Grounding line state perception positioning method based on multi-source sensing and GNSS

Abstract

The present application relates to the technical field of radio navigation, positioning and presence detection, and discloses a grounding wire state perception positioning method based on multi-source sensing and GNSS. By acquiring the repair work order, line GIS topology and grounding wire arrangement information to generate operation constraint information, collecting GNSS coordinates, positioning quality and attitude data of the grounding wire side end and the grounding side end to generate multiple candidate connection schemes; after the grounding wire is initially connected, a coded detection signal is applied, response data is collected, and the response data is matched with the preset response characteristics corresponding to each candidate connection scheme to determine the real connection scheme, the real connection position, the connection direction and the grounding wire state. Thus, the GNSS error and the misjudgment caused by single state detection can be reduced, and the reliability of the grounding wire connection positioning and state confirmation can be improved.

Description

Technical Field

[0001] This invention relates to the fields of radio navigation, positioning and presence detection technology, and in particular to a grounding wire state perception positioning method based on multi-source sensing and GNSS. Background Technology

[0002] During power distribution line maintenance, the conductor end and grounding end of temporary grounding wires are usually located near spatial objects such as poles, conductors, and grounding areas. Therefore, the location of the grounding wire ends can be obtained via GNSS, and the location can be determined by combining the line's GIS topology to determine whether the grounding wire is within the target pole / tower area or the permitted grounding area. Existing grounding wire monitoring solutions based on GPS, BeiDou, GIS maps, or electronic fences typically compare the positioning coordinates with a preset work area to determine whether the grounding wire has reached the designated area. Some solutions further combine clamp detection, grounding resistance detection, or communication upload records to provide alerts for grounding wire connection, loosening, or omission.

[0003] However, in actual power distribution line environments, the location of a grounding wire is not an isolated coordinate point, but a spatial connection constrained by the target tower section, the target conductor information, the permissible grounding area, the grounding wire length, and the connection direction. GNSS coordinates are easily affected by multipath and differential state changes in mountainous, forested, and urban areas with obstructions, dense towers, multiple lines on the same tower, or conductor crossing scenarios. Even if the GNSS coordinates of the grounding wire end or the grounding end fall within the electronic fence range, it is difficult to directly confirm whether its actual connection position corresponds to the target conductor, whether the actual grounding fixing point is located in the permissible grounding area, and whether the connection direction conforms to the target direction. Existing positioning methods that rely solely on GNSS coordinates or GIS area comparisons are prone to misjudging "end coordinates close to the target area" as "the grounding wire has formed a correct actual connection scheme."

[0004] Therefore, the core problem with existing technologies in positioning applications is that, when GNSS positioning has errors, the grounding wire connection object has line topology constraints, and the spatial relationship between the two ends is complex, it is difficult to reliably determine the actual connection scheme of the grounding wire by relying solely on radio navigation coordinates and area comparison. This problem can lead to misjudgments of adjacent tower sections, misjudgments of multiple circuits on the same tower, misjudgments of connection direction, and inconsistencies between the detected and actual connection states at the grounding wire ends, thereby reducing the accuracy of the grounding wire status perception positioning results. Summary of the Invention

[0005] The purpose of this invention is to provide a grounding wire status sensing and positioning method based on multi-source sensing and GNSS, which addresses the problem in existing grounding wire status monitoring that relies solely on GNSS coordinates, electronic fences, or single clamp / grounding status data, making it difficult to accurately determine the actual connection position, connection direction, and grounding wire status. Especially in operating environments with dense towers, multiple lines on the same tower, intersecting conductors, mountainous or forested areas, or unstable GNSS positioning quality, existing methods easily misjudge grounding wires located near the target area as correctly connected, leading to misjudgments of adjacent tower sections, target connection conductors, fixed grounding positions, or connection directions.

[0006] To achieve the above objectives, the present invention provides a grounding wire status perception and positioning method based on multi-source sensing and GNSS, comprising: acquiring maintenance work orders and line GIS topology and grounding wire layout information associated with the maintenance work orders, determining target tower sections, target attached conductor information and allowable grounding areas, and generating work constraint information; Obtain GNSS coordinates, positioning quality, and attitude data of the conductor side end and the grounding side end of the grounding wire; generate multiple candidate splicing schemes based on the GNSS coordinates, positioning quality, attitude data, line GIS topology, and grounding wire length constraints; After the grounding wire is initially connected, the clamping status data and grounding status data of the conductor side end and the grounding side end are acquired, an coded detection signal is applied to the grounding wire loop, and the response data of the conductor side end and the grounding side end are collected simultaneously. The response data is matched with the preset response features corresponding to each of the candidate connection schemes, and the actual connection scheme is determined from the multiple candidate connection schemes by combining the clamping state data and the grounding state data; the actual connection position and connection direction are determined according to the actual connection scheme, and the grounding wire state is determined according to the response data, clamping state data and grounding state data. When the actual attachment position, attachment direction, or grounding wire status does not meet the operational constraints, an abnormal positioning or attachment result will be output.

[0007] In a preferred embodiment, the candidate splicing scheme includes candidate conductor splicing points, candidate grounding fixing points, and candidate splicing directions. When generating multiple candidate splicing schemes, conductor segments located in the target tower section and its adjacent sections and conforming to the target splicing conductor information are selected from the line GIS topology. The GNSS coordinates of the conductor end are matched with the selected conductor segments to obtain multiple candidate conductor splicing points. Based on the GNSS coordinates of the grounding end, multiple candidate grounding fixing points are determined within the allowed grounding area. Each candidate conductor splicing point and each candidate grounding fixing point are combined, and based on the attitude data and the grounding wire length constraint, the corresponding candidate splicing direction is generated from the combination result. Thus, the GNSS coordinates are not directly used as the final splicing position, but are used to generate possible splicing space ranges, which are then confirmed through subsequent response matching.

