CN109406941A - Failure observation system based on BEI-DOU position system - Google Patents
Failure observation system based on BEI-DOU position system Download PDFInfo
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- CN109406941A CN109406941A CN201811214568.8A CN201811214568A CN109406941A CN 109406941 A CN109406941 A CN 109406941A CN 201811214568 A CN201811214568 A CN 201811214568A CN 109406941 A CN109406941 A CN 109406941A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
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- General Physics & Mathematics (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
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Abstract
The present invention provides a kind of failure observation system based on BEI-DOU position system, belong to electric power maintenance equipment technical field, including central control module, unmanned unit, craft terminal, fault detection terminal and communication module positioned at transmission line of electricity node and for detecting line fault.The present invention the characteristics of capable of efficiently using the speed advantage of unmanned plane and not influenced by environment such as roads, is greatly saved and checks time and manpower by the cooperation of central control module, unmanned unit, craft terminal and fault detection terminal and communication module；And since the flight of unmanned plane is not by the influence of topography, the investigation of the route to eminence and complicated landform can be easily completed, investigation difficulty is advantageously reduced；Meanwhile unmanned plane is directly controlled the automatic control of platform, the influence for avoiding manpower from controlling not only improves saving manpower, and can be improved flight stability, improves investigation efficiency, shortens the investigation time.
Description
Technical field
The invention belongs to electric power maintenance equipment technical field technical fields, are to be related to one kind based on Beidou more specifically
The failure observation system of positioning system.
Background technique
Power supply line is the important link of electric system power transmission and transformation, once therefore power supply line break down, it is necessary into
It robs and repairs.Usually repair the maintenance that work mainly includes the investigation and failure of failure.Due to most of power supply line all in
Depopulated zone or people infrequently movable region, and the power supply line's erection environment complexity having, manpower inspection is difficult, once hair
Raw failure, often will cause the failures such as large-area power-cuts, practical emergency repair time is generally long.It on the one hand is since failure is not allowed
It is easily found, user can just contact after being affected and report for repairment, therefore cause the response time after failure generation long；Another party
Face generally requires a large amount of manpowers and the time checks the reason of failure occurs and position since fault zone area is big.And once
Check overlong time, it is easy to cause such as flue dust, on fire, high temperature, periphery changes of magnetic field that can obviously indicate the mark of failure
It disappears, investigation and maintenance difficulty is caused to increase, and the fault time too long electric shock risk for being also easy to increase and causing human or animal.
Summary of the invention
The purpose of the present invention is to provide a kind of failure observation system based on BEI-DOU position system, to solve the prior art
Present in existing electric power first-aid when malfunction elimination is difficult, is easy the technical issues of expending a large amount of manpower and material resources.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of failure based on BEI-DOU position system is provided
Observation system, comprising: central control module；
Unmanned unit, equipped with the data acquisition module and the first locating module for acquiring fault zone data；
First communication module, for connecting central control module and unmanned unit；
Craft terminal, for obtaining the information that central control module issues for maintenance group；
Second communication module, for connecting central control module and craft terminal；
Fault detection terminal, positioned at transmission line of electricity node and for detecting line fault；
Third communication module, for connecting central control module and fault detection terminal.
Further, in the failure observation system above-mentioned based on BEI-DOU position system, central control module includes data
Processing module and data memory module, third communication module, the second communication module, the first communication module, data memory module are equal
With data processing module communication connection.
Further, in the failure observation system above-mentioned based on BEI-DOU position system, unmanned unit is additionally provided with the first control
Molding block, the first communication module, data acquisition module and the first locating module respectively with the first control module communication connection.
Further, in the failure observation system above-mentioned based on BEI-DOU position system, data acquisition module includes first
One of photographing module, the first thermoinduction module or first electromagnetic induction module are a variety of.
It further, further include stopping for unmanned unit in the failure observation system above-mentioned based on BEI-DOU position system
The hangar put and the 4th communication module for connecting central control module and hangar, hangar include protecting preventing for unmanned unit
Shield, the library being arranged on shield door and the library door control module for controlling library door opening and closing, library door control module and the 4th
Communication module communication connection.
Further, in the failure observation system above-mentioned based on BEI-DOU position system, craft terminal includes the second control
Molding block, display module and the second locating module, the second communication module, the second locating module and display module are controlled with second respectively
Molding block communication connection.
Further, in the failure observation system above-mentioned based on BEI-DOU position system, fault detection terminal includes third
Control module, the fault detection module for detecting line fault and third locating module, third communication module, fault detection mould
Block, third locating module respectively with third control module communication connection.
