed of the electric field signal, and the arrival time of the electric field signal. For each acquisition device, a second equation is established based on the spatial location of the lightning strike, the spatial location of the equivalent point of action, the propagation speed of the electric field signal, the spatial location of the acquisition device, the propagation speed of the traveling wave signal, and the arrival time of the traveling wave signal, wherein the spatial location of the equivalent point of action satisfies the spatial distribution constraints of the transmission line. Based on the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, the joint equation obtained based on the first equation and the second equation is solved to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action. In this embodiment, after a lightning strike, the generated electromagnetic waves travel through the air (approximately the speed of light) to the acquisition device, which detects the corresponding electric field signal. Simultaneously, the equivalent point of action injected into the transmission line after the lightning strike travels through the conductor (approximately the speed of light) to the acquisition device, which detects the corresponding traveling wave signal. By considering the difference in propagation delay between the two signals, and combining the propagation distance, speed, and duration of the two signals, equations are established respectively. The spatial position constraint of the equivalent point of action is added, and a joint solution is performed to obtain the spatial position of the lightning strike and the spatial position of the equivalent point of action. Compared with the existing technology that uses a single signal for lightning strike location, this method can improve the accuracy of lightning strike location. Increasing the number of acquisition devices can also further improve the accuracy and reliability of lightning strike location. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating an embodiment of the lightning strike location method of this application;

[0039] Figure 2 This is a schematic diagram of the data acquisition device according to an embodiment of the lightning strike location method of this application;

[0040] Figure 3 This is a schematic diagram of signal propagation from one embodiment of the lightning strike location method of this application;

[0041] Figure 4 This is a schematic diagram of the functional modules of an embodiment of the lightning strike location device of this application;

[0042] Figure 5 This is a schematic diagram of the hardware structure of the lightning strike location device involved in the embodiments of this application. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0045] In a first aspect, embodiments of this application provide a method for locating lightning strikes.

[0046] In one embodiment, multiple data acquisition devices are deployed along the transmission line. Each device acquires the electric field signal that propagates through the air to the acquisition device after a lightning strike, and the traveling wave signal that propagates through the conductor to the acquisition device from the equivalent point of action injected into the transmission line after a lightning strike. Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the lightning strike location method of this application, as shown below. Figure 1 As shown, the methods for locating lightning strikes include:

[0047] Step S10: Obtain the spatial position of each acquisition device. For each acquisition device, determine the arrival time of the electric field signal and the traveling wave signal based on the acquired electric field signal and traveling wave signal.

[0048] In this embodiment, multiple data acquisition devices are deployed along the transmission line. These devices can be installed on conductors, ground wires, towers, or insulators along the transmission line. The distance between the multiple data acquisition devices is greater than a certain preset distance (e.g., 20 kilometers) to improve the accuracy of lightning strike location. (Refer to...) Figure 2 , Figure 2 This is a schematic diagram of the structure of the data acquisition device according to an embodiment of the lightning strike location method of this application, as shown below. Figure 2As shown, each data acquisition device includes a first sensor, a second sensor, and other modules such as power supply / communication. The first sensor uses a spatial electromagnetic sensor (or charge sensor) to acquire the high-frequency electric field signal generated after a lightning strike, which propagates through the air (approximately at the speed of light). The second sensor uses a Rogowski coil to acquire the traveling wave signal (approximately at sub-light speed) propagating through the conductor at the equivalent point of action injected into the transmission line after a lightning strike; this is the high-frequency current signal. The Rogowski coil is wrapped around the conductor, and based on Faraday's law of electromagnetic induction, the change in the magnetic field around the conductor is used to calculate the current inside the conductor. The spatial position of each data acquisition device can be obtained through a high-precision positioning system (such as GPS / BeiDou) or based on its installation location, ensuring the accuracy and reliability of the spatial reference for subsequent positioning calculations. For each acquisition device, the method for determining the arrival time based on the acquired electric field signal and traveling wave signal is as follows: Wavelet transform is performed on the electric field signal to identify signal abrupt change points. When the signal amplitude exceeds a preset threshold and the duration exceeds a certain duration, this moment is recorded as the arrival time of the electric field signal. For the traveling wave signal, feature extraction is performed using the modulus maxima method, and the precise arrival time of the traveling wave signal is determined by calculating the maximum point of the first derivative of the signal. It should be noted that the method for determining the arrival time of the electric field signal and traveling wave signal after a lightning strike is not limited to this. For example, machine learning models can be used to analyze and process the acquired signal data to predict the arrival time of the output electric field signal and traveling wave signal. Furthermore, the traveling wave signal can be a voltage traveling wave, a current traveling wave, or an equivalent traveling wave signal, and the transmission line can be AC, DC, or a flexible DC line, etc., without limitation. Furthermore, high-precision time synchronization is a crucial prerequisite for achieving accurate positioning using this method. To ensure the time synchronization accuracy between all acquisition devices, a high-precision time synchronization module (such as GPS or BeiDou time synchronization) can be equipped on all acquisition devices to keep the time synchronization error within the accuracy range. Through the above method, the spatial location of each acquisition device and the arrival times of the two signals after the lightning strike are accurately obtained, providing a reliable data foundation for subsequently establishing the positioning equation. Compared to existing positioning methods that rely solely on a single signal, the dual-mode signal data acquired in this step provides richer information dimensions for joint solution, improving the robustness and anti-interference capability of lightning strike positioning.