[0008] In a preferred embodiment, the positioning quality includes at least two of the following: satellite count, differential status, and horizontal positioning accuracy factor. When generating multiple candidate splicing schemes, the selection range of candidate conductor splicing points and candidate grounding fixing points is determined based on the positioning quality. When the positioning quality meets preset positioning conditions, candidate conductor splicing points and candidate grounding fixing points are selected according to a first selection radius, using the GNSS coordinates of the conductor end and the grounding end as a reference. When the positioning quality does not meet the preset positioning conditions, the selection range is expanded according to a second selection radius greater than the first selection radius, and the candidate splicing schemes are further verified based on the allowable deviation of the grounding wire length and the allowable deviation of the splicing direction. Thus, the candidate range is narrowed when the GNSS positioning quality is high, and expanded when the GNSS positioning quality is low, while relying on line GIS topology, attitude data, and grounding wire length constraints to avoid missing real splicing schemes.

[0009] In a preferred embodiment, the coded detection signal is a detection electrical signal carrying a preset coded sequence. The response data includes at least two of the following: response amplitude, response phase, transmission delay, and impedance change, respectively collected from the conductor-side end and the grounding-side end. During synchronous acquisition, first response data from the conductor-side end and second response data from the grounding-side end are collected according to the same time reference, and the first and second response data are time-aligned to form the response data. In this way, the actual response of the grounding wire loop to the coded detection signal can be used to reflect the connection relationship between the conductor-side end, the grounding wire body, and the grounding-side end.

[0010] In a preferred embodiment, the preset response characteristics are generated according to each of the candidate connection schemes. For any candidate connection scheme, a pre-calibrated grounding loop response model is invoked; based on the candidate conductor connection point, candidate grounding fixation point, candidate connection direction, line GIS topology, and the equivalent length of the grounding wire determined by the candidate conductor connection point and the candidate grounding fixation point in the candidate connection scheme, at least two of the following are generated: response amplitude range, response phase range, transmission delay range, and impedance change range corresponding to the candidate connection scheme. The generated response range is then used as the preset response characteristics corresponding to the candidate connection scheme. Thus, different candidate connection schemes correspond to different response characteristics, enabling the actual connection scheme to be determined subsequently through reverse engineering of the actual response data.

[0011] In a preferred embodiment, when determining the actual attachment scheme from a plurality of candidate attachment schemes, a matching deviation is calculated for each candidate attachment scheme, the matching deviation satisfying: ; in, Indicates the first Matching deviation of each candidate mounting scheme; This indicates the overall positioning quality, and the overall positioning quality is determined based on the positioning quality. Indicates the first Normalized positional deviation of each candidate splicing scheme; Indicates the first Normalization direction deviation of each candidate splicing scheme; Indicates the first Normalized response amplitude deviation of each candidate connection scheme; Indicates the first Normalized response phase deviation of each candidate mounting scheme; Indicates the first Normalized transmission delay deviation of each candidate splicing scheme; Indicates the first Normalized impedance variation deviation of each candidate connection scheme; , and These represent the position deviation weighting coefficient, orientation deviation weighting coefficient, and response deviation weighting coefficient, respectively. When the overall positioning quality decreases... Decrease and Increase; when the overall positioning quality improves Increase and Reduce. Among the candidate attachment schemes that satisfy the job constraint information, the candidate attachment scheme with the smallest matching deviation is determined as the actual attachment scheme.

[0012] In a preferred embodiment, when determining the connection direction based on the actual connection scheme, an initial connection direction from the candidate grounding fixed point to the candidate wire connection point is determined based on the candidate wire connection point and candidate grounding fixed point corresponding to the actual connection scheme. The initial connection direction is then checked based on at least one of the response phase difference, transmission delay difference, and impedance change difference between the first response data and the second response data. When the check result matches the target connection direction in the job constraint information, the initial connection direction is determined as the connection direction. When the check result does not match the target connection direction in the job constraint information, the connection direction is determined to not satisfy the job constraint information, and a connection anomaly result indicating an abnormal connection direction is output.

[0013] In a preferred embodiment, when determining the grounding wire state, the preset response features include conductor-side response features characterizing the conductor-side contact state and grounding-side response features characterizing the grounding-side contact state. When the clamping state data meets preset clamping conditions and the response data does not fall within the response range of the conductor-side response features corresponding to the actual connection scheme, the grounding wire state is determined to be a conductor-side loose connection. When the grounding state data meets preset grounding conditions and the response data does not fall within the response range of the grounding-side response features corresponding to the actual connection scheme, the grounding wire state is determined to be an unreliable grounding-side contact. When the response data formed based on the first and second response data is interrupted or abruptly changed, the grounding wire state is determined to be an abnormal grounding wire connection.

[0014] In a preferred embodiment, when the actual connection scheme satisfies the operational constraints and the grounding wire status is not determined to be a loose connection on the conductor side, an unreliable contact on the grounding side, or an abnormal grounding wire connection, the grounding wire status is determined to be a normal connection. After the grounding wire status is determined to be a normal connection, the actual connection scheme and the corresponding response data are saved to form a baseline response record. During the maintenance operation, the coded detection signal is applied to the grounding wire loop again, and new response data is collected. The response deviation between the new response data and the response data in the baseline response record is calculated, and when the response deviation exceeds a preset drift threshold, one of the following connection abnormalities is output: loose conductor side, loose grounding side, detached grounding wire, or moved grounding wire position.

[0015] In a preferred embodiment, the grounding wire body is provided with a preset impedance identification segment. The preset impedance identification segment has an identification response feature corresponding to the grounding wire number or grounding wire length, and forms a complete identification response sequence when the grounding wire body is intact. Before the grounding wire is initially connected, the coded detection signal is applied to the grounding wire body, and the identification response data generated by the preset impedance identification segment is collected. The identification response data is matched with the identification response feature to verify the grounding wire number, grounding wire length, or the integrity of the grounding wire body. When the grounding wire number or grounding wire length does not match the grounding wire layout information, or when it is determined from the identification response data that the grounding wire body is incomplete, an abnormal grounding wire configuration result is output.

