A method, system, medium and product for inductively locating low-voltage distribution area equipment

Abstract

The application discloses a kind of methods, systems, media and products of low-voltage station area equipment of non-inductive positioning, belong to low-voltage station area positioning field, the method is: real-time acquisition mobile operation palm computer in each time position, its and each first intelligent electric meter between first ranging value, and each first intelligent electric meter and its adjacent second intelligent electric meter between second ranging value;Wherein first intelligent electric meter is with mobile operation palm computer communication connection electric meter, second intelligent electric meter is only with first intelligent electric meter communication connection and not with palm computer connection electric meter;According to each mobile position and corresponding first ranging value, the coordinate position of each first intelligent electric meter is calculated using three-point positioning algorithm;The coordinate position of each second intelligent electric meter is calculated using three-point positioning algorithm in combination with the first intelligent electric meter coordinate position determined and second ranging value. Through implementation of the present application, the problem that low-voltage station area equipment in prior art cannot be inductively, high-precision, full-coverage positioning in complex environment can be solved.

Description

Technical Field

[0001] This invention belongs to the field of low-voltage distribution area positioning, and relates to a method, system, medium and product for non-inductive positioning of low-voltage distribution area equipment. Background Technology

[0002] As the end point of the distribution network, low-voltage distribution areas contain a large number of distributed smart meters and other equipment. Their geographical location information is the fundamental support for carrying out operation and maintenance operations such as fault repair, anti-electricity theft investigation, and ledger management. With the advancement of smart grid construction, higher requirements are placed on the accuracy and timeliness of distribution area equipment location data.

[0003] Current mainstream methods for locating low-voltage distribution equipment mainly include manual on-site recording, adding GPS modules, or relying on image recognition technology. Manual recording is inefficient and error-prone, and difficult to adapt to scenarios with dynamic equipment changes; GPS modules suffer severe signal attenuation in complex environments such as building obstructions and enclosed distribution boxes, compromising positioning accuracy; while image recognition methods are limited by factors such as lighting, viewing angle, and metering box obstructions, resulting in limited coverage and privacy compliance risks. None of these methods can achieve reliable, high-precision positioning of all equipment in the entire distribution area without additional manual intervention. Summary of the Invention

[0004] This application provides a method, system, medium, and product for non-intrusive positioning of low-voltage distribution area equipment, which can solve the problem in the prior art that low-voltage distribution area equipment cannot be positioned non-intrusively, with high precision, and with full coverage in complex environments.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a method for non-intrusive positioning of low-voltage distribution area equipment, comprising: The system acquires in real time the mobile maintenance handheld device's location at each time point, the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each location, and the second distance measurement value between each first smart meter and each adjacent second smart meter; wherein, the first smart meter is the meter currently communicating with the mobile maintenance handheld device, and the second smart meter is the meter currently communicating with the first smart meter but not with the mobile maintenance handheld device. Based on the stated moving position and the first distance measurement value, the coordinate position of each first smart meter is calculated using the three-point positioning method. Based on the coordinate position of each first smart meter and the second distance measurement value, the coordinate position of each second smart meter is calculated using the three-point positioning method.

[0006] Compared to existing technologies, the embodiments of this application have the following beneficial effects: real-time acquisition of movement location, first ranging value, and second ranging value; automatic collection of raw data required for positioning during normal staff inspections, avoiding manual intervention and additional operations; calculation of the coordinate position of each first smart meter using a three-point positioning method based on each movement location and the first ranging value; using the high-precision GPS position of the mobile maintenance handheld device as a known reference point; and combining multiple sets of ranging data to calculate the precise coordinates of directly reachable meters; and further employing three-point positioning again based on the calculated coordinate position and second ranging value of the first smart meter. The method calculates the coordinates of each second smart meter and uses the located meters as new virtual reference base stations to extend the positioning coverage to signal blind spots or devices not directly contacted by the PAD. The synergistic effect of these features makes the entire solution not only independent of meter-end GPS (solving the problem of obstruction failure) but also eliminates the need for manual marking or image recognition (avoiding privacy and lighting limitations). Thus, without increasing the maintenance burden, it achieves seamless, high-precision, and full-coverage positioning of all smart meters in the low-voltage distribution area, solving the core problems of low manual efficiency, susceptibility of single positioning modules to environmental interference, and poor applicability of image methods in existing technologies.

[0007] In some embodiments of the first aspect of this application, the real-time acquisition of the mobile maintenance handheld device's position at various times and the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each position includes: The mobile operation and maintenance handheld device can be used to obtain the mobile location of the device at any time, as well as the wireless broadcast signals received from nearby smart meters at each location. Based on the wireless broadcast signals at each mobile location, the corresponding signal strength and signal-to-noise ratio are extracted and weighted fusion calculation is performed to obtain the communication quality score corresponding to each neighboring smart meter at each mobile location. The communication quality scores at each mobile location are sorted, and the nearest smart meters with communication quality scores greater than or equal to a preset threshold are selected as the first smart meters at that mobile location. At each mobile location, a communication connection is established between the mobile maintenance handheld device and each of the first smart meters, and wireless ranging is performed based on each of the communication connections to obtain each of the first ranging values.

[0008] Compared with existing technologies, the above embodiments have the following beneficial effects: by acquiring the mobile maintenance handheld device's location at each moment and receiving wireless broadcast signals from nearby smart meters, and calculating the communication quality score based on signal strength and signal-to-noise ratio weighted fusion, the reliability of the wireless link is quantified; furthermore, by sorting the communication quality scores at each mobile location and selecting meters higher than a preset threshold as the first smart meters, low-quality ranging connections caused by signal attenuation or multipath effects are actively eliminated; at the same time, by establishing a communication connection between the mobile maintenance handheld device and the selected first smart meters at each mobile location and performing wireless ranging, the ranging data used for subsequent positioning has a high signal-to-noise ratio and temporal consistency, improving the accuracy of the three-point positioning input data, thereby reducing the coordinate calculation error introduced by invalid ranging.