[0049] Step S20: For each data acquisition device, establish the first equation based on the spatial location of the lightning strike, the spatial location of the data acquisition device, the propagation speed of the electric field signal, and the arrival time of the electric field signal.

[0050] In this embodiment, the first equation is established based on the principle of rectilinear propagation characteristics of electromagnetic waves in a homogeneous medium, referring to... Figure 3 , Figure 3 This is a schematic diagram of signal propagation from one embodiment of the lightning strike location method of this application, as shown below. Figure 3 As shown, assume the lightning strike point P = (x, y, z) is near the i-th data acquisition device S.i = (x i y i , z i The Euclidean distance between them is |PS i If the electric field signal travels through the air at the speed of light *c*, then the time required for the electric field signal to travel from the lightning strike point to the *i*th data acquisition device is |PS|. i Let the lightning strike occur at time t0, and the electric field signal arrive at the i-th data acquisition device at time t1. Thus, the first equation can be established: This equation essentially represents that the lightning strike point P is located at a point S... i Centered on, with radius On a sphere, in three-dimensional space, a single sphere cannot uniquely determine the location of a lightning strike, but the intersection of multiple spheres can accurately determine the coordinates of the lightning strike. Since the propagation speed of the electric field signal is stable and close to the speed of light, it is less affected by environmental factors, and this equation has high reliability. By establishing the first equation, a clear physical relationship is established between the spatial location of the lightning strike and the observable arrival time of the signal, laying the foundation for subsequent joint solutions. Compared with traditional positioning methods based solely on traveling wave signals, this equation introduces air propagation path information unconstrained by the transmission line topology, effectively avoiding positioning ambiguity caused by complex topological structures such as line branches and corners, and significantly improving positioning accuracy.

[0051] Step S30: For each acquisition device, establish a second equation based on the spatial location of the lightning strike, the spatial location of the equivalent point of action, the propagation speed of the electric field signal, the spatial location of the acquisition device, the propagation speed of the traveling wave signal, and the arrival time of the traveling wave signal. The spatial location of the equivalent point of action satisfies the spatial distribution constraints of the transmission line.

[0052] In this embodiment, the second equation is established based on the propagation characteristics of traveling waves in transmission lines, and continues to refer to... Figure 3 After a lightning strike, energy is injected into the transmission line via electromagnetic coupling or direct injection, creating an equivalent point of application Q = (x p y p , z p This point must satisfy the spatial distribution constraints of the transmission line, i.e., Q∈Γ, where Γ represents the actual spatial trajectory of the transmission line. The traveling wave signal propagates along the conductor at a speed v (typically 0.8-0.95 times the speed of light, the specific value depending on the line parameters), from the equivalent point of action Q to the i-th acquisition device S. i The distance along the line is L qi (For non-linear distances, the actual route of the line needs to be considered), the time when the traveling wave signal arrives at the i-th acquisition device can be expressed by the second equation: Where |PQ| / c represents the time required for lightning energy to propagate from the lightning strike point P to the equivalent point of action Q of the line (through air propagation), L qi / v indicates that the traveling wave propagates from point Q along the conductor to point S. i The time required to reach the point. The physical meaning of this equation is that the equivalent point of action Q is located at a point S. i Starting point, distance along the route is On the transmission line segment, v represents the propagation speed of the traveling wave signal. Unlike the first equation, the second equation is constrained by the actual topology of the transmission line and cannot directly provide three-dimensional spatial information, but it can accurately reflect the location of the lightning strike on the conductor. By establishing the second equation, a clear correlation is established between the impact of lightning strikes on the transmission line and the observable traveling wave signal, making it particularly suitable for analyzing the actual degree of impact of lightning strikes on the line. The second equation considers not only the travel wave signal from the equivalent point of action Q to the i-th acquisition device S, but also... i The propagation process between them also takes into account the propagation process of energy through electromagnetic coupling or direct injection into the transmission line after a lightning strike, which generates an equivalent point of action Q on the transmission line. This more accurately describes the propagation process of lightning energy from space to the conductor, effectively avoiding the positioning error caused by ignoring the propagation time of lightning injection into the transmission line. The effect is especially significant when the lightning strike point is far away from the line.