[0016] The technical effects and advantages of this invention are as follows: First, this invention generates multiple candidate splicing schemes based on GNSS coordinates, positioning quality, attitude data, line GIS topology, and grounding wire length constraints. Then, it matches the response data of the coded detection signal with the preset response characteristics corresponding to each candidate splicing scheme to determine the actual splicing scheme from among the multiple candidate schemes. This method uses GNSS positioning results for candidate range generation and coded detection response data for actual splicing confirmation, reducing misjudgments caused by GNSS multipath errors, differential state changes, proximity of adjacent towers, and proximity of multiple conductors on the same tower, thus improving the accuracy of identifying the actual splicing position and direction.

[0017] Second, this invention adjusts the screening range and matching weight of candidate splicing schemes based on positioning quality. When positioning quality is high, the role of position deviation in the matching process is increased; when positioning quality is low, the role of response deviation in the matching process is increased. Therefore, even in field environments with varying GNSS positioning quality, the actual splicing scheme can still be determined using line GIS topology, attitude data, grounding wire length constraints, and coded detection response data, improving the stability of grounding wire status sensing positioning results in complex line environments.

[0018] Third, this invention combines response data, clamping status data, and grounding status data to determine the grounding wire status. By analyzing the response characteristics of the conductor side, the response characteristics of the grounding side, and the interruption or abrupt change in the response data at both ends, it can identify loose connections on the conductor side, unreliable contact on the grounding side, and abnormal grounding wire connectivity. This avoids relying solely on clamping force, grounding resistance, or GNSS coordinates to make judgments about normal connection, and improves the specificity and traceability of abnormal connection results.

[0019] Fourth, this invention continuously verifies the grounding wire after normal connection by recording a reference response. During the maintenance work, new response data is collected again and compared with the reference response record, enabling the identification of loose conductors, loose grounding, detached grounding wires, or grounding wire displacement. Therefore, grounding wire status confirmation is expanded from a single judgment at connection to continuous status awareness during maintenance, improving grounding safety management capabilities during power distribution line maintenance. Attached Figure Description

[0020] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts: Figure 1 Flowchart of a grounding wire state perception positioning method based on multi-source sensing and GNSS. Detailed Implementation

[0021] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0022] Reference Figure 1 The flowchart shown illustrates a grounding wire status perception and positioning method based on multi-source sensing and GNSS. This embodiment provides a grounding wire status perception and positioning method based on multi-source sensing and GNSS, applied to temporary grounding wire connection operations during power outage maintenance of 10kV distribution lines. This method determines the actual connection location, connection direction, and grounding wire status by using maintenance work orders, line GIS topology, grounding wire layout information, GNSS coordinates at both ends of the grounding wire, positioning quality, attitude data, clamping status data, grounding status data, and the response data of the grounding wire loop to coded detection signals. It outputs positioning or connection anomaly results when the actual connection location, connection direction, or grounding wire status does not meet the requirements. Connection anomaly results include indications of abnormal connection direction, loose connection on the conductor side, unreliable contact on the grounding side, abnormal grounding wire connectivity, loose conductor side, loose grounding side, grounding wire detachment, or grounding wire position movement.

[0023] In this embodiment, the grounding wire includes a conductor-side end, a grounding-side end, and a grounding wire body connecting the conductor-side end and the grounding-side end. The conductor-side end is equipped with a conductor-side GNSS positioning unit, a conductor-side attitude acquisition unit, a conductor-side clamping state acquisition unit, and a first response acquisition unit. The conductor-side GNSS positioning unit acquires the GNSS coordinates and positioning quality of the conductor-side end. The conductor-side attitude acquisition unit uses a triaxial accelerometer, gyroscope, and electronic compass to acquire the tilt angle, azimuth angle, and orientation angle of the conductor-side end. The conductor-side clamping state acquisition unit uses a clamping force sensor and a clamp closure detection switch to acquire clamping state data. The first response acquisition unit acquires first response data after an coded detection signal is applied to the grounding wire loop. The grounding-side end is equipped with a grounding-side GNSS positioning unit, a grounding-side attitude acquisition unit, a grounding state acquisition unit, and a second response acquisition unit. The grounding-side GNSS positioning unit is used to obtain the GNSS coordinates and positioning quality of the grounding-side end. The grounding-side attitude acquisition unit is used to obtain the tilt angle, azimuth angle and orientation angle of the grounding-side end. The grounding status acquisition unit uses a grounding resistance detection circuit, a soil penetration depth detector and a grounding end connection detector to obtain grounding status data. The second response acquisition unit is used to acquire second response data after applying an coded detection signal to the grounding wire loop.

[0024] Before the work begins, the work management platform obtains the maintenance work order and the associated line GIS topology and grounding wire layout information. The maintenance work order includes the line name, maintenance section, work time, work team, and work task number. The line GIS topology includes tower number, tower coordinates, conductor segment spatial orientation, conductor phase, connection relationship between adjacent towers, and conductor segment number. The grounding wire layout information includes the planned grounding wire number, grounding wire length, permitted grounding wire location, permitted grounding area, and number of grounding wires. Based on the maintenance work order, line GIS topology, and grounding wire layout information, the work management platform determines the target tower section, target conductor information, and permitted grounding area, and generates work constraint information.

[0025] The operational constraint information includes the target tower section, target conductor connection information, permissible grounding area, target connection direction, permissible deviation of grounding wire length, permissible deviation of connection direction, preset clamping conditions, preset grounding conditions, and status determination conditions. The target tower section represents the tower section where conductor end connection is permitted; the target conductor connection information represents the target conductor segment, target phase, or target circuit information; the permissible grounding area represents the spatial area where the grounding end is allowed to be fixed; the target connection direction represents the spatial direction that must be satisfied when the grounding end points towards the conductor end; the permissible deviation of grounding wire length is used to determine whether the spatial distance between the candidate conductor connection point and the candidate grounding fixing point conforms to the actual length of the grounding wire; the permissible deviation of connection direction is used to determine whether the candidate connection direction is consistent with the actual orientation on site; the preset clamping conditions are used to determine whether the conductor end has been reliably clamped; the preset grounding conditions are used to determine whether the grounding end has been reliably grounded; and the status determination conditions are used to determine whether the grounding wire status meets the normal connection requirements.