[0009] In some embodiments of the first aspect of this application, the process of acquiring the mobile maintenance handheld device's location at each time point and the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each location in real time further includes: In real time, it is determined whether the first connected smart meter meets the disconnection conditions. If any disconnection condition is met, the mobile maintenance handheld device is controlled to disconnect the communication connection with the first smart meter. The disconnection conditions include: failure to acquire mobile data or calculate the first ranging value within a preset time period, and the communication quality score corresponding to the communication connection between the first smart meter and the mobile maintenance handheld device being lower than a preset threshold.

[0010] Compared to existing technologies, the above embodiments have the following beneficial effects: By determining in real time whether the connected first smart meter meets the disconnection conditions during the real-time acquisition of the mobile location and the first ranging value, and controlling the mobile maintenance handheld device to disconnect when any condition is met, dynamic cleanup of invalid or inefficient connections is achieved; wherein, using "failure to acquire mobile data or calculate the first ranging value within a preset time" as the disconnection condition can promptly release connection resources that have been occupied for a long time due to device inactivity, communication interruption, or ranging failure; at the same time, using "communication quality score lower than a preset threshold" as another disconnection condition can avoid continuing to collect unreliable ranging data after signal degradation; the above mechanism ensures that the connection queue is always composed of high-quality, active meters, improving data acquisition efficiency and the robustness of subsequent positioning processes.

[0011] In some embodiments of the first aspect of this application, the step of performing wireless ranging based on each of the communication connections to obtain each of the first ranging values ​​includes: In each of the aforementioned communication connections, the first timestamp of the mobile maintenance handheld device sending a ranging request message to each of the first smart meters, the processing time of the first smart meter processing the ranging request message, and the second timestamp of the mobile maintenance handheld device receiving the response message returned by the first smart meter are obtained. Based on the first timestamp, the second timestamp, the processing time, and the speed of light, the physical distance between the mobile maintenance handheld device and each of the first smart meters is calculated as the first distance measurement value.

[0012] Compared with existing technologies, the above embodiments have the following beneficial effects: by obtaining the first timestamp of the ranging request sent by the mobile maintenance handheld device, the processing time of the request processed internally by the first smart meter, and the second timestamp of the response received by the mobile maintenance handheld device in each communication connection, and combining the physical distance calculated by the speed of light as the first ranging value, the fixed processing delay in the round-trip path of the wireless signal is completely modeled, eliminating the ranging system deviation caused by the difference in response time at the meter end; this method is based on the time-of-flight principle, does not rely on signal strength or phase information, and has strong anti-interference capability against multipath and non-line-of-sight propagation, thereby providing high-precision and low-deviation distance input for three-point positioning.

[0013] In some embodiments of the first aspect of this application, after calculating the physical distance between the mobile maintenance handheld device and each of the first smart meters as each of the first ranging values, the method further includes: Determine whether the time difference between the generation time of the first ranging value and the generation time of the coordinates of the corresponding moving position is greater than a preset time difference threshold. If so, discard the first ranging value data calculated in this instance. Determine whether the spatial distance between the current moving position and the previously recorded moving position is less than a preset minimum moving distance threshold or greater than a preset maximum moving distance threshold. If so, replace the previously recorded moving position with the current moving position.

[0014] Compared with existing technologies, the above embodiments have the following beneficial effects: by calculating the first ranging value, determining whether the time difference between its generation time and the coordinate generation time of the corresponding moving position is greater than a preset time difference threshold, and discarding the ranging data when the threshold is exceeded, effectively eliminating spatiotemporal misalignment data caused by asynchronous sampling of GPS and the ranging module; further, by determining whether the spatial distance between the current moving position and the previously recorded moving position is less than the minimum moving distance threshold or greater than the maximum moving distance threshold, and replacing the historical record with the current moving position when the conditions are met, redundant data is avoided due to minor device vibrations, and abnormal location points are suppressed due to GPS jumps or signal drift; the above dual verification mechanism ensures that the "moving position-ranging value" data pair used for positioning is highly synchronized and reliable in both time and space, significantly improving the geometric stability and result accuracy of three-point positioning.

[0015] In some embodiments of the first aspect of this application, the calculation of the coordinate positions of each second smart meter based on the coordinate positions of each first smart meter and the second ranging value using a three-point positioning method includes: For each second smart meter, if the number of its adjacent first smart meters is greater than three, multiple rounds of calculation are performed based on the coordinate positions of each adjacent first smart meter and the corresponding second distance measurement value to obtain multiple initial coordinate positions. In each round of calculation, the coordinate positions of three adjacent first smart meters and the corresponding second distance measurement value are randomly selected, and the initial coordinate positions are calculated by the three-point positioning method. For each second smart meter, the average value of the corresponding initial coordinate positions is taken as the corresponding coordinate position.

[0016] Compared with existing technologies, the above embodiments have the following beneficial effects: For each second smart meter, when the number of its adjacent first smart meters is greater than three, multiple initial coordinate positions are obtained through multiple rounds of calculation based on the coordinate positions of each adjacent first smart meter and the corresponding second ranging value. In each round, the coordinate positions of three adjacent first smart meters and the corresponding second ranging value are randomly selected to calculate the initial coordinate positions using the three-point positioning method, making full use of redundant observation information. Furthermore, by taking the arithmetic mean of each initial coordinate position as the final coordinate position, the coordinate fluctuations caused by poor geometric configuration, ranging noise, or individual reference point errors in a single three-point positioning are effectively smoothed. This multi-solution fusion strategy significantly improves the stability and anti-interference ability of the indirect positioning results, especially in complex transformer area topologies, where it can effectively suppress error accumulation.