[0053] Step S40: Based on the spatial location of each acquisition device and the arrival time of the electric field signal and traveling wave signal, solve the joint equation obtained from the first equation and the second equation to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action.

[0054] In this embodiment, the joint solution process combines the first and second equations into a system of nonlinear equations. Assuming there are n data acquisition devices, a first equation can be established for each device. Second Equation By combining the first equation and the second equation, we obtain the joint equation. There are n acquisition devices corresponding to n joint equations, where the spatial position S of each acquisition device in the joint equation is... i And the arrival times of the electric field signal and the traveling wave signal and Given known quantities, the propagation speed of the electric field signal (e.g., the speed of light c) and the propagation speed of the traveling wave signal v (e.g., a set value v=0.95c) can be used as known quantities. The distance L from the equivalent point of application to the i-th acquisition device is also known. qi It can be based on the spatial location of the equivalent point of action Q and the spatial location S of the acquisition device. iThe calculation is performed or based on the layout of the output line. The unknowns to be solved are the spatial location P of the lightning strike and the spatial location Q of the equivalent point of impact. When n≥2, the solution can be obtained numerically. The core advantage of the joint solution method is that, on the one hand, it utilizes the stable propagation speed of the electric field signal to provide the absolute spatial location information of the lightning strike point through the first equation; on the other hand, it utilizes the close correlation between the traveling wave signal and the line to provide the actual location of the lightning strike's impact on the line through the second equation. The two types of information complement and verify each other, effectively overcoming the limitations of single-signal positioning. The positioning accuracy of this method is far superior to that of traditional single-signal positioning methods. In addition, as the number of acquisition devices increases, the positioning accuracy increases with a square root relationship, demonstrating the good scalability of this method. After solving for the spatial location of the lightning strike and the spatial location of the equivalent point of impact, line condition assessment and lightning protection measure optimization are performed. Power inspection personnel can find the actual injection location of the lightning strike based on the spatial location of the equivalent point of impact and check the damage to the equipment.

[0055] In this embodiment, a more complete physical model of lightning propagation is established by jointly utilizing the electric field signal propagating in the air and the traveling wave signal propagating in the conductor. Single signal positioning is equivalent to solving an overdetermined system of equations in three-dimensional space, but the actual degrees of freedom are limited (e.g., traveling wave positioning can only determine the position along the line). Dual signal joint positioning provides an additional independent information dimension, which significantly improves the observability of the system, enhances the accuracy of lightning strike positioning, and provides more accurate technical support for power grid lightning protection and fault diagnosis.

[0056] Furthermore, in one embodiment, the propagation speed of the electric field signal is the speed of light, and the propagation speed of the traveling wave signal is predicted by a first machine learning model using the line parameters of the transmission line. The machine learning model is trained based on multiple historical data, each of which includes the line parameters of the transmission line and the corresponding propagation speed of the traveling wave signal.

[0057] In this embodiment, the prediction of the traveling wave signal propagation velocity *v* can be achieved, for example, using a machine learning model based on XGBoost. First, a large amount of historical data is collected. Each data point includes transmission line parameters (such as conductor type, cross-sectional area, number of split conductors, ground wire parameters, tower height, and phase sequence arrangement) and the corresponding measured traveling wave propagation velocity. Then, this data is used to train an XGBoost regression model, with the input being a feature vector of the line parameters and the output being the predicted traveling wave propagation velocity. During model training, k-fold cross-validation is used to prevent overfitting, and SHAP value analysis is used to determine the degree of influence of each line parameter on the propagation velocity. Compared to traditional methods using fixed empirical values ​​(such as using 0.95c as the traveling wave signal propagation velocity, where c is the speed of light), this embodiment can more accurately reflect the differences in traveling wave propagation velocity under different line conditions, and is particularly suitable for complex line structures (such as ultra-high voltage lines and multi-circuit lines on the same tower). In practical applications, the system can periodically update the model parameters, incorporating new measured data to continuously improve prediction accuracy. By adopting this embodiment, especially for lines in special geographical environments such as mountainous areas and coastal areas, the accuracy of lightning strike location can be significantly improved by more closely matching the traveling wave propagation speed of actual transmission lines.