[0026] In one specific embodiment, the grounding wire is 6m long, with an allowable deviation of 0.8m for the length and an allowable deviation of 25° for the hanging direction. Preset clamping conditions include a clamping force not less than a clamping force threshold, a closed clamping state, and a stable clamping duration not less than a preset time. The clamping force threshold is determined by the grounding wire clamp specifications, conductor diameter, and clamping surface structure. Preset grounding conditions include a grounding resistance not greater than a grounding resistance threshold, a soil penetration depth not less than a soil penetration depth threshold, and a valid grounding connection. The grounding resistance threshold and soil penetration depth threshold are determined by the grounding wire layout information, the on-site soil type, and operational safety regulations.

[0027] After the grounding wire arrives at the work site, GNSS coordinates, positioning quality, and attitude data are acquired at both the conductor-side and grounding-side ends. Positioning quality includes the number of satellites, differential status, and horizontal positioning accuracy factor. The number of satellites indicates the number of satellites participating in the positioning calculation; the differential status indicates whether the GNSS positioning is in a normal single-point solution, a differential effective solution, a floating-point solution, or a fixed solution; and the horizontal positioning accuracy factor indicates the degree of horizontal positioning error amplification. Attitude data includes the tilt, azimuth, and heading angles at both the conductor-side and grounding-side ends. The conductor-side and grounding-side ends obtain the same time reference through the GNSS second pulse or a local synchronization clock, ensuring that the first and second response data are aligned on the same time axis.

[0028] The operation management platform generates multiple candidate connection schemes based on the GNSS coordinates of the conductor end, the grounding end, positioning quality, attitude data, line GIS topology, and grounding wire length constraints. Each candidate connection scheme includes a candidate conductor connection point, a candidate grounding fixing point, and a candidate connection direction. When generating candidate connection schemes, the operation management platform filters conductor segments located within the target tower section and its adjacent sections from the line GIS topology that meet the target connection conductor information. It then matches the GNSS coordinates of the conductor end with the filtered conductor segments to obtain multiple candidate conductor connection points. During matching, the operation management platform projects the GNSS coordinates of the conductor end onto the filtered conductor segments. If the projected point is within the conductor segment's range, it is used as a candidate conductor connection point; if the projected point falls outside the conductor segment's endpoint, the nearest conductor segment endpoint to the conductor end's GNSS coordinates or a point on the conductor segment that meets the target connection conductor information is used as a candidate conductor connection point. Adjacent sections of the target tower section are included in the filtering process to cover situations where GNSS positioning errors occur or workers are located near the tower section boundary.

[0029] For the grounding end, the operation management platform determines multiple candidate grounding fixing points within the permissible grounding area based on the GNSS coordinates of the grounding end. When the permissible grounding area is a planar area, the operation management platform generates grid points within the permissible grounding area, centered on the GNSS coordinates of the grounding end, and selects grid points that are close to the GNSS coordinates of the grounding end and conform to the grounding wire layout information as candidate grounding fixing points. When the permissible grounding area is a linear or point-like area, the operation management platform projects the GNSS coordinates of the grounding end onto the vicinity of the corresponding line segment or point in the permissible grounding area to form candidate grounding fixing points. Subsequently, the operation management platform combines each candidate conductor attachment point with each candidate grounding fixing point, and generates corresponding candidate attachment directions from the combination results based on attitude data and grounding wire length constraints. The candidate attachment direction is determined by the spatial vector pointing from the candidate grounding fixing point to the candidate conductor attachment point.

[0030] Positioning quality is used to determine the screening range of candidate conductor attachment points and candidate grounding fixation points. In this embodiment, the preset positioning conditions are: no less than 8 satellites, differential state is either differential effective or fixed solution, and horizontal positioning accuracy factor is no greater than 1.5. When the positioning quality meets the preset positioning conditions, candidate conductor attachment points are screened according to the first screening radius corresponding to the positioning quality, centered on the GNSS coordinates of the conductor end, and candidate grounding fixation points are screened according to the first screening radius, centered on the GNSS coordinates of the grounding end. The first screening radius can be 2m. When the positioning quality does not meet the preset positioning conditions, candidate conductor attachment points are screened according to the second screening radius corresponding to the positioning quality, centered on the GNSS coordinates of the conductor end, and candidate grounding fixation points are screened according to the second screening radius, centered on the GNSS coordinates of the grounding end. The second screening radius is greater than the first screening radius. The second screening radius can be 8m. The first and second screening radii are preset in the operation management platform according to the positioning quality level, or they can be calculated based on the number of satellites, differential state, and horizontal positioning accuracy factor. When the positioning quality is high, the spatial range of the candidate splicing scheme is narrowed; when the positioning quality is low, the spatial range of the candidate splicing scheme is expanded, and the actual splicing scheme is determined through subsequent length verification, direction verification and response matching.

[0031] After obtaining candidate connection schemes, the operation management platform verifies the selected schemes based on the allowable deviations for grounding wire length and connection direction contained in the operation constraint information. The platform calculates the grounding wire length deviation corresponding to each candidate scheme. This deviation is the absolute value of the difference between the spatial distance between the candidate conductor connection point and the candidate grounding fixing point and the grounding wire length in the grounding wire layout information. The platform identifies candidate connection schemes whose grounding wire length deviation does not exceed the allowable deviation as the first candidate scheme. Subsequently, the platform calculates the directional deviation between the candidate connection direction of the first candidate scheme and the actual orientation corresponding to the attitude data, and identifies the first candidate scheme whose directional deviation does not exceed the allowable deviation as the verified candidate scheme. The verified candidate schemes then proceed to the subsequent response matching process.

