Pole holding posture control system, data transmission method and device thereof, and medium

Abstract

This invention discloses a pole-holding attitude control system and its data transmission method, equipment, and medium, relating to the field of pole-holding attitude control technology. The controller constructs a channel multipath interference fluctuation index, a time slot integrity risk index, and a dynamic retransmission time window adjustment coefficient based on the signal strength and signal-to-noise ratio of the channel used for wireless communication, the pole's acceleration, the actual and theoretical reception times of data packets, the packet loss rate, and a preset standard time length. It then dynamically adjusts the data packet retransmission waiting time based on the dynamic retransmission time window adjustment coefficient. After the retransmission waiting time expires, a data retransmission request is sent to the inertial sensor. By dynamically adjusting the data packet retransmission waiting time, adaptive data retransmission is achieved: prioritizing real-time performance when the network is good and ensuring data integrity under strong interference, thus improving the reliability of data transmission.

Description

Technical Field

[0001] This invention relates to the field of pole-mounting attitude control technology, and in particular to a pole-mounting attitude control system and its data transmission method, equipment and medium. Background Technology

[0002] In existing technologies, the pole erection attitude control system is an intelligent control system based on sensors and controllers, designed to achieve accurate real-time perception and stable control of the pole erection equipment's attitude during power transmission line construction. Sensor nodes deployed at key locations on the pole collect attitude data in real time, which is then aggregated to the central controller via LoRa or WiFi wireless communication networks. This serves as the core neural network for ensuring safe tower erection and enabling intelligent operations. However, in complex construction site environments, sensor nodes may experience instantaneous displacement with the pole's movement, and the on-site steel structure can cause complex reflections and blockages of wireless signals, resulting in drastic dynamic changes in wireless channel quality and random fluctuations in transmission delay. This leads to low data transmission reliability in the pole erection attitude control system. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a pole-holding attitude control system and its data transmission method, device and medium to solve the technical problem of low data transmission reliability in the pole-holding attitude control system.

[0004] In a first aspect, a data transmission method for a pole-holding attitude control system is provided. The pole-holding attitude control system includes a controller and an inertial sensor disposed at a predetermined location on the target pole. The controller and the inertial sensor are wirelessly connected. The data transmission method includes:

[0005] Step 100: Obtain the data packets at each time point within the current time window, the sequence number of each data packet, the transmission frequency of each data packet, the actual reception time of each data packet, and the BeiDou timestamp corresponding to each data packet. The data packets include the updated signal strength of the channel for establishing the wireless communication connection at each time point, the updated signal-to-noise ratio of the channel for establishing the wireless communication connection at each time point, the updated acceleration of the target pole at each time point, the updated attitude data of the target pole at each time point, and the updated tension data of the target pole at each time point.

[0006] Step 200: Determine the packet loss rate of the data packets in the current time window based on the sequence number of each data packet received in the current time window, the transmission frequency of the data packets in the current time window, and the length of the current time window.

[0007] Step 300: Determine the data packet retransmission waiting time based on the updated signal strength of the channel for the wireless communication connection at each time point, the updated signal-to-noise ratio of the channel for the wireless communication connection at each time point, the updated acceleration of the target pole at each time point, the actual reception time of each data packet, the packet loss rate of the data packet within the current time window, and the preset standard time length.

[0008] Step 400: After the data packet retransmission waiting time has expired, a data retransmission request is sent.

[0009] Secondly, a pole-holding attitude control system is provided, comprising: a controller, an inertial sensor disposed at a preset location on the target pole, and a tension sensor disposed on the target pole's tension cable. The controller and the inertial sensor are wirelessly connected, and the tension sensor and the inertial sensor are wirelessly connected. The controller, the inertial sensor disposed at the preset location on the target pole, and the tension sensor disposed on the target pole's tension cable are used to jointly implement the data transmission method of the pole-holding attitude control system as described in the first aspect.

[0010] Thirdly, a control device is provided, which is a controller installed in the pole-holding attitude control system. The controller includes a memory and a processor, wherein...

[0011] Memory, used to store computer programs;

[0012] The processor is used to execute the program stored in the memory to implement the data transmission method of the pole-holding attitude control system as described in the first aspect.

[0013] Fourthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when executed by a processor, the computer program implements the data transmission method of the pole-holding attitude control system as described in the first aspect.

[0014] The advantages of this invention compared to the prior art are:

[0015] Based on the signal strength of the channel used for wireless communication at various time points, the signal-to-noise ratio of the channel used for wireless communication at various time points, the acceleration of the target pole at various time points, the actual reception time of each data packet, the theoretical reception time of each data packet, the packet loss rate, and the preset standard time length, a channel multipath interference fluctuation index, a time slot integrity risk index, and a dynamic retransmission time window adjustment coefficient were constructed. Then, the retransmission waiting time for data packets was dynamically adjusted according to the dynamic retransmission time window adjustment coefficient, and a data retransmission request was sent after the retransmission waiting time. By dynamically adjusting the retransmission waiting time for data packets through the dynamic retransmission time window adjustment coefficient, adaptive data retransmission based on channel conditions was achieved: millisecond-level real-time performance was pursued when the network was good, while data integrity was prioritized under strong interference. This effectively improved the reliability of data transmission, ensuring that the controller could still acquire aligned high-precision sensor data in complex construction environments, laying a solid foundation for accurate perception and safe control of the pole's attitude. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a data transmission method for a pole-holding attitude control system provided in Embodiment 1 of the present invention.