[0058] Further, in one embodiment, before step S40, the following steps are included:

[0059] The range of traveling wave signal propagation speed is determined based on a second machine learning model or the line parameters of the transmission line;

[0060] The propagation speed of the traveling wave signal is taken as the solution, and the propagation speed of the traveling wave signal satisfies the range constraint of the propagation speed of the traveling wave signal.

[0061] Step S40 includes:

[0062] Based on the spatial location of each acquisition device and the arrival times of the electric field signal and the traveling wave signal, the joint equation obtained from the first and second equations is solved to obtain the spatial location of the lightning strike, the spatial location of the equivalent point of action, and the propagation speed of the traveling wave signal. The number of acquisition devices is at least three.

[0063] In this embodiment, the propagation speed range of the traveling wave signal is determined based on the physical characteristics of the transmission line (line parameters, such as conductor type, cross-sectional area, number of split conductors, ground wire parameters, tower height, and phase sequence arrangement). For example, the typical range of the traveling wave signal propagation speed is A = (290-300) meters per microsecond. The higher the voltage level, the faster the traveling wave signal propagates; the wave speed of a 500kV line is generally B = (295-300) meters per microsecond. For example, constraint A is generally used; if the actual implemented line is 500kV, then constraint B can be used instead, as its range is smaller, which is more conducive to calculation efficiency and accuracy. In addition, the range of the traveling wave signal propagation speed can also be predicted by a second machine learning model (such as random forest). The input of this model includes features such as line type, conductor parameters, and meteorological conditions, and the output is the lower limit of the speed v. min and upper limit v max In the joint solution process, the propagation speed v of the traveling wave signal is taken as the variable to be solved, and a constraint v is added. min ≤v≤v max The advantages of this approach are twofold: firstly, it avoids positioning errors caused by inaccurate speed settings; secondly, the actual propagation speed obtained through the inversion process provides valuable information for line parameter verification and condition assessment. When the propagation speed range is reasonably constrained, it can improve the stability of the positioning results, especially when the lightning strike point is far from the line or the signal quality is poor. It's easy to understand that when the traveling wave signal propagation speed *v* is taken as a known quantity, there are only two unsolved quantities: the spatial location of the lightning strike and the spatial location of the equivalent point of effect. At least two data acquisition devices are required for the solution. When the traveling wave signal propagation speed *v* is taken as the unsolved quantity, there are three unsolved quantities: the spatial location of the lightning strike, the spatial location of the equivalent point of effect, and the propagation speed of the traveling wave signal. At least three data acquisition devices are required for the solution.

[0064] Further, in one embodiment, step S40 includes:

[0065] By employing a parameter estimation method based on least squares, a numerical solution method based on constraint optimization, or a maximum likelihood estimation method based on a probability model, the joint equation obtained from the first and second equations is solved based on the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, thus obtaining the spatial location of the lightning strike and the spatial location of the equivalent point of action.

[0066] In this embodiment, the three joint solution methods—parameter estimation based on least squares, numerical solution based on constrained optimization, and maximum likelihood estimation based on probabilistic models—can be flexibly selected according to the scenario requirements. All three methods are essentially based on optimization principles: transforming the original problem into an extremum (usually a minimum or maximum) problem of an objective function, and finding the optimal unknown parameter values ​​for this objective function through mathematical or numerical means. Specifically, the least squares method estimates the unknown parameters by minimizing the sum of squares of the errors between observed values ​​and model predictions (i.e., the objective function is the sum of squared residuals), a typical unconstrained or constrained optimization problem. The numerical solution method for constrained optimization directly incorporates multiple equations (possibly including equality or inequality constraints) into an optimization framework, constructs an objective function (e.g., minimizing the degree of constraint violation or a certain norm), and solves for the optimal parameters while satisfying the constraints. Maximum likelihood estimation assumes that the observed data follows a certain probability distribution and estimates the parameters by maximizing the likelihood function (or log-likelihood function). Since maximizing likelihood is equivalent to minimizing the negative log-likelihood, this also constitutes an optimization problem. All three models the parameter solving problem as an optimization problem of an objective function, the only difference being the form of the objective function (squared error, negative log-likelihood, constraint violation, etc.) and whether probabilistic assumptions or constraints are introduced.