[0017] Secondly, the present invention also provides a system for non-intrusive positioning of low-voltage distribution area equipment, comprising: a data acquisition module and a positioning module; The data acquisition module is used to acquire in real time the mobile maintenance handheld device's position at each time point, the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each position, and the second distance measurement value between each first smart meter and each adjacent second smart meter; wherein, the first smart meter is the meter currently communicating with the mobile maintenance handheld device, and the second smart meter is the meter currently communicating with the first smart meter but not with the mobile maintenance handheld device. The positioning module is used to calculate the coordinate position of each first smart meter using a three-point positioning method based on each of the moving positions and the first distance value, and to calculate the coordinate position of each second smart meter using a three-point positioning method based on the coordinate position of each first smart meter and the second distance value.

[0018] Compared with existing technologies, the above embodiments of this application have the following beneficial effects: real-time acquisition of mobile location, first ranging value, and second ranging value; automatic collection of raw data required for positioning during normal inspection by staff, avoiding manual intervention and additional operations; calculation of the coordinate position of each first smart meter using a three-point positioning method based on the mobile location and the first ranging value; using the high-precision GPS position of the mobile maintenance handheld device as a known reference point; and combining multiple sets of ranging data to calculate the precise coordinates of the directly reachable meters; and further, by using a three-point positioning method again based on the calculated coordinate position and second ranging value of the first smart meter. The positioning method calculates the coordinates of each second smart meter and uses the located meter as a new virtual reference base station to extend the positioning coverage to signal blind spots or devices not directly contacted by the PAD. The synergistic effect of these features makes the whole solution not only independent of the meter-end GPS (solving the problem of obstruction failure) but also eliminates the need for manual marking or image recognition (avoiding privacy and lighting restrictions). Thus, without increasing the maintenance burden, it achieves seamless, high-precision, and full-coverage positioning of all smart meters in the low-voltage distribution area, solving the core problems of low manual efficiency, susceptibility of single positioning modules to environmental interference, and poor applicability of image methods in existing technologies.

[0019] In some embodiments of the second aspect of this application, the data acquisition module includes: a signal acquisition unit, a score calculation unit, a filtering unit, and a first ranging unit; The signal acquisition unit is used to acquire the mobile operation and maintenance handheld device's position at each time, as well as the wireless broadcast signals received from each nearby smart meter at each position. The score calculation unit is used to extract the corresponding signal strength and signal-to-noise ratio based on the wireless broadcast signal at each mobile location, and perform weighted fusion calculation to obtain the communication quality score corresponding to each neighboring smart meter at each mobile location. The filtering unit is used to sort the communication quality scores at each mobile location and filter the neighboring smart meters whose communication quality scores are greater than or equal to a preset threshold as the first smart meters at that mobile location. The first ranging unit is used to establish a communication connection between the mobile maintenance handheld device and each first smart meter at each mobile location, and to perform wireless ranging based on each communication connection to obtain each first ranging value.

[0020] Compared with existing technologies, the above embodiments have the following beneficial effects: by acquiring the mobile maintenance handheld device's location at each moment and receiving wireless broadcast signals from nearby smart meters, and calculating the communication quality score based on signal strength and signal-to-noise ratio weighted fusion, the reliability of the wireless link is quantified; furthermore, by sorting the communication quality scores at each mobile location and selecting meters higher than a preset threshold as the first smart meters, low-quality ranging connections caused by signal attenuation or multipath effects are actively eliminated; at the same time, by establishing a communication connection between the mobile maintenance handheld device and the selected first smart meters at each mobile location and performing wireless ranging, the ranging data used for subsequent positioning has a high signal-to-noise ratio and temporal consistency, improving the accuracy of the three-point positioning input data, thereby reducing the coordinate calculation error introduced by invalid ranging.

[0021] Thirdly, the present invention also provides a computer program product, including a computer program or instructions, characterized in that, when the computer program or instructions are executed, they implement any of the methods for non-intrusive positioning low-voltage distribution area devices of the present invention.

[0022] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the methods for non-sensory positioning low-voltage distribution area devices of the present invention. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating a method for non-intrusive positioning of low-voltage distribution area equipment provided in some embodiments of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of a non-inductive positioning low-voltage distribution area device provided in some embodiments of the present invention.

[0025] Figure 3 This is a schematic diagram of a non-contact data recording method provided in some embodiments of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example 1: Please refer to Figure 1To address the problem of non-intrusive, high-precision, and full-coverage positioning of low-voltage distribution area equipment in complex environments in existing technologies, an embodiment of the present invention provides a method for non-intrusive positioning of low-voltage distribution area equipment, comprising steps S1 to S2: Step S1: Real-time acquisition of the mobile maintenance handheld device's location at each time point, the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each location, and the second distance measurement value between each first smart meter and each adjacent second smart meter; wherein, the first smart meter is the meter currently communicating with the mobile maintenance handheld device, and the second smart meter is the meter currently communicating with the first smart meter but not with the mobile maintenance handheld device.