[0018] Figure 2 This is a schematic diagram of the application environment of a pole-holding posture control system provided in Embodiment 8 of the present invention;

[0019] Figure 3 This is a schematic diagram of the data processing flow of a pole-holding posture control system provided in Embodiment 8 of the present invention;

[0020] Figure 4 This is a schematic diagram of the structure of a control device provided in Embodiment 9 of the present invention. Detailed Implementation

[0021] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] See Figure 1This is a schematic flowchart of a data transmission method for a pole-holding attitude control system provided in Embodiment 1 of the present invention. The pole-holding attitude control system includes a controller and an inertial sensor disposed at a preset location on the target pole. The controller and the inertial sensor are wirelessly connected.

[0023] The gantry attitude control system is an intelligent control system built to achieve real-time, accurate perception and stable automatic control of the gantry posture during transmission line tower erection. It consists of inertial sensors and a controller, and interacts with the data via wireless communication. It is the core system for the automation and intelligence of gantry tower erection. The controller is the central processing unit of the gantry attitude control system. It receives data from the inertial sensors, performs preprocessing such as verification, timing alignment, and filtering, and calculates control commands based on preset control algorithms (such as predictive control). It calculates the control quantity for adjusting the gantry posture in real time and then sends control commands to the execution equipment (such as electric grinding discs and servo motors) to achieve real-time adjustment and stable control of the gantry posture. The target gantry refers to a slender, rod-shaped lifting device whose posture is actually monitored and controlled during transmission line tower erection. It is mostly an internally suspended, externally guyed gantry, mainly used to lift tower materials via a top pulley, and is a core construction equipment for tower erection. The preset location refers to a key position on the target pole body where an inertial sensor is pre-selected and installed. This is typically the top, waist, or base of the target pole—locations that directly reflect changes in the overall attitude of the target pole. In this embodiment, the preset location is preferably the top of the target pole. The inertial sensor is a data acquisition terminal installed at the preset location on the target pole. It integrates a gyroscope from a microelectromechanical system (MEMS), an accelerometer from an inertial measurement unit (IMU), and a BeiDou high-precision timing module. Its core function is to acquire the target pole's attitude and acceleration data in real time and to calibrate the data with a BeiDou timestamp via the BeiDou high-precision timing module, providing raw data for subsequent timing alignment and control calculations by the controller. The wireless communication connection refers to the data transmission link established between the controller and the inertial sensor using LoRa or WiFi 2.4G wireless communication technology, eliminating the need for physical cables.

[0024] like Figure 1 As shown, the data transmission method of this pole-holding attitude control system may include the following steps:

[0025] Step 100: Obtain the data packets at each time point within the current time window, the sequence number of each data packet, the transmission frequency of each data packet, the actual reception time of each data packet, and the BeiDou timestamp corresponding to each data packet. The data packets include the updated signal strength of the channel for establishing the wireless communication connection at each time point, the updated signal-to-noise ratio of the channel for establishing the wireless communication connection at each time point, the updated acceleration of the target pole at each time point, the updated attitude data of the target pole at each time point, and the updated tension data of the target pole at each time point.

[0026] The current time window refers to a continuous data analysis interval (e.g., 5 seconds, 10 seconds) set by the controller. It forms the basic time range for data processing. Setting a time window focuses on data within a specific time period, avoiding excessive data volume that leads to low analysis efficiency, while accurately capturing the dynamic changes in pole attitude and communication status within that period. A data packet is a complete data transmission unit sent by the inertial sensor to the controller via a wireless network. Each data packet encapsulates all sensor data and wireless channel data collected at each moment in a fixed format, and includes a sequence number and a BeiDou timestamp. The sequence number is a unique, incrementing numerical identifier for each data packet; for example, the first data packet has a sequence number of 1, the second has a sequence number of 2, and so on. The main functions of the sequence number are: firstly, the controller can check the continuity of received sequence numbers to determine if any data packets have been lost; secondly, the controller can confirm the transmission order of data packets, avoiding disordered arrival order due to wireless communication delays. The transmission frequency refers to the number of data packets sent by the inertial sensor to the controller per second, measured in Hz. For example, 100Hz represents 100 data packets per second, used to calculate the theoretical reception time of data packets at the controller. The actual reception time refers to the system time at which the controller actually receives each data packet (based on the controller's own clock). The BeiDou timestamp is an absolutely precise time stamp generated by the integrated BeiDou high-precision time synchronization module at the same instant when each sensor collects data. The BeiDou timestamp ensures that all sensors acquire data at the same physical moment and enables cross-device time synchronization of data from all sensors, ensuring that data from different sensors are aligned in the time dimension.

[0027] Signal strength refers to the signal power of the wireless communication link (channel for wireless communication) between the controller and the inertial sensor, measured in dBm. A higher signal strength indicates a stronger signal and more stable data transmission; a lower signal strength increases the likelihood of packet loss and stuttering. Signal-to-noise ratio (SNR) is the ratio of the effective signal strength (effective signal power) to the background noise strength (background noise power) in the wireless communication link between the controller and the inertial sensor, measured in dB. A higher SNR indicates that the effective signal strength is greater than the background noise strength, resulting in a lower bit error rate; a lower SNR increases the likelihood of the effective signal being overwhelmed by noise, leading to a higher bit error rate. The acceleration of the target pole refers to the acceleration along the X, Y, and Z directions during construction, measured by the accelerometer in the inertial measurement unit (IMU). The attitude data of the target pole refers to the attitude angle data reflecting its spatial position, mainly including pitch angle (forward / backward tilt) and roll angle (left / right tilt). The tension data of the target pole refers to the tension value measured by a tension sensor installed on the pole's guy wires (such as support ropes or external guy wires), and the unit is N.