Further, in the failure observation system above-mentioned based on BEI-DOU position system, fault detection module includes second
Photographing module, the second thermoinduction module, the second electromagnetic induction module, voltage measurement module, current measurement module or resistivity are surveyed
Measure one of module or a variety of
Further, in the failure observation system above-mentioned based on BEI-DOU position system, the first communication module, the second communication
Module, third communication module and the 4th communication module include relay station.
Further, in the failure observation system above-mentioned based on BEI-DOU position system, the first locating module is fixed for Beidou
The positioning terminal of position system；When craft terminal includes the second control module, the second control module is BEI-DOU position system
Positioning terminal；When fault detection terminal includes third control module, third control module is that the positioning of BEI-DOU position system is whole
End.
The beneficial effect of failure observation system provided by the invention based on BEI-DOU position system is: with prior art phase
Than, the present invention passes through the cooperation of central control module, unmanned unit, craft terminal and fault detection terminal and communication module,
Instead of a large amount of manpowers, so that the degree of automation of electric power first-aid malfunction elimination greatly improves, advantageous failure response speed and row
It looks into the raising of speed, saves emergency repair time and manpower, and the speed advantage of unmanned plane can be efficiently used and not by rings such as roads
The characteristics of border influences greatly saves investigation time and manpower；It, can be light and since the flight of unmanned plane is not by the influence of topography
Loose ground is completed to advantageously reduce investigation difficulty to the investigation of the route of eminence and complicated landform；Meanwhile unmanned plane is directly controlled
The automatic control of platform processed, the influence for avoiding manpower from controlling, not only improves saving manpower, and can be improved flight stability, mentions
High investigation efficiency, shortens the investigation time.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the connection schematic diagram of the failure observation system provided in an embodiment of the present invention based on BEI-DOU position system.
Wherein, each appended drawing reference in figure:
10- central control module；11- data processing module；12- data memory module；
The unmanned unit of 20-；The first control module of 21-；22- data acquisition module；The first locating module of 23-；
The first photographing module of 24-；25- the first thermoinduction module；The first electromagnetic induction module of 26-；
The first communication module of 30-；
40- craft terminal；The second control module of 41-；42- display module；The second locating module of 43-；
The second communication module of 50-；
60- fault detection terminal；
61- third control module；62- fault detection module；63- third locating module；
The second photographing module of 64-；65- the second thermoinduction module；The second electromagnetic induction module of 66-；
67- voltage measurement module；68- current measurement module；69- resistivity measurement module；
70- third communication module；
80- hangar；The library 81- door control module；
The 4th communication module of 90-.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Referring to Fig. 1, existing be illustrated a kind of failure observation system based on BEI-DOU position system provided by the invention.
The failure observation system based on BEI-DOU position system, including central control module 10, be equipped with the first locating module 23 and use
In the unmanned unit 20 of the data acquisition module 22 of acquisition fault zone data, for connecting central control module 10 and unmanned plane
Group 20 the first communication module 30, for for maintenance group obtain central control module 10 issue information craft terminal 40,
For connecting the second communication module 50 of central control module 10 and craft terminal 40, positioned at transmission line of electricity node and for examining
It surveys the fault detection terminal 60 of line fault and the third for connecting central control module 10 and fault detection terminal 60 is led to
Interrogate module 70.Maintenance group refers to that personnel and the to maintain equipment of maintenance, to maintain equipment can be maintenance vehicle or other maintenance and repairs
Equipment.Maintenance group can be one group, be also possible to several groups.Central control module 10 can be control platform.Unmanned unit 20
It can be a frame unmanned plane, if being also possible to the unmanned plane cluster formed by quarreling unmanned plane.
Carry out repairing investigation when, first pass through fault detection terminal 60 determine fault coverage, then send unmanned unit 20 into
The investigation of row failure specific location, while maintenance group being sent to go to fault coverage, when unmanned unit 20 finds failure specific location
Afterwards, maintenance group goes directly to maintenance.
Failure observation system provided by the invention based on BEI-DOU position system is controlled by center compared with prior art
The cooperation of molding block 10, unmanned unit 20, craft terminal 40 and fault detection terminal 60 and communication module, instead of a large amount of people
Power, so that the degree of automation of electric power first-aid malfunction elimination greatly improves, the raising of advantageous failure response speed and investigation speed,
The characteristics of saving emergency repair time and manpower, and the speed advantage of unmanned plane can be efficiently used and do not influenced by environment such as roads,
Greatly save investigation time and manpower；And since the flight of unmanned plane is not by the influence of topography, can easily complete to height
The investigation of the route of place and complicated landform, advantageously reduces investigation difficulty；Meanwhile unmanned plane is directly controlled the automatic of platform
Control, the influence for avoiding manpower from controlling, not only improves saving manpower, and can be improved flight stability, improves investigation efficiency, contracting
The short investigation time.