[0028] Furthermore, in step S1, obtaining the moving position and the first ranging value can be implemented through the following preferred embodiments, including steps S11-S14, as follows: S11: Obtain the mobile operation and maintenance handheld device's location at each time point, and receive wireless broadcast signals from nearby smart meters at each location. S12: Based on the wireless broadcast signals at each mobile location, extract the corresponding signal strength and signal-to-noise ratio, and perform weighted fusion calculation to obtain the communication quality score corresponding to each neighboring smart meter at each mobile location; S13: Sort the communication quality scores at each mobile location, and select the nearest smart meters whose communication quality scores are greater than or equal to a preset threshold as the first smart meters at that mobile location. S14: At each mobile location, establish a communication connection between the mobile maintenance handheld device and each first smart meter, and perform wireless ranging based on each communication connection to obtain each first ranging value.

[0029] In this preferred embodiment, the reliability of the wireless link is quantified by acquiring the mobile maintenance handheld device's location at each time point and receiving wireless broadcast signals from nearby smart meters, and calculating the communication quality score based on signal strength and signal-to-noise ratio weighted fusion. Furthermore, by sorting the communication quality scores at each mobile location and selecting meters with scores higher than a preset threshold as the first smart meters, low-quality ranging connections caused by signal attenuation or multipath effects are actively excluded. Simultaneously, by establishing a communication connection between the mobile maintenance handheld device and the selected first smart meters at each mobile location and performing wireless ranging, the ranging data used for subsequent positioning has a high signal-to-noise ratio and temporal consistency, improving the accuracy of the three-point positioning input data, thereby reducing coordinate calculation errors introduced by invalid ranging.

[0030] Furthermore, in the process of obtaining the moving position and the first ranging value, step S1 also includes step S15, as follows: S15: In real time, determine whether the first connected smart meter meets the disconnection conditions. If any disconnection condition is met, control the mobile maintenance handheld device to disconnect the communication connection with the first smart meter. The disconnection conditions include: failure to acquire mobile data or calculate the first ranging value within a preset time period, and the communication quality score corresponding to the communication connection between the first smart meter and the mobile maintenance handheld device being lower than a preset threshold.

[0031] In this preferred embodiment, during the real-time acquisition of the mobile location and the first ranging value, it is determined in real time whether the connected first smart meter meets the disconnection condition, and the mobile maintenance handheld device is controlled to disconnect when any condition is met, thereby achieving dynamic cleanup of invalid or inefficient connections. Among them, "failure to acquire mobile data or calculate the first ranging value within a preset time" is used as the disconnection condition, which can promptly release connection resources that have been occupied for a long time due to device inactivity, communication interruption, or ranging failure. At the same time, "communication quality score is lower than a preset threshold" is used as another disconnection condition, which can avoid continuing to collect unreliable ranging data after signal degradation. The above mechanism ensures that the connection queue is always composed of high-quality and active meters, improving data acquisition efficiency and the robustness of subsequent positioning processes.

[0032] Furthermore, step S14 can be implemented through the following preferred embodiments, including steps S141-S142, as follows: S141: In each of the communication connections, obtain the first timestamp of the mobile maintenance handheld device sending a ranging request message to each first smart meter, the processing time of the first smart meter processing the ranging request message, and the second timestamp of the mobile maintenance handheld device receiving the response message returned by the first smart meter. S142: Calculate the physical distance between the mobile maintenance handheld device and each first smart meter based on each first timestamp, second timestamp, processing time and speed of light as each first distance measurement value.

[0033] In this preferred embodiment, by obtaining the first timestamp of the ranging request sent by the mobile maintenance handheld device, the processing time of the request processed internally by the first smart meter, and the second timestamp of the response received by the mobile maintenance handheld device in each communication connection, and combining the physical distance calculated by the speed of light as the first ranging value, the fixed processing delay in the round-trip path of the wireless signal is completely modeled, eliminating the ranging system deviation caused by the difference in response time at the meter end. This method is based on the time-of-flight principle, does not rely on signal strength or phase information, and has strong anti-interference capability against multipath and non-line-of-sight propagation, thus providing high-precision and low-deviation distance input for three-point positioning.

[0034] Furthermore, following step S142, steps S143-S144 are also included, as follows: S143: Determine whether the time difference between the generation time of the first ranging value and the generation time of the coordinates of the corresponding moving position is greater than the preset time difference threshold. If so, discard the first ranging value data calculated in this instance. S144: Determine whether the spatial distance between the current moving position and the previously recorded moving position is less than the preset minimum moving distance threshold or greater than the maximum moving distance threshold. If so, replace the previously recorded moving position with the current moving position.

[0035] In this preferred embodiment, after calculating the first ranging value, it is determined whether the time difference between its generation time and the coordinate generation time of the corresponding moving position is greater than a preset time difference threshold. If the threshold is exceeded, the ranging data is discarded, effectively eliminating spatiotemporal misalignment data caused by asynchronous sampling between GPS and the ranging module. Furthermore, it is determined whether the spatial distance between the current moving position and the previously recorded moving position is less than the minimum moving distance threshold or greater than the maximum moving distance threshold. If the conditions are met, the historical record is replaced with the current moving position. This avoids redundant data caused by minor device vibrations and suppresses abnormal location points introduced by GPS jumps or signal drift. The above dual verification mechanism ensures that the "moving position-ranging value" data pair used for positioning is highly synchronized and reliable in both time and space, significantly improving the geometric stability and result accuracy of three-point positioning.

[0036] Step S2: Based on the movement position and the first distance measurement value, calculate the coordinate position of each first smart meter using the three-point positioning method, and based on the coordinate position of each first smart meter and the second distance measurement value, calculate the coordinate position of each second smart meter using the three-point positioning method.