[0028] Step 200: Determine the packet loss rate of the data packets in the current time window based on the sequence number of each data packet received in the current time window, the transmission frequency of the data packets in the current time window, and the length of the current time window.

[0029] The packet loss rate refers to the percentage of packets lost within the current time window relative to the total number of packets that should theoretically be received.

[0030] In this embodiment, the ratio of the number of data packets lost in the current time window to the total number of data packets that should theoretically be received in the current time window, and then converted into a percentage (multiplied by 100%), is the packet loss rate of the data packets in the current time window.

[0031] Step 300: Determine the data packet retransmission waiting time based on the updated signal strength of the channel for the wireless communication connection at each time point, the updated signal-to-noise ratio of the channel for the wireless communication connection at each time point, the updated acceleration of the target pole at each time point, the actual reception time of each data packet, the packet loss rate of the data packet within the current time window, and the preset standard time length.

[0032] The preset standard time length refers to the fixed time parameter (basic time slot length) pre-set by the pole-holding attitude control system during the early debugging or design phase. It serves as the reference time unit for the pole-holding attitude control system to perform periodic data acquisition, processing, and calculation of retransmission waiting time. The data packet retransmission waiting time refers to the duration during which the controller, after detecting data packet loss, does not immediately initiate a retransmission request but waits for a certain period before initiating the retransmission request.

[0033] Step 400: After the data packet retransmission waiting time has expired, a data retransmission request is sent.

[0034] The data retransmission request refers to the communication command sent by the controller to the inertial sensor, which requests the inertial sensor to retransmit the lost data packets. The request will include the sequence number of the lost data packets in the current time window and the corresponding BeiDou timestamp, so that the inertial sensor can accurately identify the specific data packets that need to be retransmitted and avoid retransmitting the data packets that have already been received.

[0035] In this embodiment, after the data packet retransmission waiting time ends, the controller scans the BeiDou timestamp sequence within that time period, identifies the missing BeiDou timestamp nodes, and then packages all the data retransmission requests for the missing nodes and sends them to the inertial sensor via the downlink channel.

[0036] In Embodiment 1 of this invention, the controller determines the packet loss rate within the current time window based on the sequence number of each data packet received within the current time window, the transmission frequency of the data packets within the current time window, and the length of the current time window. Based on the signal strength of the channel establishing the wireless communication connection at each time point, the signal-to-noise ratio of the channel establishing the wireless communication connection at each time point, the acceleration of the target pole at each time point, the actual reception time of each data packet, the theoretical reception time of each data packet, the packet loss rate, and a preset standard time length, the controller constructs a channel multipath interference fluctuation index, a time slot integrity risk index, and a dynamic retransmission time window adjustment coefficient. Then, the controller dynamically adjusts the data packet retransmission waiting time according to the dynamic retransmission time window adjustment coefficient, and sends a data retransmission request to the inertial sensor after the data packet retransmission waiting time. By dynamically adjusting the data packet retransmission waiting time through the dynamic retransmission time window adjustment coefficient, adaptive data retransmission based on channel conditions is achieved: millisecond-level real-time performance is pursued when the network is good, while data integrity is prioritized under strong interference, effectively improving the reliability of data transmission.

[0037] In Embodiment 2, prior to step 100, the following is also included:

[0038] Step 1001: Collect the acceleration of the target pole, the attitude data of the target pole, the signal strength of the channel for wireless communication connection, and the signal-to-noise ratio of the channel for wireless communication connection at each time point within the current time window. The acceleration of the target pole, the attitude data of the target pole, the signal strength of the channel for wireless communication connection, and the signal-to-noise ratio of the channel for wireless communication connection are data obtained from the same BeiDou timestamp.

[0039] The "same BeiDou timestamp" refers to the simultaneous acquisition of readings from all different types of sensors by various sensor nodes through a hardware synchronization mechanism at the same physical moment. The BeiDou absolute time at that moment is then used as a tag for all the readings. The BeiDou timestamp is provided by the BeiDou high-precision time synchronization module, ensuring the time synchronization of multi-dimensional data at the same physical moment. This avoids deviations in subsequent controller calculations due to asynchronous data acquisition times, and is a key acquisition requirement for achieving high-precision pole-holding attitude control.

[0040] Step 1002: Use the Beidou high-precision timing module to send a data acquisition command to the tension sensor on the tension line set on the target pole;

[0041] The BeiDou high-precision timing module refers to a high-precision time reference module integrated within the inertial sensor, which achieves precise time synchronization at the microsecond or millisecond level based on the BeiDou satellite navigation system. The tension sensor is a force sensor installed on the four external guy lines or supporting ropes of the target pole to directly measure the tension of the guy lines. The acquisition command is a control signal sent from the inertial sensor to the tension sensor to trigger the tension sensor to start data acquisition. The command includes the precise data acquisition time point based on BeiDou high-precision timing, ensuring that the acquisition action of the tension sensor and the inertial sensor's own acquisition action occur at the same physical moment.

[0042] In this embodiment, the inertial sensor uses the PPS (pulse per second) signal output by the Beidou high-precision timing module as a hardware trigger source to synchronously trigger the sampling of each tension sensor at a set frequency (such as 100Hz), ensuring that all sensors collect data at the same physical moment (data synchronization).

[0043] Step 1003: Obtain the tension data of the target pole at each moment within the current time window from the tension sensor installed on the tension line of the target pole;

[0044] Among them, the tension data of the target pole refers to the tension value of each tension line of the target pole collected by the tension sensor at the moment of sampling, and the unit is N (Newton).