[0067] Furthermore, in one embodiment, the first equation is:

[0068] ;

[0069] The second equation is:

[0070] ;

[0071] The joint equation is: ;

[0072] in, Let t0 be the arrival time of the electric field signal, t0 be the time of the lightning strike, P = (x, y, z) be the spatial location of the lightning strike, and S be the location of the electric field signal arrival time. i = (x i y i , z i Let be the spatial location of the i-th data acquisition device, and c be the propagation speed of the electric field signal, using the speed of light. Let Q be the arrival time of the traveling wave signal, and Q = (x p y p , z p L represents the spatial location of the equivalent point of action. qi Let be the distance from the equivalent point of action to the i-th acquisition device, and v be the propagation speed of the traveling wave signal.

[0073] In this embodiment, the first equation is established based on the principle of rectilinear propagation characteristics of electromagnetic waves in a homogeneous medium, and continues to refer to... Figure 3 Assume the lightning strike point P = (x, y, z) is adjacent to the i-th data acquisition device S. i = (x i y i , z i The Euclidean distance between them is |PS i If the electric field signal travels through the air at the speed of light *c*, then the time required for the electric field signal to travel from the lightning strike point to the *i*th data acquisition device is |PS|. i Let the lightning strike occur at time t0, and the electric field signal arrive at the i-th data acquisition device at time t1. Thus, the first equation can be established: This equation essentially represents that the lightning strike point P is located at a point S... i Centered on, with radius On a sphere, in three-dimensional space, a single sphere cannot uniquely determine the location of a lightning strike, but the intersection of multiple spheres can accurately determine the coordinates of the lightning strike. Since the propagation speed of the electric field signal is stable and close to the speed of light, it is less affected by environmental factors, and this equation has high reliability. By establishing the first equation, a clear physical relationship is established between the spatial location of the lightning strike and the observable signal arrival time, laying the foundation for subsequent joint solutions. Compared with traditional positioning methods based solely on traveling wave signals, this equation introduces air propagation path information unconstrained by the transmission line topology, effectively avoiding positioning ambiguity caused by complex topological structures such as line branches and corners, and significantly improving positioning accuracy. The second equation is established based on the propagation characteristics of traveling waves in transmission conductors, continuing to refer to... Figure 3 After a lightning strike, energy is injected into the transmission line via electromagnetic coupling or direct injection, creating an equivalent point of application Q = (x p y p , z p This point must satisfy the spatial distribution constraints of the transmission line, i.e., Q∈Γ, where Γ represents the actual spatial trajectory of the transmission line. The traveling wave signal propagates along the conductor at a speed v (typically 0.8-0.95 times the speed of light, the specific value depending on the line parameters), from the equivalent point of action Q to the i-th acquisition device S. i The distance along the line is L qi (For non-linear distances, the actual route of the line needs to be considered), the time when the traveling wave signal arrives at the i-th acquisition device can be expressed by the second equation: Where |PQ| / c represents the time required for lightning energy to propagate from the lightning strike point P to the equivalent point of action Q of the line (through air propagation), L qi / v indicates that the traveling wave propagates from point Q along the conductor to point S. i The time required to reach the point. The physical meaning of this equation is that the equivalent point of action Q is located at a point S. iStarting point, distance along the route is On the transmission line segment, v represents the propagation speed of the traveling wave signal. Unlike the first equation, the second equation is constrained by the actual topology of the transmission line and cannot directly provide three-dimensional spatial information, but it can accurately reflect the location of the lightning strike on the conductor. By establishing the second equation, a clear correlation is established between the impact of lightning strikes on the transmission line and the observable traveling wave signal, making it particularly suitable for analyzing the actual degree of impact of lightning strikes on the line. The second equation considers not only the travel wave signal from the equivalent point of action Q to the i-th acquisition device S, but also... i The propagation process between the two also considers the propagation process of energy through electromagnetic coupling or direct injection into the transmission line after a lightning strike, creating an equivalent point of action Q. This more accurately describes the propagation process of lightning energy from space to the conductor, effectively avoiding the positioning error caused by neglecting the propagation time of lightning injection into the transmission line, especially when the lightning strike point is far from the line. Combining the first and second equations yields the joint equation.

[0074] Furthermore, in one embodiment, when the number of data acquisition devices is at least three, the lightning strike location method further includes:

[0075] Multiple acquisition devices are randomly selected from a pool of acquisition devices. The spatial locations of these randomly selected acquisition devices, as well as the arrival times of the electric field signal and the traveling wave signal, are used to perform multiple solutions.

[0076] Calculate the mean, standard deviation, and residuals based on the results obtained from multiple solutions;

[0077] The mean is used as the final solution, the standard deviation is used as the uncertainty index, and the acquisition devices corresponding to the results with residuals greater than the threshold are eliminated.