[0037] Furthermore, in step S2, calculating the coordinate positions of each second smart meter can be achieved through the following preferred implementation method, including steps S21-S22, as follows: S21: For each second smart meter, if the number of its adjacent first smart meters is greater than three, multiple rounds of calculation are performed based on the coordinate positions of each adjacent first smart meter and the corresponding second distance measurement value to obtain multiple initial coordinate positions; wherein, in each round of calculation, the coordinate positions of three adjacent first smart meters and the corresponding second distance measurement value are randomly selected, and the initial coordinate positions are calculated by the three-point positioning method. S22: For each second smart meter, take the average value of the corresponding initial coordinate positions as the corresponding coordinate position.

[0038] In this preferred embodiment, for each second smart meter, when the number of adjacent first smart meters is greater than three, multiple initial coordinate positions are obtained through multiple rounds of calculation based on the coordinate positions of each adjacent first smart meter and the corresponding second ranging value. In each round, the coordinate positions of three adjacent first smart meters and the corresponding second ranging value are randomly selected to calculate the initial coordinate positions using the three-point positioning method, making full use of redundant observation information. Furthermore, by taking the arithmetic mean of each initial coordinate position as the final coordinate position, the coordinate fluctuations caused by poor geometric configuration, ranging noise, or errors of individual reference points in a single three-point positioning are effectively smoothed. This multi-solution fusion strategy significantly improves the stability and anti-interference ability of the indirect positioning results, especially in complex transformer area topologies, where it can effectively suppress error accumulation.

[0039] In practical implementation, the wireless ranging module of the mobile maintenance handheld device (PAD) searches for broadcasts from wireless ranging modules of smart meters around the area to be located. It selects N wireless ranging modules, establishes connections, and initiates ranging. Simultaneously, it runs a GPS positioning module to locate itself. Specifically, during positioning, it searches for broadcasts from nearby smart meters. Based on communication parameters Q{signal strength q1, signal-to-noise ratio q2...}, it assigns weights A{a1, a2...} to each communication parameter. Then, it calculates a communication quality score (Score) using a weighted cumulative sum and generates a list of adjacent meter broadcasts from high to low. When the Score of a wireless ranging module exceeds a set threshold TH, the PAD establishes a connection with that wireless ranging module, initiates ranging, and updates the wireless ranging address list. In abnormal situations, such as when the time difference between the data output of the PAD's wireless ranging module and GPS positioning module affects the meter's positioning accuracy, the difference should not exceed 1 second in practical applications. If it exceeds 1 second, the current ranging and latitude / longitude data will not be stored. Alternatively, if the change in distance between the current latitude / longitude and the previous latitude / longitude is less than the set value S_min (preferably 0.3m), it indicates that the maintenance personnel are in the same location, and the current latitude / longitude data will replace the previous record. If the change in distance between the current latitude / longitude and the previous latitude / longitude is greater than the set value S_max (preferably 3m), it indicates that the latitude / longitude data is unreliable due to environmental interference, and the current latitude / longitude data will replace the previous record.

[0040] When calculating the distance between two points, the distance is determined by the time-of-flight (TOF) of the wireless signals between them. Assuming that points 1 and 2 are wirelessly connected, the time required for point 1 to send a message to point 2 and receive a return message from point 2 is denoted as... The processing time required for Point 1 and Point 2 to handle communication requests is denoted as . The distance between points 1 and 2 can then be measured using the following formula. Where c is the speed of light: By analogy, the distance between any two adjacent points in the area to be located by the meter can be measured.

[0041] refer to Figure 3 The diagram illustrates a method for non-intrusive data recording. A staff member, holding a tablet, selects an open area with good communication conditions at the edge of the test area and begins walking around it (e.g.,...). Figure 3 (Trajectory from position 1 to position n). When there are enough distance measurements between a meter and the PAD, the meter's position is calculated using the following three-point positioning method, combined with the latitude and longitude output by the PAD: in , , The distances between the three points and the meter are respectively. , ), ( , ), ( , These are the two-dimensional coordinates of the three points after latitude and longitude transformation. The coordinates calculated for this meter.

[0042] When there are more than 3 known points, select 3 of them to arrange multiple combinations and use the three-point positioning method to solve multiple valid solutions. Take the average value of the multiple valid solutions as the final coordinates.

[0043] In addition, the ranging connection will be disconnected if the meter fails to mark the location within a certain period of time, or if the meter's score is lower than the threshold TH, or if a complete set of location data is not obtained within a certain period of time.

[0044] After obtaining all the first distance values ​​that can be obtained through direct distance measurement, the system retrieves all stored distance values ​​and latitude / longitude data between the PAD and adjacent meters from the PAD, and obtains the latitude / longitude of the located meters and their distance values ​​with adjacent meters. After summarizing the above data, a two-dimensional coordinate matrix and a distance measurement matrix are constructed based on the meter serial numbers of the marked locations and the location serial numbers recorded by the mobile maintenance handheld device. Then, each row of the distance measurement matrix is ​​traversed, and for each unlocated meter, at least three reference points with known two-dimensional coordinates are selected. The three-point positioning method is used to solve for the two-dimensional coordinates of the meter, and the average of multiple valid solutions is taken as the final coordinates to obtain the second distance values. Finally, the two-dimensional coordinates of all meters are converted into latitude and longitude and marked on the map.