[0032] Before the grounding wire is initially connected, the state-sensing positioning device performs configuration verification on the grounding wire body. The grounding wire body is equipped with preset impedance marker segments, each with a corresponding marker response characteristic to the grounding wire number or length, forming a complete marker response sequence when the grounding wire body is intact. These preset impedance marker segments are located in the detection branch of the grounding wire body, which is connected to the main grounding conductor via a current-limiting element, ensuring that the detection branch does not affect the main grounding current path. Different grounding wire numbers correspond to different impedance marker combinations, and different grounding wire lengths correspond to different marker response delays or impedance response arrangements. When the grounding wire body is intact, the coded detection signal can sequentially excite each preset impedance marker segment, forming a complete marker response sequence; if the grounding wire body has broken strands, loose connections, or a disconnected detection branch, the marker response sequence will be missing, have an abnormal sequence, or exhibit abnormal response amplitude.

[0033] Before the initial connection of the grounding wire, the state-aware positioning device applies a coded detection signal to the grounding wire body and collects the identification response data generated by the preset impedance identification segment. Subsequently, the state-aware positioning device matches the identification response data with the identification response characteristics to verify the grounding wire number, grounding wire length, or the integrity of the grounding wire body. When the grounding wire number or length does not match the grounding wire layout information, or when the identification response data indicates that the grounding wire body is incomplete, the state-aware positioning device outputs a grounding wire configuration anomaly result. This grounding wire configuration anomaly result occurs before the initial connection of the grounding wire and serves to prompt on-site personnel to replace the grounding wire with the correct number or length, or to inspect the grounding wire body.

[0034] After the grounding wire is initially connected, the conductor-side end acquires clamping status data, and the grounding-side end acquires grounding status data. Clamping status data includes clamping force, clamp closure status, and clamping stability duration. Grounding status data includes grounding resistance, soil penetration depth, and grounding terminal connection status. After the conductor-side end is clamped to the target conductor, the conductor-side clamping status acquisition unit sends the clamping force, clamp closure status, and clamping stability duration to the status sensing and positioning device. After the grounding-side end is inserted into the permissible grounding area, the grounding status acquisition unit sends the grounding resistance, soil penetration depth, and grounding terminal connection status to the status sensing and positioning device.

[0035] After the initial connection is completed, the state-aware positioning device applies an coded detection signal to the grounding wire loop. The coded detection signal is a detection electrical signal carrying a preset coded sequence. It consists of a multi-frequency electrical signal modulated by a pseudo-random binary sequence, with its frequency located within the grounding wire loop's safety detection frequency band. Both the signal voltage and detection current are limited by a current-limiting circuit. After the coded detection signal is applied to the grounding wire loop, the first response acquisition unit at the conductor end acquires first response data, and the second response acquisition unit at the grounding end acquires second response data. The first and second response data each include at least two of the following: response amplitude, response phase, transmission delay, and impedance change. In this embodiment, both the first and second response data include response amplitude, response phase, transmission delay, and impedance change.

[0036] The synchronous acquisition process is performed according to the same time base. The first and second response acquisition units acquire voltage, current, or equivalent response signals at the same sampling frequency and write the sampling timestamps into the acquired data. The state-aware positioning device performs time alignment on the first and second response data. During time alignment, the state-aware positioning device uses the starting point of the encoded sequence of the encoded detection signal as a reference point to align the sampling points corresponding to the same encoded segments in the first and second response data, forming response data. The response data is used to reflect the response amplitude attenuation, response phase change, transmission delay change, and impedance change after the encoded detection signal propagates between the conductor end, the grounding wire body, and the grounding end.

[0037] To generate preset response characteristics, the job management platform pre-calibrates the grounding loop response model. The pre-calibrated grounding loop response model is established using table lookup and parameter interpolation methods. When establishing a pre-calibrated grounding loop response model, grounding wires of different lengths, conductor ends with different clamping states, grounding ends with different grounding resistance conditions, and grounding loops laid out in different directions are first prepared in the laboratory. Then, coded detection signals consistent with those in the field are applied to each test loop, and the response amplitude, response phase, transmission delay, and impedance change are collected. Each set of test data is then associated and stored with the corresponding grounding wire length, conductor side contact state, grounding side contact state, connection direction, and loop spatial layout conditions. Subsequently, field calibration is performed in known tower sections, known conductor segments, and known grounding areas, recording candidate conductor connection points, candidate grounding fixing points, candidate connection directions, line GIS topology, and equivalent length of grounding wires, and collecting corresponding response data. Finally, the laboratory calibration data and field calibration data are compiled into a grounding loop response data table. The input fields of the grounding loop response data table include candidate conductor connection points, candidate grounding fixing points, candidate connection directions, line GIS topology, and equivalent length of grounding wires, and the output fields include response amplitude range, response phase range, transmission delay range, and impedance change range. When used in the field, the operation management platform obtains the response range corresponding to the candidate connection scheme by looking up the grounding circuit response data table and interpolating adjacent calibration points.

[0038] For any candidate connection scheme, the operation management platform calls the pre-calibrated grounding loop response model. Based on the candidate conductor connection point, candidate grounding fixation point, candidate connection direction, line GIS topology, and the equivalent length of the grounding wire determined by the candidate conductor connection point and candidate grounding fixation point, it generates at least two of the following response amplitude range, response phase range, transmission delay range, and impedance change range corresponding to the candidate connection scheme:

[0039] The state-aware positioning device matches the actual collected response data with the preset response characteristics corresponding to each candidate mounting scheme, and combines this with clamping state data and grounding state data to determine the actual mounting scheme from multiple candidate mounting schemes. When determining the actual mounting scheme, the state-aware positioning device calculates the matching deviation for each candidate mounting scheme, and the matching deviation satisfies the following: ; in, Indicates the first Matching deviation of each candidate mounting scheme; Indicates overall positioning quality; Indicates the first Normalized positional deviation of each candidate mounting scheme; Indicates the first Normalization direction deviation of each candidate splicing scheme; Indicates the first Normalized response amplitude deviation of each candidate connection scheme; Indicates the first Normalized response phase deviation of each candidate mounting scheme; Indicates the first Normalized transmission delay deviation of each candidate splicing scheme; Indicates the first Normalized impedance variation deviation of each candidate connection scheme; , and These represent the position deviation weighting coefficient, orientation deviation weighting coefficient, and response deviation weighting coefficient, respectively. All normalized deviations are dimensionless values. , and All are non-negative weighting coefficients.