[0078] In this embodiment, when the number of data acquisition devices n≥3, a random subset iterative solution strategy can be adopted. For example: first, randomly select 3 data acquisition devices from the n data acquisition devices to form a subset S. j Then, using subset S j The data is used to solve the localization problem, and the result X of the j-th solution is obtained. j Repeat the above process N times (N=100) to obtain N solutions {X1,X2,...,X...} N}; Calculate the mean of these solutions as the final result, and the standard deviation as the uncertainty index; for each solution X j Calculate its residual; if the residual is greater than a threshold, then determine the corresponding subset S. jIf any equipment in the data collection system malfunctions, it will be removed from subsequent calculations. The theoretical basis of this method is that normal measurements follow a Gaussian distribution, while abnormal measurements will lead to a significant increase in residuals. Therefore, increasing the number of data collection devices can further improve the accuracy and reliability of lightning strike location. For lightning strike location of long-distance transmission lines, the monitoring equipment distributed along the line can be fully utilized to achieve high-precision and high-reliability lightning strike location, providing strong support for line lightning protection and operation and maintenance decisions.

[0079] Secondly, embodiments of this application also provide a lightning strike location device.

[0080] In one embodiment, multiple data acquisition devices are deployed along the transmission line. Each device acquires the electric field signal that propagates through the air to the acquisition device after a lightning strike, and the traveling wave signal that propagates through the conductor to the acquisition device from the equivalent point of action injected into the transmission line after a lightning strike. Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the lightning strike location device of this application, as shown below. Figure 4 As shown, the lightning strike location device includes:

[0081] The acquisition module 10 is used to acquire the spatial position of each acquisition device, and for each acquisition device, to determine the arrival time of the electric field signal and the traveling wave signal based on the acquired electric field signal and traveling wave signal.

[0082] The first establishment module 20 is used to establish a first equation for each acquisition device, based on the spatial location of the lightning strike, the spatial location of the acquisition device, the propagation speed of the electric field signal, and the arrival time of the electric field signal.

[0083] The second establishment module 30 is used to establish a second equation for each acquisition device, based on the spatial location of the lightning strike, the spatial location of the equivalent point of action, the propagation speed of the electric field signal, the spatial location of the acquisition device, the propagation speed of the traveling wave signal, and the arrival time of the traveling wave signal. The spatial location of the equivalent point of action satisfies the spatial distribution constraints of the transmission line.

[0084] The solution module 40 is used to solve the joint equation obtained based on the first equation and the second equation according to the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, so as to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action.

[0085] Furthermore, in one embodiment, the propagation speed of the electric field signal is the speed of light, and the propagation speed of the traveling wave signal is predicted by a first machine learning model using the line parameters of the transmission line. The machine learning model is trained based on multiple historical data, each of which includes the line parameters of the transmission line and the corresponding propagation speed of the traveling wave signal.

[0086] Furthermore, in one embodiment, the lightning strike location device further includes a determination module for:

[0087] The range of traveling wave signal propagation speed is determined based on a second machine learning model or the line parameters of the transmission line;

[0088] The propagation speed of the traveling wave signal is taken as the solution, and the propagation speed of the traveling wave signal satisfies the range constraint of the propagation speed of the traveling wave signal.

[0089] Solver module 40 is used for:

[0090] Based on the spatial location of each acquisition device and the arrival times of the electric field signal and the traveling wave signal, the joint equation obtained from the first and second equations is solved to obtain the spatial location of the lightning strike, the spatial location of the equivalent point of action, and the propagation speed of the traveling wave signal. The number of acquisition devices is at least three.

[0091] Furthermore, in one embodiment, the solver module 40 is used for:

[0092] By employing a parameter estimation method based on least squares, a numerical solution method based on constraint optimization, or a maximum likelihood estimation method based on a probability model, the joint equation obtained from the first and second equations is solved based on the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, thus obtaining the spatial location of the lightning strike and the spatial location of the equivalent point of action.

[0093] Furthermore, in one embodiment, the first equation is:

[0094] ;

[0095] The second equation is:

[0096] ;

[0097] The joint equation is: ;

[0098] in, Let t0 be the arrival time of the electric field signal, t0 be the time of the lightning strike, P = (x, y, z) be the spatial location of the lightning strike, and S be the location of the electric field signal arrival time. i = (x i y i , z i Let be the spatial location of the i-th data acquisition device, and c be the propagation speed of the electric field signal, using the speed of light. Let Q be the arrival time of the traveling wave signal, and Q = (x p y p , z p L represents the spatial location of the equivalent point of action. qiLet be the distance from the equivalent point of action to the i-th acquisition device, and v be the propagation speed of the traveling wave signal.