[0045] In summary, compared with the prior art, the above embodiments of this application have the following beneficial effects: real-time acquisition of mobile location, first ranging value, and second ranging value; automatic collection of raw data required for positioning during normal inspection by staff, avoiding manual intervention and additional operations; calculation of the coordinate position of each first smart meter using a three-point positioning method based on the mobile location and the first ranging value; using the high-precision GPS position of the mobile maintenance handheld device as a known reference point; and combining multiple sets of ranging data to calculate the precise coordinates of the directly reachable meters; and further calculation of the coordinates of the first smart meters using a three-point positioning method based on the calculated coordinate position and the second ranging value. The point positioning method calculates the coordinates of each second smart meter and uses the located meter as a new virtual reference base station to extend the positioning coverage to signal blind spots or devices not directly contacted by the PAD. The synergistic effect of these features makes the whole solution not only independent of the meter-end GPS (solving the problem of obstruction failure) but also eliminates the need for manual marking or image recognition (avoiding privacy and lighting restrictions). Thus, without increasing the maintenance burden, it achieves seamless, high-precision, and full-coverage positioning of all smart meters in the low-voltage distribution area, solving the core problems of low manual efficiency, susceptibility of single positioning modules to environmental interference, and poor applicability of image methods in existing technologies.

[0046] Example 2: Please refer to Figure 2 Based on the same inventive concept, the present invention discloses a system for non-intrusive positioning of low-voltage distribution area equipment, comprising: a data acquisition module M1 and a positioning module M2; The data acquisition module M1 is used to acquire in real time the mobile maintenance handheld device's position at each time point, the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each position, and the second distance measurement value between each first smart meter and each adjacent second smart meter; wherein the first smart meter is the meter currently communicating with the mobile maintenance handheld device, and the second smart meter is the meter currently communicating with the first smart meter but not with the mobile maintenance handheld device.

[0047] Furthermore, the data acquisition module M1 includes: a signal acquisition unit, a score calculation unit, a filtering unit, and a first ranging unit; The signal acquisition unit is used to acquire the mobile operation and maintenance handheld device's position at each time, as well as the wireless broadcast signals received from each nearby smart meter at each position. The score calculation unit is used to extract the corresponding signal strength and signal-to-noise ratio based on the wireless broadcast signal at each mobile location, and perform weighted fusion calculation to obtain the communication quality score corresponding to each neighboring smart meter at each mobile location. The filtering unit is used to sort the communication quality scores at each mobile location and filter the neighboring smart meters whose communication quality scores are greater than or equal to a preset threshold as the first smart meters at that mobile location. The first ranging unit is used to establish a communication connection between the mobile maintenance handheld device and each first smart meter at each mobile location, and to perform wireless ranging based on each communication connection to obtain each first ranging value.

[0048] In this preferred embodiment, the reliability of the wireless link is quantified by acquiring the mobile maintenance handheld device's location at each time point and receiving wireless broadcast signals from nearby smart meters, and calculating the communication quality score based on signal strength and signal-to-noise ratio weighted fusion. Furthermore, by sorting the communication quality scores at each mobile location and selecting meters with scores higher than a preset threshold as the first smart meters, low-quality ranging connections caused by signal attenuation or multipath effects are actively excluded. Simultaneously, by establishing a communication connection between the mobile maintenance handheld device and the selected first smart meters at each mobile location and performing wireless ranging, the ranging data used for subsequent positioning has a high signal-to-noise ratio and temporal consistency, improving the accuracy of the three-point positioning input data, thereby reducing coordinate calculation errors introduced by invalid ranging.

[0049] Furthermore, the data acquisition module M1 also includes: a connection determination unit; The connection determination unit is used to determine in real time whether the connected first smart meter meets the disconnection conditions. If any disconnection condition is met, the mobile maintenance handheld device is controlled to disconnect the communication connection with the first smart meter. The disconnection conditions include: failure to acquire mobile data or calculate the first ranging value within a preset time period, and the communication quality score corresponding to the communication connection between the first smart meter and the mobile maintenance handheld device being lower than a preset threshold.

[0050] In this preferred embodiment, during the real-time acquisition of the mobile location and the first ranging value, it is determined in real time whether the connected first smart meter meets the disconnection condition, and the mobile maintenance handheld device is controlled to disconnect when any condition is met, thereby achieving dynamic cleanup of invalid or inefficient connections. Among them, "failure to acquire mobile data or calculate the first ranging value within a preset time" is used as the disconnection condition, which can promptly release connection resources that have been occupied for a long time due to device inactivity, communication interruption, or ranging failure. At the same time, "communication quality score is lower than a preset threshold" is used as another disconnection condition, which can avoid continuing to collect unreliable ranging data after signal degradation. The above mechanism ensures that the connection queue is always composed of high-quality and active meters, improving data acquisition efficiency and the robustness of subsequent positioning processes.

[0051] Furthermore, the first ranging unit includes: a calculation data acquisition subunit and a first ranging subunit; The calculation data acquisition subunit is used to acquire, in each of the communication connections, the first timestamp of the mobile maintenance handheld device sending a ranging request message to each first smart meter, the processing time of the first smart meter processing the ranging request message, and the second timestamp of the mobile maintenance handheld device receiving the response message returned by the first smart meter. The first ranging subunit is used to calculate the physical distance between the mobile maintenance handheld device and each first smart meter as each first ranging value based on each first timestamp, second timestamp, processing time and speed of light.

[0052] In this preferred embodiment, by obtaining the first timestamp of the ranging request sent by the mobile maintenance handheld device, the processing time of the request processed internally by the first smart meter, and the second timestamp of the response received by the mobile maintenance handheld device in each communication connection, and combining the physical distance calculated by the speed of light as the first ranging value, the fixed processing delay in the round-trip path of the wireless signal is completely modeled, eliminating the ranging system deviation caused by the difference in response time at the meter end. This method is based on the time-of-flight principle, does not rely on signal strength or phase information, and has strong anti-interference capability against multipath and non-line-of-sight propagation, thus providing high-precision and low-deviation distance input for three-point positioning.