[0045] Step 1004: Encapsulate the acceleration of the target pole at each moment within the current time window, the attitude data of the target pole at each moment, the signal strength of the channel for wireless communication at each moment, the signal-to-noise ratio of the channel for wireless communication at each moment, and the tension data of the target pole at each moment to obtain data packets at each moment within the current time window.

[0046] Packaging refers to the process by which inertial sensors package raw data of different sources and types into binary data packets that can be transmitted in a wireless network, according to the communication protocol format preset by the pole posture control system.

[0047] Embodiment 2 of this invention is implemented using an inertial sensor. The inertial sensor utilizes a BeiDou high-precision timing module to synchronously acquire its own raw data and the raw data from each tension sensor mounted on the target pole's guy wire. The raw data at each moment within the current time window is encapsulated into binary data packets that can be transmitted over a wireless network. These data packets are then sent to the controller. The synchronous acquisition of raw data from each sensor via the BeiDou high-precision timing module lays the foundation for subsequent calculation of the dynamic retransmission time window adjustment coefficient. Based on this coefficient, the retransmission waiting time for data packets is dynamically adjusted, enabling adaptive data retransmission dependent on channel conditions and providing data support for improving data transmission reliability.

[0048] In Embodiment 3, the section after step 1005 and before step 100 includes:

[0049] Based on the BeiDou timestamp corresponding to each data packet, the multi-source data of the data packets received at each moment in the current time window are time-series aligned and abnormal data is removed to obtain the updated data packets at each moment in the current time window.

[0050] Multi-source data refers to the mixed data from different sensors contained in each data packet. Time alignment refers to the controller's calibration operation of the time dimension of all data packets within the current time window, using the BeiDou timestamp as a unified benchmark (i.e., rearranging disordered data packets according to the chronological order of the BeiDou timestamps). Abnormal data removal refers to the controller's verification of the validity of the time-aligned data packets and the deletion of invalid, unreliable, or erroneous data. The updated data packets at each moment within the current time window refer to the high-quality data sets that are time-ordered, reliable, and formatted completely after time alignment and abnormal data removal.

[0051] In Embodiment 3 of this invention, the controller performs time-series alignment and outlier removal on the multi-source data of the received data packets at various times within the current time window based on the BeiDou timestamps corresponding to each data packet, resulting in updated data packets for each time moment within the current time window. By performing time-series alignment and outlier removal on the multi-source data of the data packets using BeiDou timestamps, updated data packets are obtained. This provides a basis for subsequently calculating the dynamic retransmission time window adjustment coefficient based on the updated data packets' multi-source data, and dynamically adjusting the data packet retransmission waiting time according to the dynamic retransmission time window adjustment coefficient. This lays the foundation for adaptive data retransmission based on channel conditions, providing data support for improving data transmission reliability.

[0052] In Embodiment 4, step 200 includes:

[0053] Step 201: Based on the number of missing sequence numbers of each data packet received within the current time window, obtain the number of lost data packets within the current time window;

[0054] The number of missing sequence numbers refers to the number of gaps or unreceived sequence numbers found when the controller scans and sorts the sequence numbers of all actually received data packets within the current time window, and compares them with the consecutive sequence numbers of the data packets that should theoretically be received (the total number of sequence numbers that the controller should theoretically have received but actually did not). The number of lost data packets refers to the number of data packets that the controller failed to successfully receive after being sent by the inertial sensor within the current time window (i.e., the number of missing sequence numbers).

[0055] Step 202: Calculate the total number of data packets that should theoretically be received within the current time window based on the sending frequency of the data packets within the current time window and the length of the current time window;

[0056] The total number of data packets that should theoretically be received refers to the total number of data packets from the inertial sensor that the controller should receive within the current time window under ideal conditions (no packet loss, no delay).

[0057] In this embodiment, the product of the sending frequency of the data packets within the current time window and the length of the current time window is the total number of data packets that should theoretically be received within the current time window.

[0058] Step 203: Determine the packet loss rate of the data packets in the current time window based on the number of data packets lost in the current time window and the total number of data packets that should theoretically be received in the current time window.

[0059] The packet loss rate refers to the percentage of packets lost within the current time window relative to the total number of packets that should theoretically be received.

[0060] In this embodiment, the ratio of the number of data packets lost in the current time window to the total number of data packets that should theoretically be received in the current time window, and then converted into a percentage (multiplied by 100%), is the packet loss rate of the data packets in the current time window.

[0061] In Embodiment 4 of this invention, the controller determines the number of lost data packets within the current time window based on the number of missing sequence numbers of each received data packet. It then calculates the total number of data packets theoretically expected to be received within the current time window based on the transmission frequency and length of the current time window. Finally, it determines the packet loss rate within the current time window based on the number of lost packets and the total number of theoretically expected packets. This packet loss rate calculation lays the foundation for subsequent calculation of the time slot integrity risk index, followed by the calculation of the dynamic retransmission time window adjustment coefficient based on the time slot integrity risk index. The controller then dynamically adjusts the data packet retransmission waiting time according to the dynamic retransmission time window adjustment coefficient, enabling adaptive data retransmission based on channel conditions and providing data support for improving data transmission reliability.

[0062] In Embodiment 5, step 500 includes:

[0063] Step 501: Based on the signal strength of the channel for making the wireless communication connection at each updated time within a time window before the first time, calculate the standard deviation of the signal strength of the channel for making the wireless communication connection within a time window before the first time, where the first time is the last data acquisition time of the current time window.