[0099] Furthermore, in one embodiment, when the number of data acquisition devices is at least three, the lightning strike location device further includes an evaluation module for:

[0100] Multiple acquisition devices are randomly selected from a pool of acquisition devices. The spatial locations of these randomly selected acquisition devices, as well as the arrival times of the electric field signal and the traveling wave signal, are used to perform multiple solutions.

[0101] Calculate the mean, standard deviation, and residuals based on the results obtained from multiple solutions;

[0102] The mean is used as the final solution, the standard deviation is used as the uncertainty index, and the acquisition devices corresponding to the results with residuals greater than the threshold are eliminated.

[0103] The functions of each module in the lightning strike location device correspond to the steps in the above-mentioned lightning strike location method embodiment, and their functions and implementation processes will not be described in detail here.

[0104] Thirdly, embodiments of this application provide a lightning strike location device.

[0105] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of a lightning strike location device involved in an embodiment of this application. In this embodiment, the lightning strike location device may include a processor, a memory, a communication interface, and a communication bus.

[0106] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0107] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the lightning strike location device, as well as interfaces used for interconnecting the lightning strike location device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0108] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0109] The processor can be a general-purpose processor, which can call a lightning strike location program stored in memory and execute the lightning strike location method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the lightning strike location program is called can be referred to in the various embodiments of the lightning strike location method of this application, and will not be repeated here.

[0110] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0111] Fourthly, embodiments of this application also provide a readable storage medium.

[0112] The present application has a readable storage medium storing a lightning strike location program, wherein when the lightning strike location program is executed by a processor, it implements the steps of the lightning strike location method described above.

[0113] The method implemented when the lightning strike location procedure is executed can be referred to in various embodiments of the lightning strike location method of this application, and will not be repeated here.

[0114] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0115] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0116] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0117] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0118] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0119] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0120] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for locating lightning strikes, characterized in that, Multiple data acquisition devices are deployed along the transmission line. Each device acquires the electric field signal that travels through the air to the acquisition device after a lightning strike, and the traveling wave signal that travels through a conductor to the acquisition device after a lightning strike injects into the transmission line. The lightning strike location method includes: The spatial location of each acquisition device is obtained, and for each acquisition device, the arrival time of the electric field signal and the traveling wave signal is determined based on the acquired electric field signal and traveling wave signal. For each data acquisition device, a first equation is established based on the spatial location of the lightning strike, the spatial location of the data acquisition device, the propagation speed of the electric field signal, and the arrival time of the electric field signal. For each data acquisition device, a second equation is established based on the spatial location of the lightning strike, the spatial location of the equivalent point of action, the propagation speed of the electric field signal, the spatial location of the data acquisition device, the propagation speed of the traveling wave signal, and the arrival time of the traveling wave signal. The spatial location of the equivalent point of action satisfies the spatial distribution constraints of the transmission line. Based on the spatial location of each acquisition device and the arrival time of the electric field signal and traveling wave signal, the joint equation obtained from the first equation and the second equation is solved to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action. The first equation is: ； The second equation is: ； The joint equation is: ; in, Let t0 be the arrival time of the electric field signal, t0 be the time of the lightning strike, P = (x, y, z) be the spatial location of the lightning strike, and S be the location of the electric field signal arrival time. i = (x i y i , z i Let be the spatial location of the i-th data acquisition device, and c be the propagation speed of the electric field signal, using the speed of light. Let Q be the arrival time of the traveling wave signal, and Q = (x...) p y p , z p L represents the spatial location of the equivalent point of action. qi Let be the distance from the equivalent point of action to the i-th acquisition device, and v be the propagation speed of the traveling wave signal.

2. The lightning strike location method as described in claim 1, characterized in that, The propagation speed of the electric field signal is the speed of light. The propagation speed of the traveling wave signal is predicted by the first machine learning model using the line parameters of the transmission line. The machine learning model is trained based on multiple historical data, each of which includes the line parameters of the transmission line and the corresponding propagation speed of the traveling wave signal.