Further, referring to Fig. 1, as the failure observation system provided by the invention based on BEI-DOU position system one
Kind specific embodiment, central control module 10 include data processing module 11 and data memory module 12, third communication module
70, the second communication module 50, the first communication module 30, data memory module 12 and 11 communication connection of data processing module.Number
It is mainly used for storing the return data of other modules according to memory module 12 and about the data of route itself, at data
Reason module 11 transfers calculating.Communication connection as referred to herein includes wired connection or wireless connection, and specific connection is each function
The electrical connection of intermodule.
Unmanned unit 20 is additionally provided with the first control module 21, and the first communication module 30, data acquisition module 22 and first are fixed
Position module 23 is electrically connected with the first control module 21 respectively.Data acquisition module 22 includes the first photographing module 24, the first thermal sensation
Answer one of module 25 or the first electromagnetic induction module 26 or a variety of.
Craft terminal 40 includes the second control module 41, display module 42 and the second locating module 43, the second communication mould
Block 50, the second locating module 43 and display module 42 respectively with 41 communication connection of the second control module.
Fault detection terminal 60 includes third control module 61, the fault detection module 62 for detecting line fault and the
Three locating modules 63, third communication module 70, fault detection module 62, third locating module 63 respectively with third control module 61
Communication connection.Fault detection module 62 includes the second photographing module 64, the second thermoinduction module 65, the second electromagnetic induction module
66, one of voltage measurement module 67, current measurement module 68 or resistivity measurement module 69 or a variety of.
Further, referring to Fig. 1, as the failure observation system provided by the invention based on BEI-DOU position system one
Kind specific embodiment, the failure observation system based on BEI-DOU position system further includes the hangar 80 parked for unmanned unit 20
And the 4th communication module 90 for connecting central control module 10 and hangar 80, hangar 80 include protecting unmanned unit 20
Shield, the library being arranged on shield door and the library door control module 81 for controlling library door opening and closing, library door control module 81
With 90 communication connection of the 4th communication module.Hangar 80 is mainly used for parking unmanned unit 20, and unmanned plane is protected and tieed up
Shield.
Further, referring to Fig. 1, as the failure observation system provided by the invention based on BEI-DOU position system one
Kind specific embodiment, the first communication module 30, the second communication module 50, third communication module 70 and the 4th communication module 90 are
Including relay station, to enhance signal strength.First locating module 23, the second control module 41 and third control module 61 are north
The positioning terminal for the positioning system that struggles against.Since the positioning terminal of BEI-DOU position system has the characteristics that precision is high, performance is stable,
The positioning for being particularly suitable for unmanned plane fast moved etc. uses.
The present invention also provides a kind of line faults of failure observation system using above-mentioned based on BEI-DOU position system to rob
Repair method, comprising the following steps:
S100, control platform obtain Fisrt fault information, and Fisrt fault information includes the fault zone range to break down
Information；
S200, control platform indicate that the first maintenance group goes to fault zone, the first maintenance group include the first maintenance personnel and/
Or first to maintain equipment；
S300, control platform indicate the unmanned flight of unit 20 to fault zone；
S400, control platform indicate that unmanned unit 20 acquires fault zone data and returns, and control platform is to fault zone
Data carry out processing analysis, obtain the second fault message, and the second fault message is sent to the first maintenance group, the second failure letter
Breath includes location of fault information, and the first maintenance group goes to location of fault after receiving the second fault message.
Unmanned unit 20 can be a frame unmanned plane, if being also possible to the unmanned plane cluster formed by quarreling unmanned plane.The
One to maintain equipment refers to maintenance vehicle or other maintenance and repair equipment.
Further, a kind of specific embodiment as line fault emergency repair method provided by the invention, step S400
Later further include: S500, control platform carry out processing analysis to the second fault message, judge whether to need to indicate the second maintenance group
Location of fault is gone to, the second maintenance group includes the second maintenance personnel and/or the second to maintain equipment.
When the first maintenance personnel and/or the first to maintain equipment also do not reach abort situation, the first maintenance is just prejudged
Can group meet maintenance requirement, when such as the first maintenance group may be unable to satisfy, send the second maintenance group immediately, to shorten maintenance
Waiting time, and then shorten emergency repair time.