[0064] Here, "first moment" refers to the current moment, which is the last data acquisition moment of the current time window. The time window preceding the first moment refers to a fixed time interval intercepted backward from the first moment. This time window can coincide with the current time window or be shorter: for example, if the current time window is 5 seconds, then the time window preceding the first moment can be 5 seconds, or it can only include the last 3 seconds. Standard deviation is a statistical indicator used to describe the dispersion or fluctuation of a set of data (the signal strength of the channel used for wireless communication connections at various updated moments within the time window preceding the first moment).

[0065] In this embodiment, the formula for calculating the standard deviation of the signal strength of the channel used for wireless communication connections within a time window prior to the first moment is: ,

[0066] Where t is the first time; σ p(t) represents the standard deviation of the signal strength of the channel used for wireless communication connections during a time window prior to the first moment; R i Let be the signal strength of the i-th channel that has established a wireless communication connection within a time window before the first moment, where i = 1, 2, ..., N; N be the total number of signal strengths of the channels that have established a wireless communication connection within a time window before the first moment; and μ be the arithmetic mean of the signal strengths of the channels that have established a wireless communication connection at each updated time point within a time window before the first moment.

[0067] Step 502: Integrate the acceleration of the target pole at each updated time point to obtain the velocity of the target pole at the first time point;

[0068] Integration refers to the process of integrating the change of acceleration over time to obtain the change of velocity over time. It is the standard method in kinematics for solving velocity from acceleration.

[0069] In this embodiment, since the acceleration of the target pole measured by the accelerometer has acceleration components in the X, Y, and Z directions, the velocity of the target pole also has velocity components in the X, Y, and Z directions. First, the acceleration components in the X, Y, and Z directions of the target pole at the first moment need to be integrated respectively to obtain the velocity components in the X, Y, and Z directions of the target pole at the first moment. Then, based on the velocity components in the X, Y, and Z directions of the target pole at the first moment, the magnitude of the velocity of the target pole at the first moment is calculated. This magnitude is the velocity of the target pole at the first moment. The specific calculation steps are as follows:

[0070] ,

[0071] Among them, V x (t) represents the velocity component of the target pole in the X direction at the first moment; V x0 Let V be the velocity component in the X direction of the target pole at the initial moment. x0 The value is 0; a x This represents the acceleration component in the X direction of the target pole at the first moment after the update.

[0072] ,

[0073] Among them, V y (t) represents the velocity component in the Y direction of the target pole at the first moment; V y0 Let V be the velocity component in the Y direction of the target pole at the initial moment. y0 The value is 0; a yThis represents the acceleration component in the Y direction of the target pole at the first moment after the update.

[0074] ,

[0075] Among them, V z (t) represents the velocity component of the target pole in the Z direction at the first moment; V z0 Let V be the velocity component in the Z direction of the target pole at the initial moment. z0 The value is 0; a z This represents the acceleration component in the Z direction of the target pole at the first updated moment.

[0076] ,

[0077] Where |V(t)| is the magnitude of the velocity of the target pole at the first moment.

[0078] Step 503: Based on the standard deviation of the signal strength of the channel for wireless communication connection within a time window before the first moment, the minimum signal-to-noise ratio of the channel for wireless communication connection at each updated time point within the time window before the first moment, and the speed of the target pole at the first moment, calculate the channel multipath interference fluctuation index at the first moment. The channel multipath interference fluctuation index is used to quantify the degree of multipath interference fluctuation caused by the movement of the steel structure in the wireless environment.

[0079] Among them, the channel multipath interference fluctuation index is a comprehensive quantitative index obtained by fusing the wireless channel signal strength fluctuation, the worst signal-to-noise ratio of the wireless channel, and the target pole movement speed. It is used to quantify the degree of multipath interference fluctuation caused by the movement of the steel structure in the wireless environment and reflect the severity of the wireless environment at the first moment.

[0080] In this embodiment, the formula for calculating the channel multipath interference fluctuation index H(t) at the first moment is:

[0081] ,

[0082] Where, σ p (t) represents the standard deviation of the signal strength of the channel used for wireless communication connections during a time window prior to the first moment; S min (t) represents the minimum signal-to-noise ratio of the channel for wireless communication connection at each time point after the update within a time window before the first time point; |V(t)| represents the magnitude of the target pole's velocity at the first time point.

[0083] This formula reflects the relationship between channel fluctuations and multipath characteristics, providing a physical-level quantitative basis for subsequently assessing the integrity risk (time slot integrity risk index) of data transmission from the target pole. When the target pole is lifted or tilted, the relative position of the metal obstruction (steel structure) changes, causing severe reflection, refraction, and scattering of the wireless signal during transmission (multipath characteristics). Consequently, the dispersion (standard deviation) of the signal strength of the channel establishing the wireless communication connection increases, and the minimum signal-to-noise ratio of the channel establishing the wireless communication connection decreases (deep fading occurs). This leads to an increase in the calculated channel multipath interference fluctuation index, indicating that the wireless environment is currently severely affected by interference from the steel structure, and the channel is in a highly unstable state.

[0084] Embodiment 5 of this invention is implemented by a controller. The controller calculates the channel multipath interference fluctuation index at the first moment based on the standard deviation of the signal strength of the channel with wireless communication connections within a time window prior to the first moment, the minimum signal-to-noise ratio of the channel with wireless communication connections at each updated time point within the time window prior to the first moment, and the acceleration of the target pole at the first moment. By calculating the channel multipath interference fluctuation index, a time slot integrity risk index is subsequently calculated based on the index. Then, a dynamic retransmission time window adjustment coefficient is calculated based on the time slot integrity risk index, and the data packet retransmission waiting time is dynamically adjusted according to the dynamic retransmission time window adjustment coefficient. This lays the foundation for adaptive data retransmission based on channel conditions, providing data support for improving data transmission reliability.