[0040] Overall positioning quality The overall positioning quality is determined based on the positioning quality. In this embodiment, the state-aware positioning device converts the number of satellites, differential status, and horizontal positioning accuracy factor into normalized sub-scores, and then calculates the overall positioning quality according to preset weights. The more satellites, the higher the corresponding sub-score; the differential status progresses from ordinary single-point solution, differential valid solution, floating-point solution to fixed solution, corresponding to successively higher sub-scores; the smaller the horizontal positioning accuracy factor, the higher the corresponding sub-score. Higher overall positioning quality indicates more reliable GNSS coordinates; lower overall positioning quality indicates more significant impact from GNSS coordinate obstruction, multipath propagation, or differential failure.

[0041] The normalized position deviation is obtained by normalizing the distance deviations between the candidate wire connection point, the candidate grounding fixing point, and the GNSS coordinates of the wire end and the grounding end corresponding to the candidate connection scheme. In practice, the state-aware positioning device divides the distance deviation by the screening radius corresponding to the current positioning quality to obtain the normalized position deviation. The normalized direction deviation is obtained by normalizing the angle difference between the candidate connection direction and the actual orientation corresponding to the attitude data. In practice, the state-aware positioning device divides the angle difference by the allowable deviation of the connection direction to obtain the normalized direction deviation. The normalized response amplitude deviation, normalized response phase deviation, normalized transmission delay deviation, and normalized impedance change deviation are obtained by normalizing the deviation of the actual response data from the corresponding response range in the preset response characteristics. When the actual response data falls within the corresponding response range, the corresponding response deviation takes a preset smaller value; when the actual response data exceeds the corresponding response range, the corresponding response deviation increases according to the ratio of the excess amount to the width of the response range.

[0042] When the overall positioning quality deteriorates, the reliability of the position deviation decreases, and the position deviation weighting coefficient... Reduce the response bias weighting coefficient Increasing the weighting factor enhances the role of response data in determining the actual docking scheme. As overall positioning quality improves, the reliability of GNSS coordinates increases, and the position deviation weighting factor... Increase the response bias weighting coefficient Decreasing this factor increases the role of GNSS coordinates in determining the actual docking scheme. Direction deviation weighting coefficient. The orientation deviation weighting coefficient is determined based on attitude data stability and overall positioning quality. When attitude data stability decreases, the orientation deviation weighting coefficient... Reduce; when attitude data stability is improved, the orientation deviation weighting coefficient is reduced. The state-aware positioning device, among candidate attachment schemes that meet the operational constraints, determines the one with the smallest matching deviation as the actual attachment scheme.

[0043] After determining the actual connection scheme, the state-aware positioning device determines the actual connection position and direction based on the scheme. The actual connection position includes the candidate conductor connection point and the candidate grounding fixing point corresponding to the scheme. The process of determining the connection direction includes: determining the initial connection direction from the candidate grounding fixing point to the candidate conductor connection point based on the candidate conductor connection point and the candidate grounding fixing point; and verifying the initial connection direction based on at least one of the response phase difference, transmission delay difference, and impedance change difference between the first and second response data. When the grounding wire is connected according to the target connection direction, the response phase difference, transmission delay difference, and impedance change difference between the first and second response data fall within the range corresponding to the target connection direction. If the verification result is consistent with the target connection direction in the work constraint information, the initial connection direction is determined as the connection direction. If the verification result is inconsistent with the target connection direction in the work constraint information, the connection direction is determined to be inconsistent with the work constraint information, and a connection anomaly result is output to indicate the connection direction is abnormal.

[0044] The state-aware positioning device determines the grounding wire state based on response data, clamping state data, and grounding state data. Preset response characteristics include conductor-side response characteristics characterizing the conductor-side contact state and grounding-side response characteristics characterizing the grounding-side contact state. The conductor-side response characteristics consist of the response amplitude range, response phase range, transmission delay range, and impedance change range corresponding to reliable clamping and reliable conduction at the conductor-side end. The grounding-side response characteristics consist of the response amplitude range, response phase range, transmission delay range, and impedance change range corresponding to reliable grounding at the grounding end and meeting grounding resistance requirements. The conductor-side response characteristics primarily reflect the response amplitude, response phase, and impedance changes related to the conductor-side contact interface in the first response data. The grounding-side response characteristics primarily reflect the response amplitude attenuation, transmission delay, and impedance changes related to the grounding-side contact interface in the second response data.

[0045] When the clamping status data meets the preset clamping conditions and the response data does not fall within the response range of the conductor-side response characteristics corresponding to the actual connection scheme, the state-sensing positioning device determines the grounding wire status as a loose connection on the conductor side. This judgment indicates that the mechanical clamping action at the conductor-side end has been completed, but the response of the coded detection signal at the conductor-side contact interface does not reach the response range of reliable contact, indicating that there is a risk of contact surface oxidation, clamping surface contamination, clamping position misalignment, or local non-conductivity at the conductor-side end. When the grounding status data meets the preset grounding conditions and the response data does not fall within the response range of the grounding side response characteristics corresponding to the actual connection scheme, the state-sensing positioning device determines the grounding wire status as an unreliable grounding contact. This judgment indicates that the soil penetration depth or grounding resistance at the grounding side end meets the basic detection requirements, but the response of the coded detection signal at the grounding side contact interface does not reach the response range of reliable grounding, indicating that there is loose contact, local gaps, or loose grounding terminal connection between the grounding steel rod and the soil. When the response data formed based on the first and second response data is interrupted or abruptly changed, the state-sensing positioning device determines the grounding wire status as an abnormal grounding wire connection. Interrupted response data indicates that the coded detection signal cannot form a continuous response between the conductor end and the grounding end; abrupt change in response data indicates that the response amplitude, response phase, transmission delay, or impedance change exceeds the abrupt change threshold in a short period of time, indicating that there is an abnormality in the grounding wire body, end connection, or intermediate connection.