[0053] Furthermore, the first ranging unit further includes: a first judgment subunit and a second judgment subunit; The first judgment subunit is used to determine whether the time difference between the generation time of the first ranging value and the generation time of the coordinates of the corresponding moving position is greater than a preset time difference threshold. If so, the first ranging value data calculated in this instance is discarded. The second judgment subunit is used to determine whether the spatial distance between the current moving position and the previously recorded moving position is less than a preset minimum moving distance threshold or greater than a maximum moving distance threshold. If so, the current moving position is used to modify and replace the previously recorded moving position.

[0054] In this preferred embodiment, after calculating the first ranging value, it is determined whether the time difference between its generation time and the coordinate generation time of the corresponding moving position is greater than a preset time difference threshold. If the threshold is exceeded, the ranging data is discarded, effectively eliminating spatiotemporal misalignment data caused by asynchronous sampling between GPS and the ranging module. Furthermore, it is determined whether the spatial distance between the current moving position and the previously recorded moving position is less than the minimum moving distance threshold or greater than the maximum moving distance threshold. If the conditions are met, the historical record is replaced with the current moving position. This avoids redundant data caused by minor device vibrations and suppresses abnormal location points introduced by GPS jumps or signal drift. The above dual verification mechanism ensures that the "moving position-ranging value" data pair used for positioning is highly synchronized and reliable in both time and space, significantly improving the geometric stability and result accuracy of three-point positioning.

[0055] The positioning module M2 is used to calculate the coordinate position of each first smart meter by using a three-point positioning method based on each moving position and a first distance value, and to calculate the coordinate position of each second smart meter by using a three-point positioning method based on the coordinate position of each first smart meter and a second distance value.

[0056] Furthermore, the positioning module M2 includes: a second ranging calculation unit and an averaging unit; The second ranging calculation unit is used to perform multiple rounds of calculations for each second smart meter. If the number of adjacent first smart meters is greater than three, the unit calculates multiple initial coordinate positions based on the coordinate positions of the adjacent first smart meters and the corresponding second ranging values. In each round of calculation, the unit randomly selects the coordinate positions of three adjacent first smart meters and the corresponding second ranging values, and calculates the initial coordinate positions using the three-point positioning method. The averaging unit is used to take the average value of each initial coordinate position for each second smart meter as the corresponding coordinate position.

[0057] In this preferred embodiment, for each second smart meter, when the number of adjacent first smart meters is greater than three, multiple initial coordinate positions are obtained through multiple rounds of calculation based on the coordinate positions of each adjacent first smart meter and the corresponding second ranging value. In each round, the coordinate positions of three adjacent first smart meters and the corresponding second ranging value are randomly selected to calculate the initial coordinate positions using the three-point positioning method, making full use of redundant observation information. Furthermore, by taking the arithmetic mean of each initial coordinate position as the final coordinate position, the coordinate fluctuations caused by poor geometric configuration, ranging noise, or errors of individual reference points in a single three-point positioning are effectively smoothed. This multi-solution fusion strategy significantly improves the stability and anti-interference ability of the indirect positioning results, especially in complex transformer area topologies, where it can effectively suppress error accumulation.

[0058] In summary, compared with the prior art, the embodiments of this application have the following beneficial effects: real-time acquisition of mobile location, first ranging value, and second ranging value; automatic collection of raw data required for positioning during normal inspection by staff, avoiding manual intervention and additional operations; calculation of the coordinate position of each first smart meter using a three-point positioning method based on the mobile location and the first ranging value; using the high-precision GPS position of the mobile maintenance handheld device as a known reference point; and combining multiple sets of ranging data to calculate the precise coordinates of the directly reachable meters; and further calculation of the three-point positioning method based on the calculated coordinate position and second ranging value of the first smart meter. The positioning method calculates the coordinates of each second smart meter and uses the located meter as a new virtual reference base station to extend the positioning coverage to signal blind spots or devices not directly contacted by the PAD. The synergistic effect of these features makes the whole solution not only independent of the meter-end GPS (solving the problem of obstruction failure) but also eliminates the need for manual marking or image recognition (avoiding privacy and lighting restrictions). Thus, without increasing the maintenance burden, it achieves seamless, high-precision, and full-coverage positioning of all smart meters in the low-voltage distribution area, solving the core problems of low manual efficiency, susceptibility of single positioning modules to environmental interference, and poor applicability of image methods in existing technologies.

[0059] Example 3: This invention also provides a computer program product, including a computer program or instructions, capable of running on a computing device or stored in any available medium. When the computer program product is run on at least one computing device, it causes the at least one computing device to execute any of the methods for non-intrusive positioning of low-voltage distribution area devices according to this invention.

[0060] Example 4: This invention also provides a computer-readable storage medium storing at least one executable instruction that, when executed on a system of a non-sensory positioning low-voltage distribution area device, causes the system of the non-sensory positioning low-voltage distribution area device to perform a method of non-sensory positioning low-voltage distribution area device according to any of the above method embodiments.

[0061] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. Similarly, for the purpose of simplification and aiding understanding of one or more aspects of the invention, in the above description of exemplary embodiments of this application, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0062] Those skilled in the art will understand that the modules in the system of the embodiments can be adaptively changed and placed in one or more systems different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

Claims

1. A method for non-intrusive positioning of low-voltage distribution area equipment, characterized in that, include: The system acquires in real time the mobile maintenance handheld device's location at each time point, the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each location, and the second distance measurement value between each first smart meter and each adjacent second smart meter; wherein, the first smart meter is the meter currently communicating with the mobile maintenance handheld device, and the second smart meter is the meter currently communicating with the first smart meter but not with the mobile maintenance handheld device. Based on the stated moving position and the first distance measurement value, the coordinate position of each first smart meter is calculated using the three-point positioning method. Based on the coordinate position of each first smart meter and the second distance measurement value, the coordinate position of each second smart meter is calculated using the three-point positioning method.