[0085] In Embodiment Six, step 500 further includes:

[0086] Step 504: Calculate the standard deviation of the reception delay time of each data packet within a time window before the first moment, based on the actual reception time of each data packet within a time window before the first moment and the theoretical reception time of each data packet within a time window before the first moment.

[0087] The theoretical reception time refers to the time it takes for the controller to receive each data packet under ideal conditions of zero delay, zero packet loss, and zero timing jitter in wireless communication. The reception delay time is the difference between the actual reception time and the theoretical reception time for the same data packet.

[0088] In this embodiment, the ideal transmission time interval between two adjacent data packets within a time window before the first moment is determined based on the transmission frequency of the data packets. Using the BeiDou timestamp of the first data packet within the time window before the first moment as a reference, the theoretical transmission time of each data packet within the time window before the first moment is obtained sequentially according to the ideal transmission time interval. The theoretical transmission time of each data packet within the time window before the first moment is summed with the preset fixed transmission delay to obtain the theoretical reception time of each data packet within the time window before the first moment.

[0089] Step 505: Based on the standard deviation of the reception delay time of each data packet within a time window before the first moment, the channel multipath interference fluctuation index at the first moment, and the packet loss rate of the data packets within a time window before the first moment, calculate the time slot integrity risk index at the first moment. The time slot integrity risk index is used to quantify the urgency of data retransmission and verification.

[0090] Among them, the time slot integrity risk index is a comprehensive quantitative index obtained by fusing wireless channel multipath interference, timing delay jitter, and packet loss rate. It is used to quantify the urgency of data retransmission and verification, and to reflect whether the network is in a high time slot packet loss risk state at the first moment.

[0091] In this embodiment, the formula for calculating the time slot integrity risk index Q(t) at the first moment is:

[0092] ,

[0093] Where H(t) is the channel multipath interference fluctuation index at the first moment; σ τ (t) represents the standard deviation of the reception delay time of each data packet within a time window before the first moment; γ is a preset weighting coefficient (which can be 5) used to amplify the impact of packet loss rate; N lost (t) represents the number of data packets lost within a time window prior to the first moment; N total This represents the total number of data packets that the controller should theoretically receive within a time window prior to the first moment. This represents the packet loss rate of data packets within a time window prior to the first moment.

[0094] This formula explains the linkage between physical layer interference and application layer timing jitter: the larger the channel multipath interference fluctuation index calculated by the physical layer, the greater the jitter (standard deviation) of the reception delay time of application layer data packets, or the higher the packet loss rate, leading to a significant increase in the calculated time slot integrity risk index. This indicates that the smoothness of wireless network transmission has been severely disrupted. The highly fluctuating wireless channel environment not only causes packet loss but also results in random delays in the arrival time of data packets at the controller. Although some data packets eventually arrive at the controller successfully, they may have missed their corresponding processing time window, forming logically missing time slots. At this point, the urgency for data retransmission and verification is extremely high. Compared to the traditional method that only counts the packet loss rate, this index has the advantage of combining physical layer interference and application layer timing jitter, enabling more proactive early warning of the risk of data transmission time slot collapse.

[0095] Embodiment 6 of this invention is implemented by a controller. The controller calculates the time slot integrity risk index for the first moment based on the standard deviation of the reception delay time of each data packet within a time window prior to the first moment, the channel multipath interference fluctuation index at the first moment, and the packet loss rate of the data packets within the time window prior to the first moment. By calculating the time slot integrity risk index, the subsequent calculation of the dynamic retransmission time window adjustment coefficient is made, and the data packet retransmission waiting time is dynamically adjusted according to the dynamic retransmission time window adjustment coefficient. This lays the foundation for adaptive data retransmission based on channel conditions and provides data support for improving data transmission reliability.

[0096] In embodiment seven, step 500 further includes:

[0097] Step 506: Based on the actual reception time of each data packet within a time window before the first moment, calculate the range of the actual reception time interval between any two adjacent data packets within a time window before the first moment.

[0098] The actual reception time interval refers to the difference in the actual reception time of two adjacent data packets within a time window prior to the first moment, according to the controller's reception order. The range refers to the difference between the maximum and minimum values ​​in a set of data (the actual reception time interval of any two adjacent data packets within a time window prior to the first moment).

[0099] Step 507: Based on the preset standard time length, the range of the actual reception time interval of any two adjacent data packets within a time window before the first moment, and the time slot integrity risk index at the first moment, calculate the dynamic retransmission time window adjustment coefficient at the first moment. The dynamic retransmission time window adjustment coefficient is used to dynamically adjust the retransmission waiting time of data packets.

[0100] Among them, the dynamic retransmission time window adjustment coefficient is a comprehensive quantization coefficient obtained by fusing real-time channel quality and timing delay jitter. It is used to dynamically adjust the retransmission waiting time of data packets and reflect the stability of the network state at the first moment.

[0101] In this embodiment, the formula for calculating the dynamic retransmission time window adjustment coefficient C(t) at the first moment is:

[0102] ,

[0103] Where Q(t) is the time slot integrity risk index at the first moment, and T b The preset standard time length is (which can be 0.01s), e is a natural constant, and D(t) is the range of the actual reception time interval between any two adjacent data packets within a time window before the first moment.