[0046] When the actual grounding scheme meets the operational constraints and the grounding wire status is not determined to be a loose connection on the conductor side, an unreliable grounding contact, or an abnormal grounding wire connection, the status sensing and positioning device will determine the grounding wire status as a normal grounding. A normal grounding indicates that the actual grounding position conforms to the target tower section, the target grounding conductor information, and the permissible grounding area; the grounding direction conforms to the target grounding direction; and the conductor side end, the grounding wire body, and the grounding side end of the grounding wire all form a valid connection.

[0047] After the grounding wire status is determined to be normally connected, the status-aware positioning device saves the actual connection scheme and the corresponding response data, forming a reference response record. The reference response record includes the actual connection scheme, actual connection position, connection direction, response amplitude, response phase, transmission delay, impedance change, clamping status data, grounding status data, and recording time. During maintenance operations, the status-aware positioning device applies an coded detection signal to the grounding wire loop again according to a preset cycle and collects new response data. The status-aware positioning device calculates the response deviation between the new response data and the response data in the reference response record, and when the response deviation exceeds a preset drift threshold, it outputs one of the following connection anomalies: loose conductor side, loose grounding side, detached grounding wire, or shifted grounding wire position. Specifically, when the response deviation is mainly reflected in the first response data and the clamping status data fluctuates, the output wire side becomes loose; when the response deviation is mainly reflected in the second response data and the grounding status data fluctuates, the output grounding side becomes loose; when both the first and second response data are interrupted, the output grounding wire falls off; when the GNSS coordinates change significantly and the response deviation continues to exceed the preset drift threshold, the position of the output grounding wire moves.

[0048] Through the above implementation process, the operation management platform uses maintenance work orders, line GIS topology, and grounding wire layout information to determine operation constraints. Then, it uses GNSS coordinates, positioning quality, attitude data, and grounding wire length constraints at the conductor and grounding ends to generate multiple candidate connection schemes. Subsequently, the state-aware positioning device acquires the response data of the grounding wire loop through coded detection signals, matches the response data with the preset response characteristics corresponding to each candidate connection scheme, and determines the actual connection scheme from among the multiple candidate schemes. This implementation process establishes a continuous data processing chain from GNSS coordinates, line GIS topology, attitude data, coded detection response, clamping status data, and grounding status data, enabling the determination of the actual connection location, connection direction, and grounding wire status.

[0049] This method can solve problems such as grounding wire positioning errors, misjudgment of multiple circuits on the same pole, inaccurate judgment of grounding wire direction, normal clamping status but loose connection on the conductor side, normal grounding status but unreliable grounding contact, and loosening or detachment of grounding wires during maintenance. The actual connection scheme is determined by the candidate connection scheme and the coded detection response, which can reduce the impact of simple GNSS coordinate errors on the final result; the grounding wire status is determined by the response data, clamping status data, and grounding status data, which can reduce false confirmations caused by misjudgments from a single sensor; the reference response record is used for continuous verification, which can promptly identify changes in the grounding wire status during maintenance. The above hardware components, data acquisition methods, candidate connection scheme generation rules, coded detection response matching methods, and anomaly judgment rules enable those skilled in the art to implement the grounding wire status perception and positioning method of this embodiment.

[0050] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A grounding wire state perception and positioning method based on multi-source sensing and GNSS, characterized in that, include: Obtain maintenance work orders and associated line GIS topology and grounding wire layout information, determine target tower sections, target connecting conductor information and allowable grounding areas, and generate work constraint information; Obtain GNSS coordinates, positioning quality, and attitude data for both the conductor-side end and the grounding-side end of the grounding wire; Based on the GNSS coordinates, positioning quality, attitude data, line GIS topology, and grounding wire length constraints, multiple candidate splicing schemes are generated. After the grounding wire is initially connected, the clamping status data of the conductor side end and the grounding status data of the grounding side end are obtained. An coded detection signal is applied to the grounding wire loop, and the response data of the conductor side end and the grounding side end are collected simultaneously. The response data is matched with the preset response features corresponding to each of the candidate connection schemes, and the actual connection scheme is determined from the multiple candidate connection schemes by combining the clamping state data and the grounding state data. The actual connection position and direction are determined according to the actual connection scheme, and the grounding wire status is determined according to the response data, clamping status data and grounding status data. When the actual attachment position, attachment direction, or grounding wire status does not meet the operational constraints, an abnormal positioning or attachment result will be output.

2. The grounding wire state perception and positioning method based on multi-source sensing and GNSS according to claim 1, characterized in that, The candidate connection schemes include candidate conductor connection points, candidate grounding fixing points, and candidate connection directions; Generating multiple candidate splicing schemes includes: selecting conductor segments located in the target tower section and its adjacent sections from the line GIS topology that meet the target splicing conductor information, and matching the GNSS coordinates of the conductor side end with the selected conductor segments to obtain multiple candidate conductor splicing points; Based on the GNSS coordinates of the grounding side end, a plurality of candidate grounding fixed points are determined within the permitted grounding area; The candidate wire connection points are combined with the candidate grounding fixing points, and the corresponding candidate connection direction is generated from the combination results based on the attitude data and the grounding wire length constraint.

3. The grounding wire state perception and positioning method based on multi-source sensing and GNSS according to claim 2, characterized in that, The positioning quality includes at least two of the following: number of satellites, differential status, and horizontal positioning accuracy factor; Generating multiple candidate attachment schemes includes: When the positioning quality of the conductor end and the positioning quality of the grounding end both meet the preset positioning conditions, the candidate conductor connection point is selected with the GNSS coordinates of the conductor end as the center and the first screening radius corresponding to the positioning quality of the conductor end is used to select the candidate grounding fixing point. When the positioning quality of the conductor end or the grounding end does not meet the preset positioning conditions, the candidate conductor connection point is selected with the GNSS coordinates of the conductor end as the center and according to the second screening radius corresponding to the positioning quality of the conductor end. The candidate grounding fixing point is selected with the GNSS coordinates of the grounding end as the center and according to the second screening radius corresponding to the positioning quality of the grounding end. The second screening radius is greater than the first screening radius. Based on the allowable deviation of grounding wire length and allowable deviation of hanging direction contained in the operation constraint information, the selected candidate hanging schemes are checked; the grounding wire length deviation corresponding to the selected candidate hanging schemes is calculated, and the candidate hanging schemes whose grounding wire length deviation does not exceed the allowable deviation of grounding wire length are determined as the first candidate hanging schemes; Calculate the directional deviation between the candidate attachment direction of the first candidate attachment scheme and the actual orientation corresponding to the attitude data, and determine the first candidate attachment scheme whose directional deviation does not exceed the allowable deviation of the attachment direction as the verified candidate attachment scheme.