2. The method for non-intrusive positioning of low-voltage distribution area equipment as described in claim 1, characterized in that, The real-time acquisition of the mobile maintenance handheld device's position at each moment and the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each position includes: The mobile operation and maintenance handheld device can be used to obtain the mobile location of the device at any given time, as well as the wireless broadcast signals received from nearby smart meters at each location. Based on the wireless broadcast signals at each mobile location, the corresponding signal strength and signal-to-noise ratio are extracted and weighted fusion calculation is performed to obtain the communication quality score corresponding to each neighboring smart meter at each mobile location. The communication quality scores at each mobile location are sorted, and the nearest smart meters with communication quality scores greater than or equal to a preset threshold are selected as the first smart meters at that mobile location. At each mobile location, a communication connection is established between the mobile maintenance handheld device and each of the first smart meters, and wireless ranging is performed based on each of the communication connections to obtain each of the first ranging values.

3. The method for non-intrusive positioning of low-voltage distribution area equipment as described in claim 2, characterized in that, The process of acquiring the mobile maintenance handheld device's location at various times and the first distance measurement values ​​between the handheld device and each connected smart meter at each location in real time also includes: In real time, it is determined whether the first connected smart meter meets the disconnection conditions. If any disconnection condition is met, the mobile maintenance handheld device is controlled to disconnect the communication connection with the first smart meter. The disconnection conditions include: failure to acquire mobile data or calculate the first ranging value within a preset time period, and the communication quality score corresponding to the communication connection between the first smart meter and the mobile maintenance handheld device being lower than a preset threshold.

4. The method for non-intrusive positioning of low-voltage distribution area equipment as described in claim 2, characterized in that, The step of performing wireless ranging based on each of the communication connections to obtain each of the first ranging values ​​includes: In each of the aforementioned communication connections, the first timestamp of the mobile maintenance handheld device sending a ranging request message to each of the first smart meters, the processing time of the first smart meter processing the ranging request message, and the second timestamp of the mobile maintenance handheld device receiving the response message returned by the first smart meter are obtained. Based on the first timestamp, the second timestamp, the processing time, and the speed of light, the physical distance between the mobile maintenance handheld device and each of the first smart meters is calculated as the first distance measurement value.

5. The method for non-intrusive positioning of low-voltage distribution area equipment as described in claim 4, characterized in that, After calculating the physical distance between the mobile maintenance handheld device and each of the first smart meters as the first ranging value, the method further includes: Determine whether the time difference between the generation time of the first ranging value and the generation time of the coordinates of the corresponding moving position is greater than a preset time difference threshold. If so, discard the first ranging value data calculated in this instance. Determine whether the spatial distance between the current moving position and the previously recorded moving position is less than a preset minimum moving distance threshold or greater than a preset maximum moving distance threshold. If so, replace the previously recorded moving position with the current moving position.

6. The method for non-intrusive positioning of low-voltage distribution area equipment as described in claim 1, characterized in that, The calculation of the coordinate position of each second smart meter based on the coordinate position of each of the first smart meters and the second distance measurement value, using the three-point positioning method, includes: For each second smart meter, if the number of its adjacent first smart meters is greater than three, multiple rounds of calculation are performed based on the coordinate positions of each adjacent first smart meter and the corresponding second distance measurement value to obtain multiple initial coordinate positions. In each round of calculation, the coordinate positions of three adjacent first smart meters and the corresponding second distance measurement value are randomly selected, and the initial coordinate positions are calculated by the three-point positioning method. For each second smart meter, the average value of the corresponding initial coordinate positions is taken as the corresponding coordinate position.

7. A system for non-inductive positioning of low-voltage distribution area equipment, characterized in that, include: Data acquisition module and positioning module; The data acquisition module is used to acquire in real time the mobile maintenance handheld device's position at each time point, the first distance measurement value between the mobile maintenance handheld device and each connected first smart meter at each position, and the second distance measurement value between each first smart meter and each adjacent second smart meter; wherein, the first smart meter is the meter currently communicating with the mobile maintenance handheld device, and the second smart meter is the meter currently communicating with the first smart meter but not with the mobile maintenance handheld device. The positioning module is used to calculate the coordinate position of each first smart meter using a three-point positioning method based on each of the moving positions and the first distance value, and to calculate the coordinate position of each second smart meter using a three-point positioning method based on the coordinate position of each first smart meter and the second distance value.

8. The system for a non-intrusive positioning low-voltage distribution area device as described in claim 7, characterized in that, The data acquisition module includes: a signal acquisition unit, a score calculation unit, a filtering unit, and a first ranging unit; The signal acquisition unit is used to acquire the mobile operation and maintenance handheld device's position at each time, as well as the wireless broadcast signals received from each nearby smart meter at each position. The score calculation unit is used to extract the corresponding signal strength and signal-to-noise ratio based on the wireless broadcast signal at each mobile location, and perform weighted fusion calculation to obtain the communication quality score corresponding to each neighboring smart meter at each mobile location. The filtering unit is used to sort the communication quality scores at each mobile location and filter the neighboring smart meters whose communication quality scores are greater than or equal to a preset threshold as the first smart meters at that mobile location. The first ranging unit is used to establish a communication connection between the mobile maintenance handheld device and each first smart meter at each mobile location, and to perform wireless ranging based on each communication connection to obtain each first ranging value.

9. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed, they implement a method for non-intrusive positioning of low-voltage distribution area equipment as described in any one of claims 1-6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for non-intrusive positioning of low-voltage distribution equipment as described in any one of claims 1-6.

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