[0104] This formula reveals the mapping relationship between network state and control strategy: the higher the time slot integrity risk index at the current moment, and the greater the fluctuation range of the actual data packet reception time interval, which far exceeds the standard time length, the larger the calculated dynamic retransmission time window adjustment coefficient. This indicates that the wireless network is extremely unstable at the current moment, and the wireless channel is in a continuous oscillation period. If frequent retransmissions with short cycles are used for data transmission at this time, it will exacerbate wireless channel congestion; if retransmissions are used with excessively long waiting times, the real-time requirements of target pole attitude control cannot be met. Therefore, a more tolerant and flexible data packet retransmission waiting time window is needed to complete adaptive data retransmission in one go during the brief recovery interval of the wireless channel. The advantage of this index is that it is not static, but a dynamically adjusted parameter adaptively calculated based on real-time channel and timing characteristics, avoiding deadlock or storms caused by fixed time windows.

[0105] Step 508: The product of the preset standard time length and the dynamic retransmission time window adjustment coefficient at the first moment is rounded down to obtain the retransmission waiting time of the data packet.

[0106] Among them, rounding refers to the integerization of the product of the preset standard time length and the dynamic retransmission time window adjustment coefficient at the first moment (such as rounding up or down), so that the retransmission waiting time of the obtained data packet is an integer value that meets the accuracy requirements of the pole posture control system.

[0107] In this embodiment, when the dynamic retransmission time window adjustment coefficient calculated by the controller at the first moment is less than the preset retransmission time window adjustment coefficient threshold, the data packet retransmission waiting time (i.e., the time to receive a single data packet or equal to the preset standard time length) is reduced based on the dynamic retransmission time window adjustment coefficient. After the reduced data packet retransmission waiting time ends, the packet loss situation is immediately checked and a retransmission request is sent to the inertial sensor. When the dynamic retransmission time window adjustment coefficient calculated by the controller at the first moment is not less than the preset retransmission time window adjustment coefficient threshold, the data packet retransmission waiting time is increased based on the dynamic retransmission time window adjustment coefficient. After the increased data packet retransmission waiting time ends, the packet loss situation is checked and a retransmission request is sent to the inertial sensor. By dynamically adjusting the data packet retransmission waiting time according to the dynamic retransmission time window adjustment coefficient, adaptive data retransmission based on channel conditions is achieved.

[0108] Embodiment 7 of this invention is implemented by a controller. The controller calculates the dynamic retransmission time window adjustment coefficient for the first moment based on a preset standard time length, the range of the actual reception time intervals of any two adjacent data packets within a time window before the first moment, and the time slot integrity risk index at the first moment. The product of the preset standard time length and the dynamic retransmission time window adjustment coefficient for the first moment is then rounded to obtain the data packet retransmission waiting time. By calculating the dynamic retransmission time window adjustment coefficient and dynamically adjusting the data packet retransmission waiting time according to the coefficient, adaptive data retransmission based on channel conditions is achieved, improving data transmission reliability.

[0109] Embodiment 8 of this application also provides a pole-holding attitude control system, which includes: a controller, an inertial sensor disposed at a preset location on the target pole, and a tension sensor disposed on the target pole's guy wire. The controller and the inertial sensor are wirelessly connected, and the tension sensor and the inertial sensor are wirelessly connected. The controller, the inertial sensor disposed at the preset location on the target pole, and the tension sensor disposed on the target pole's guy wire are used to jointly implement the data transmission method of the pole-holding attitude control system described in Embodiments 1 to 7 of this application.

[0110] In this embodiment, as Figure 2 In the schematic diagram of an application environment for a pole-holding attitude control system, the controller is used to implement the data transmission method of the pole-holding attitude control system described in Embodiments 1, 3 to 6; the inertial sensor is used to implement the data transmission method of the pole-holding attitude control system described in Embodiment 2. The inertial sensor and controller are respectively configured as follows... Figure 3 The data processing flow shown implements the data transmission method of the pole-holding attitude control system described in Embodiments 1 to 7 of this application.

[0111] Embodiment 9 of this application also provides a control device 50, please refer to... Figure 4 It includes a memory 510 and a processor 520, wherein,

[0112] Memory 510 is used to store computer programs;

[0113] The processor 520 is used to execute the program stored in the memory 510 to implement the data transmission method of the pole-holding attitude control system described in Embodiments 1, 3 to 6 of this application.

[0114] Embodiment 10 of this application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the data transmission method of the pole-holding attitude control system described in Embodiments 1 to 7 of this application.

[0115] In this application, "multiple" refers to two or more.

[0116] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0117] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0118] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0119] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0120] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A data transmission method for a pole-holding attitude control system, characterized in that, The pole-holding attitude control system includes a controller and an inertial sensor installed at a preset location on the target pole. The controller and the inertial sensor are wirelessly connected. The data transmission method includes: Step 100: Obtain the data packets at each time point within the current time window, the sequence number of each data packet, the transmission frequency of each data packet, the actual reception time of each data packet, and the BeiDou timestamp corresponding to each data packet. The data packets include the updated signal strength of the channel for establishing the wireless communication connection at each time point, the updated signal-to-noise ratio of the channel for establishing the wireless communication connection at each time point, the updated acceleration of the target pole at each time point, the updated attitude data of the target pole at each time point, and the updated tension data of the target pole at each time point. Step 200: Determine the packet loss rate of the data packets in the current time window based on the sequence number of each data packet received in the current time window, the transmission frequency of the data packets in the current time window, and the length of the current time window. Step 300: Determine the data packet retransmission waiting time based on the updated signal strength of the channel for the wireless communication connection at each time point, the updated signal-to-noise ratio of the channel for the wireless communication connection at each time point, the updated acceleration of the target pole at each time point, the actual reception time of each data packet, the packet loss rate of the data packet within the current time window, and the preset standard time length. Step 400: After the data packet retransmission waiting time has expired, a data retransmission request is sent.