Specifically, a kind of specific embodiment as line fault emergency repair method provided by the invention, step S100 include:
S110, control platform receive default several detection devices on the transmission line and generate in the event of a failure concurrently
The warning information sent, warning information are used to characterize the characteristic information of detection device；
S120, control platform transfers pre-stored detection device information, and is compared with characteristic information, determines detection
The characteristic of device, characteristic include the position of detection device and the position and and institute of locating route or detection device
The route and fault type at place；
S130, control platform analyze the characteristic of several detection devices, generate Fisrt fault information, determine hair
Raw fault zone range.
Specifically, a kind of specific embodiment as line fault emergency repair method provided by the invention, step S100 include:
S110, several default detection devices on the transmission line pass through the first Beidou carried in detection device upon failure detection
Locating module and BEI-DOU position system carry out information exchange, obtain the location information of detection device；
S120, the location information that detection device will test device are sent to control platform；
S130, control platform analyze the position of several detection devices, generate Fisrt fault information, determine and event occurs
Hinder regional scope.
Step S200 includes: S210, and control platform is sent to several maintenance groups is used to indicate maintenance group passback maintenance group
First instruction of location information passes through the second Beidou positioning mould carried in maintenance group after each maintenance group receives the first instruction
Block and BEI-DOU position system carry out information exchange, obtain the location information of maintenance group, and are back to control platform；
S220 after control platform receives the location information of several maintenance groups, is compared analysis, selects distance fault region
The nearest maintenance group of range is the first maintenance group, and sends fault zone range information to the first maintenance group and be used to indicate first
Maintenance group goes to the second of fault zone to instruct, and the first maintenance group receives fault zone range information and the second instruction, and goes to
Fault zone.
Step S300 includes: S310, and control platform is sent to several unmanned planes is used to indicate maintenance group passback unmanned plane
The third of location information instructs, and after each unmanned plane receives third instruction, passes through the third Beidou positioning mould carried on unmanned plane
Block and BEI-DOU position system carry out information exchange, obtain the location information of unmanned plane, and be back to control platform；
S320 after control platform receives the location information of several maintenance groups, is compared analysis, selects distance fault region
The nearest unmanned plane of range is unmanned unit 20, and determines the first flight path that unmanned unit 20 flies to fault zone；
S330, control platform generates the first flight directive according to flight path, and is sent to unmanned plane group 20, unmanned unit
20 receive the first flight directive, and fly by the first flight directive；
S340, control platform receive the position for the unmanned unit 20 that unmanned unit 20 is sent in flight course to control platform
Confidence breath, and location information and fault zone range and flight path are compared, judge whether unmanned unit 20 reaches faulty section
Domain and whether yaw, if yaw, is calibrated, if reaching fault zone, enters step S400.
Step S400 includes: S410, and control platform transfers pre-stored line information, and obtains within the scope of fault zone
N faulty line, comparative analysis show that m cross-connection point between n faulty line, n, m are positive integer, to m
Cross-connection point successively sorts, and obtains the shortest path for passing through m cross-connection point along faulty line；
S420, control platform generates the second flight directive according to shortest path, and is sent to unmanned plane group 20, unmanned unit
20 receive the second flight directive advances by shortest path, acquires the fault zone data on shortest path, and it is flat to be back to control
Platform；
S430, control platform carry out processing analysis to fault zone data, determine data abnormal in the data of fault zone,
And determine the position of the corresponding faulty line of the data or the position of cross-connection point, the position of faulty line or cross-connection point
Position be the second fault message.
Second fault message is sent to the first maintenance group by S440, control platform；
S450, the first maintenance group go to location of fault to be robbed after going to the first maintenance group to receive the second fault message
It repairs.
Step S500 includes: S510, and control platform transfers pre-stored first maintenance group information, the first maintenance group information
The type of work post and/or the first to maintain equipment including the first maintenance personnel；
S520 carries out the assessment of repairing demand to the second fault message, and compares with the first maintenance group information, judges
Whether the first maintenance group, which can satisfy repairing, requires；If it is impossible to meet repairings to require for the first maintenance group, the second dimension of instruction
Shield group goes to location of fault；If the first maintenance group can satisfy repairing and require, it wouldn't indicate that the second maintenance group goes to event
The position of barrier waits the back information of the first maintenance group.The back information of first maintenance group refers to that the first maintenance group reaches failure
Position after the information that returns, including the information that makes a request for help, maintenance process information or maintenance result information.If the first maintenance group
Back information be to make a request for help information, then control platform shows that the second maintenance group goes to location of fault；If the first maintenance group
Back information be maintenance process information or maintenance result information, then control platform show for unmanned unit 20 issue instruct, will
It is recalled.