4. The grounding wire state perception and positioning method based on multi-source sensing and GNSS according to claim 2, characterized in that, The coded detection signal is a detection electrical signal carrying a preset coded sequence; The response data includes at least two of the following: response amplitude, response phase, transmission delay, and impedance change, respectively collected from the conductor-side end and the grounding-side end. The synchronous acquisition includes acquiring first response data from the conductor-side end and second response data from the grounding-side end according to the same time reference, and aligning the first response data and the second response data in time to form the response data.

5. The grounding wire state perception and positioning method based on multi-source sensing and GNSS according to claim 4, characterized in that, The preset response features are generated according to each of the candidate attachment schemes; For any of the candidate connection schemes, a pre-calibrated grounding loop response model is invoked; based on the candidate conductor connection point, candidate grounding fixation point, candidate connection direction, line GIS topology, and the equivalent length of the grounding wire determined by the candidate conductor connection point and the candidate grounding fixation point in the candidate connection scheme, at least two of the following are generated: response amplitude range, response phase range, transmission delay range, and impedance change range corresponding to the candidate connection scheme. The generated response range is used as the preset response feature corresponding to the candidate attachment scheme.

6. The grounding wire state awareness and positioning method based on multi-source sensing and GNSS according to claim 5, characterized in that, Determining the actual attachment scheme from a plurality of candidate attachment schemes includes: calculating a matching deviation for each candidate attachment scheme, the matching deviation satisfying: ; in, Indicates the first Matching deviation of each candidate mounting scheme This indicates the overall positioning quality, and the overall positioning quality is determined based on the positioning quality. Indicates the first Normalized positional deviation of each candidate splicing scheme; Indicates the first Normalization direction deviation of each candidate splicing scheme; Indicates the first Normalized response amplitude deviation of each candidate connection scheme; Indicates the first Normalized response phase deviation of each candidate mounting scheme; Indicates the first Normalized transmission delay deviation of each candidate splicing scheme; Indicates the first Normalized impedance variation deviation of each candidate connection scheme; , and These represent the position deviation weighting coefficient, orientation deviation weighting coefficient, and response deviation weighting coefficient, respectively; when the overall positioning quality decreases... Decrease and Increase; when the overall positioning quality improves Increase and Decrease; Among the candidate attachment schemes that satisfy the job constraint information, the candidate attachment scheme with the smallest matching deviation is determined as the actual attachment scheme.

7. The grounding wire state awareness and positioning method based on multi-source sensing and GNSS according to claim 6, characterized in that, Determining the mounting direction based on the actual mounting scheme includes: Based on the candidate wire connection point and candidate grounding fixing point corresponding to the actual connection scheme, determine the initial connection direction from the candidate grounding fixing point to the candidate wire connection point; The initial mounting direction is checked based on at least one of the response phase difference, transmission delay difference, and impedance change difference between the first response data and the second response data. When the verification result is consistent with the target attachment direction in the job constraint information, the initial attachment direction is determined as the attachment direction; When the verification result is inconsistent with the target attachment direction in the job constraint information, it is determined that the initial attachment direction does not meet the target attachment direction, and an abnormal attachment direction result is output.

8. The grounding wire state awareness and positioning method based on multi-source sensing and GNSS according to claim 6, characterized in that, Determining the state of the grounding wire includes: The preset response features include conductor-side response features for characterizing conductor-side contact state and ground-side response features for characterizing ground-side contact state. When the clamping state data meets the preset clamping conditions and the response data does not fall within the response range of the conductor-side response characteristics corresponding to the actual connection scheme, the grounding wire state is determined to be a conductor-side virtual connection. When the grounding status data meets the preset grounding conditions and the response data does not fall within the response range of the grounding side response characteristics corresponding to the actual connection scheme, the grounding wire status is determined to be unreliable grounding side contact. When the response data formed based on the first response data and the second response data is interrupted or abruptly changed, the grounding wire state is determined to be an abnormal grounding wire connection.

9. The grounding wire state perception and positioning method based on multi-source sensing and GNSS according to claim 8, characterized in that, When the actual connection scheme meets the operational constraints and the grounding wire status is not determined to be a loose connection on the conductor side, an unreliable contact on the grounding side, or an abnormal grounding wire connection, the grounding wire status is determined to be a normal connection. After the grounding wire status is determined to be a normal connection, the actual connection scheme and the response data corresponding to the actual connection scheme are saved to form a baseline response record. During the maintenance work, the coded detection signal is applied to the grounding circuit again, and new response data is collected. Calculate the response deviation between the new response data and the response data in the reference response record, and when the response deviation exceeds a preset drift threshold, output one of the following connection abnormalities: loose wire side, loose grounding side, detached grounding wire, or moved grounding wire position.

10. The grounding wire state awareness and positioning method based on multi-source sensing and GNSS according to claim 1, characterized in that, The grounding wire body is provided with a preset impedance marking segment. The preset impedance marking segment has marking response characteristics corresponding to the grounding wire number or grounding wire length, and forms a complete marking response sequence when the grounding wire body is intact. Before the grounding wire is initially connected, the coded detection signal is applied to the grounding wire body to collect the identification response data generated by the preset impedance identification segment; The identification response data is matched with the identification response features to verify the grounding wire number, grounding wire length, or grounding wire body integrity. When the grounding wire number or grounding wire length does not match the grounding wire layout information, or when the grounding wire body is determined to be incomplete based on the identification response data, an abnormal grounding wire configuration result is output.

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