2. The data transmission method of the pole-holding attitude control system according to claim 1, characterized in that, Before step 100, the following are also included: Step 1001: Collect the acceleration of the target pole, the attitude data of the target pole, the signal strength of the channel for wireless communication connection, and the signal-to-noise ratio of the channel for wireless communication connection at each time point within the current time window. The acceleration of the target pole, the attitude data of the target pole, the signal strength of the channel for wireless communication connection, and the signal-to-noise ratio of the channel for wireless communication connection are data obtained from the same BeiDou timestamp. Step 1002: Use the Beidou high-precision timing module to send a data acquisition command to the tension sensor on the tension line set on the target pole; Step 1003: Obtain the tension data of the target pole at each moment within the current time window from the tension sensor installed on the tension line of the target pole; Step 1004: Encapsulate the acceleration of the target pole at each moment within the current time window, the attitude data of the target pole at each moment, the signal strength of the channel for wireless communication at each moment, the signal-to-noise ratio of the channel for wireless communication at each moment, and the tension data of the target pole at each moment to obtain data packets at each moment within the current time window.

3. The data transmission method of the pole-holding attitude control system according to claim 1 or 2, characterized in that, The period after step 1005 and before step 100 includes: Based on the BeiDou timestamp corresponding to each data packet, the multi-source data of the data packets received at each moment in the current time window are time-series aligned and abnormal data is removed to obtain the updated data packets at each moment in the current time window.

4. The data transmission method of the pole-holding attitude control system according to claim 1, characterized in that, Step 200 includes: Step 201: Based on the number of missing sequence numbers of each data packet received within the current time window, obtain the number of lost data packets within the current time window; Step 202: Calculate the total number of data packets that should theoretically be received within the current time window based on the sending frequency of the data packets within the current time window and the length of the current time window; Step 203: Determine the packet loss rate of the data packets in the current time window based on the number of data packets lost in the current time window and the total number of data packets that should theoretically be received in the current time window.

5. The data transmission method of the pole-holding attitude control system according to claim 1, characterized in that, Step 500 includes: Step 501: Based on the signal strength of the channel for making the wireless communication connection at each updated time within a time window before the first time, calculate the standard deviation of the signal strength of the channel for making the wireless communication connection within a time window before the first time, where the first time is the last data acquisition time of the current time window. Step 502: Integrate the acceleration of the target pole at each updated time point to obtain the velocity of the target pole at the first time point; Step 503: Based on the standard deviation of the signal strength of the channel for wireless communication connection within a time window before the first moment, the minimum signal-to-noise ratio of the channel for wireless communication connection at each updated time point within the time window before the first moment, and the speed of the target pole at the first moment, calculate the channel multipath interference fluctuation index at the first moment. The channel multipath interference fluctuation index is used to quantify the degree of multipath interference fluctuation caused by the movement of the steel structure in the wireless environment.

6. The data transmission method of the pole-holding attitude control system according to claim 5, characterized in that, Step 500 also includes: Step 504: Calculate the standard deviation of the reception delay time of each data packet within a time window before the first moment, based on the actual reception time of each data packet within a time window before the first moment and the theoretical reception time of each data packet within a time window before the first moment. Step 505: Based on the standard deviation of the reception delay time of each data packet within a time window before the first moment, the channel multipath interference fluctuation index at the first moment, and the packet loss rate of the data packets within a time window before the first moment, calculate the time slot integrity risk index at the first moment. The time slot integrity risk index is used to quantify the urgency of data retransmission and verification.

7. The data transmission method of the pole-holding attitude control system according to claim 6, characterized in that, Step 500 also includes: Step 506: Based on the actual reception time of each data packet within a time window before the first moment, calculate the range of the actual reception time interval between any two adjacent data packets within a time window before the first moment. Step 507: Based on the preset standard time length, the range of the actual reception time interval of any two adjacent data packets within a time window before the first moment, and the time slot integrity risk index at the first moment, calculate the dynamic retransmission time window adjustment coefficient at the first moment. The dynamic retransmission time window adjustment coefficient is used to dynamically adjust the retransmission waiting time of data packets. Step 508: The product of the preset standard time length and the dynamic retransmission time window adjustment coefficient at the first moment is rounded down to obtain the retransmission waiting time of the data packet.

8. A pole-holding attitude control system, characterized in that, The pole-holding attitude control system includes: a controller, an inertial sensor disposed at a preset location on the target pole, and a tension sensor disposed on the target pole's guy wire. The controller and the inertial sensor are wirelessly connected, and the tension sensor and the inertial sensor are wirelessly connected. The controller, the inertial sensor disposed at the preset location on the target pole, and the tension sensor disposed on the target pole's guy wire are used to jointly implement the data transmission method of the pole-holding attitude control system according to claims 1-6.

9. A control device, characterized in that, The control device is a controller installed in the pole-holding attitude control system. The controller includes a memory and a processor. Memory, used to store computer programs; A processor is used to execute a program stored in a memory to implement the data transmission method of the pole-holding attitude control system as described in any one of claims 1, 3-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the data transmission method of the pole-holding attitude control system according to any one of claims 1-6.

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