Further, a kind of specific embodiment as line fault emergency repair method provided by the invention, step S400
Middle fault zone data include picture data, video data, thermal imaging data or the electricity of the location information with unmanned unit 20
One of magnetic induction data are a variety of, in order to be able to more fully accurately obtain fault zone data.
Further, a kind of specific embodiment as line fault emergency repair method provided by the invention, unmanned plane with
Information exchange between control platform is transmitted by base station, to avoid signal deletion or distortion, influences point of control platform
Analyse the investigation effect of result and unmanned plane.
Line fault emergency repair method provided by the invention first delimited big fault zone, sent simultaneously compared with prior art
The first maintenance group and unmanned unit 20 go to big fault zone out, since unmanned unit 20 has apparent speed advantage and not
It is influenced by environment such as roads, fault zone can be reached in advance, first fault zone is checked, after determining location of fault
It can indicate that the second maintenance group equipment goes directly to location of fault and repairs, can greatly save investigation time and people
Power；And the flight of unmanned plane can easily complete the investigation of the route to eminence and complicated landform, have not by the influence of topography
Difficulty is checked conducive to reducing；Meanwhile unmanned plane is directly controlled the automatic control of platform, the influence for avoiding manpower from controlling, both
Be conducive to save manpower, and can be improved flight stability, improves investigation efficiency, shorten the investigation time.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of failure observation system based on BEI-DOU position system characterized by comprising
Central control module；
Unmanned unit, equipped with the data acquisition module and the first locating module for acquiring fault zone data；
First communication module, for connecting the central control module and the unmanned unit；
Craft terminal, for obtaining the information that the central control module issues for maintenance group；
Second communication module, for connecting the central control module and the craft terminal；
Fault detection terminal, positioned at transmission line of electricity node and for detecting line fault；
Third communication module, for connecting the central control module and the fault detection terminal.
2. the failure observation system based on BEI-DOU position system as described in claim 1, it is characterised in that: the center control
Module includes data processing module and data memory module, the third communication module, second communication module, described first
The equal and described data processing module communication connection of communication module, the data memory module.
3. the failure observation system based on BEI-DOU position system as described in claim 1, it is characterised in that: the unmanned unit
Be additionally provided with the first control module, first communication module, the data acquisition module and first locating module respectively with
The first control module communication connection.
4. the failure observation system as claimed in claim 1 or 3 based on BEI-DOU position system, it is characterised in that: the data
Acquisition module includes one of the first photographing module, the first thermoinduction module or first electromagnetic induction module or a variety of.
5. the failure observation system based on BEI-DOU position system as described in claim 1, it is characterised in that: further include for institute
The hangar that unmanned unit is parked and the 4th communication module for connecting the central control module and the hangar are stated, it is described
Hangar includes for protecting the shield of the unmanned unit, the library being arranged on shield door and for controlling the library
The library door control module of door opening and closing, the library door control module are connect with the 4th communication module communication.
6. the failure observation system based on BEI-DOU position system as claimed in claim 5, it is characterised in that: first communication
Module, second communication module, the third communication module and the 4th communication module include relay station.
7. the failure observation system based on BEI-DOU position system as described in claim 1, it is characterised in that: the maintenance group is whole
End include the second control module, display module and the second locating module, second communication module, second locating module and
The display module respectively with the second control module communication connection.
8. the failure observation system based on BEI-DOU position system as described in claim 1, it is characterised in that: the fault detection
Terminal includes third control module, the fault detection module for detecting line fault and third locating module, and the third is logical
Interrogate module, the fault detection module, the third locating module respectively with the third control module communication connection.
9. the failure observation system based on BEI-DOU position system as claimed in claim 8, it is characterised in that:
The fault detection module includes the second photographing module, the second thermoinduction module, the second electromagnetic induction module, voltage measurement
One of module, current measurement module or resistivity measurement module are a variety of.
10. the failure observation system based on BEI-DOU position system as described in claim 1,3,7 or 8, it is characterised in that: described
First locating module is the positioning terminal of BEI-DOU position system；It is described when the craft terminal includes the second control module
Second control module is the positioning terminal of BEI-DOU position system；When the fault detection terminal includes third control module, institute
State the positioning terminal that third control module is BEI-DOU position system.
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| CN201811214568.8A CN109406941B (en) | 2018-10-18 | 2018-10-18 | Fault monitoring system based on Beidou positioning system |
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| CN201811214568.8A CN109406941B (en) | 2018-10-18 | 2018-10-18 | Fault monitoring system based on Beidou positioning system |
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