3. The lightning strike location method as described in claim 1, characterized in that, Before solving the joint equations obtained from the first and second equations based on the spatial location of each acquisition device and the arrival times of the electric field signal and traveling wave signal to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of impact, the following steps are included: The range of traveling wave signal propagation speed is determined based on a second machine learning model or the line parameters of the transmission line. The propagation speed of the traveling wave signal is taken as the solution, and the propagation speed of the traveling wave signal satisfies the range constraint of the propagation speed of the traveling wave signal. The process involves solving the joint equations derived from the first and second equations based on the spatial location of each acquisition device and the arrival times of the electric field and traveling wave signals. This yields the spatial location of the lightning strike and the spatial location of its equivalent point of impact, including: Based on the spatial location of each acquisition device and the arrival times of the electric field signal and the traveling wave signal, the joint equation obtained from the first and second equations is solved to obtain the spatial location of the lightning strike, the spatial location of the equivalent point of action, and the propagation speed of the traveling wave signal. The number of acquisition devices is at least three.

4. The lightning strike location method as described in claim 1, characterized in that, The process involves solving the joint equations derived from the first and second equations based on the spatial location of each acquisition device and the arrival times of the electric field and traveling wave signals. This yields the spatial location of the lightning strike and the spatial location of its equivalent point of impact, including: By employing a parameter estimation method based on least squares, a numerical solution method based on constraint optimization, or a maximum likelihood estimation method based on a probability model, the joint equation obtained from the first and second equations is solved based on the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, thus obtaining the spatial location of the lightning strike and the spatial location of the equivalent point of action.

5. The lightning strike location method as described in claim 1, characterized in that, When the number of data acquisition devices is at least three, the lightning strike location method further includes: Multiple acquisition devices are randomly selected from a pool of acquisition devices. The spatial locations of these randomly selected acquisition devices, as well as the arrival times of the electric field signal and the traveling wave signal, are used to perform multiple solutions. Calculate the mean, standard deviation, and residuals based on the results obtained from multiple solutions; The mean is used as the final solution, the standard deviation is used as the uncertainty index, and the acquisition devices corresponding to the results with residuals greater than the threshold are eliminated.

6. A lightning strike location device, characterized in that, Multiple data acquisition devices are deployed along the transmission line. Each device acquires the electric field signal that travels through the air to the acquisition device after a lightning strike and the traveling wave signal that travels through the conductor to the acquisition device after a lightning strike injects into the transmission line. The lightning strike location device includes: The acquisition module is used to acquire the spatial position of each acquisition device, and for each acquisition device, it determines the arrival time of the electric field signal and the traveling wave signal based on the acquired electric field signal and traveling wave signal. The first module is used to establish a first equation for each acquisition device, taking into account the spatial location of the lightning strike, the spatial location of the acquisition device, the propagation speed of the electric field signal, and the arrival time of the electric field signal. The second module is used to establish a second equation for each acquisition device, based on the spatial location of the lightning strike, the spatial location of the equivalent point of action, the propagation speed of the electric field signal, the spatial location of the acquisition device, the propagation speed of the traveling wave signal, and the arrival time of the traveling wave signal. The spatial location of the equivalent point of action satisfies the spatial distribution constraints of the transmission line. The solution module is used to solve the joint equations obtained from the first and second equations based on the spatial location of each acquisition device and the arrival time of the electric field signal and the traveling wave signal, so as to obtain the spatial location of the lightning strike and the spatial location of the equivalent point of action. The first equation is: ； The second equation is: ； The joint equation is: ; in, Let t0 be the arrival time of the electric field signal, t0 be the time of the lightning strike, P = (x, y, z) be the spatial location of the lightning strike, and S be the location of the electric field signal arrival time. i = (x i y i , z i Let be the spatial location of the i-th data acquisition device, and c be the propagation speed of the electric field signal, using the speed of light. Let Q be the arrival time of the traveling wave signal, and Q = (x...) p y p , z p L represents the spatial location of the equivalent point of action. qi Let be the distance from the equivalent point of action to the i-th acquisition device, and v be the propagation speed of the traveling wave signal.

7. The lightning strike locating device as described in claim 6, characterized in that, The propagation speed of the electric field signal is the speed of light. The propagation speed of the traveling wave signal is predicted by the first machine learning model using the line parameters of the transmission line. The machine learning model is trained based on multiple historical data, each of which includes the line parameters of the transmission line and the corresponding propagation speed of the traveling wave signal.

8. A lightning strike location device, characterized in that, The lightning strike location device includes a processor, a memory, and a lightning strike location program stored in the memory and executable by the processor, wherein when the lightning strike location program is executed by the processor, it implements the steps of the lightning strike location method as described in any one of claims 1 to 5.

9. A readable storage medium, characterized in that, The readable storage medium stores a lightning strike location program, wherein when the lightning strike location program is executed by a processor, it implements the steps of the lightning strike location method as described in any one of claims 1 to 5.

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