CN110849322A - High-precision monitoring method for three-dimensional displacement track of power transmission line tower footing - Google Patents

High-precision monitoring method for three-dimensional displacement track of power transmission line tower footing Download PDF

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CN110849322A
CN110849322A CN201911220345.7A CN201911220345A CN110849322A CN 110849322 A CN110849322 A CN 110849322A CN 201911220345 A CN201911220345 A CN 201911220345A CN 110849322 A CN110849322 A CN 110849322A
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tower
coordinate system
tower footing
footing
displacement
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CN110849322B (en
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冯志强
周学明
胡丹晖
马建国
张耀东
汪涛
周玎
王万昆
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Hubei Electric Power Co Ltd
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Hubei Electric Power Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels

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Abstract

The invention provides a high-precision monitoring method for a three-dimensional displacement track of a tower footing of a power transmission line, which comprises the steps of firstly defining a coordinate system by using the center of the upper surface of the tower footing and drawing an initial track of the tower footing; then measuring a three-dimensional high-precision displacement vector at the surface of the tower foundation by using a Beidou satellite positioning device; measuring the inclination angle and direction of the tower footing by using a three-dimensional inclinometer; and measuring a torsion angle of the tower footing in the horizontal direction by adopting a compass, measuring an included angle between the line trend and a CGCS2000 coordinate system, performing coordinate transformation and solving on the measurement data of the sensor to obtain displacement vectors of each central point and each vertex of the tower footing, and repeatedly drawing to obtain a three-dimensional deformation track of the tower footing according to a monitoring period of 1-4 hours. The invention can monitor the three-dimensional displacement settlement, the inclination and the torsional deformation of the tower footing, periodically draw the three-dimensional displacement deformation track of the whole tower footing and reflect the displacement and settlement conditions of the bottom of the foundation so as to evaluate the stress condition and the structural stability of the whole tower footing.

Description

High-precision monitoring method for three-dimensional displacement track of power transmission line tower footing
Technical Field
The invention relates to the field of power transmission line tower monitoring, in particular to a high-precision monitoring method for a three-dimensional displacement track of a power transmission line tower footing.
Background
Because the transmission line extends hundreds of kilometers, the regional distribution is wide, the external environment is severe, and the transmission line is very easy to be affected by geological disasters such as collapse, landslide, debris flow, subsidence of karst areas, subsidence of the ground of goafs and the like, severe accidents such as tower inclination, tower collapse and the like are caused, and the safe and stable operation of the transmission line is seriously threatened.
When the power transmission line suffers from geological disasters such as landslide, mining subsidence, karst subsidence and the like, the tower foundation can be caused to generate displacement subsidence. Because the rock soil of the stratum where the tower base is located can be unevenly displaced and settled, and the tower base also bears the gravity load of the tower and the ground wire, under the action of external load and rock soil shearing force, the tower base can be inclined and twisted while the tower base is displaced and settled, and the structural stability of the tower is greatly reduced, so that the tower falling accident is caused.
The existing measuring device and the existing measuring method are provided with monitoring sensors on the ground surface of the tower foundation, and the tower foundation is buried in the ground in a depth of several meters, so that the deformation condition of the bottom of the tower foundation cannot be reflected only by ground displacement monitoring, the rotation and inclination conditions of the tower foundation cannot be reflected, the change condition of the foundation stress cannot be reflected accurately, and the displacement condition of the bottom of the tower foundation cannot be directly measured by the existing technical means.
Publication number CN201420831701 utility model discloses an adopt transmission line shaft tower displacement change monitoring system of GPS RTK technique. The patent publication No. CN201410480253 discloses a power transmission line tower monitoring system based on a Beidou satellite system. The measuring device can measure the displacement settlement condition of the ground surface of the tower foundation, but cannot reflect the displacement deformation and the torsional deformation of the bottom of the tower foundation.
CN201120198146 discloses a transmission line tower foundation settlement monitoring system based on a static level gauge, which is composed of a reference grating static level gauge and a plurality of monitoring grating static level gauges. The grating static level can only measure the relative settlement in the height direction, and cannot measure the displacement in the horizontal direction, so that the three-dimensional displacement deformation of the tower footing cannot be reflected.
CN201110385380 discloses a tower displacement monitoring system and a monitoring method thereof, which are composed of a tower displacement monitoring terminal and an underground bedrock displacement monitoring terminal, and a sensor of the monitoring terminal is a triaxial acceleration sensor. Because the triaxial acceleration sensor has accumulative error, when the slow displacement of the tower foundation is monitored for a long time, the tower foundation can continuously move back and forth due to the action of pull-up force and pull-down force, and the accumulative error is gradually increased when the triaxial acceleration sensor measures the small variation. When the accumulated error exceeds the displacement of the tower foundation, it is difficult to distinguish whether the measurement object is displaced, and measurement errors occur.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for monitoring the three-dimensional deformation track of the tower foundation of the power transmission line, which can monitor the three-dimensional displacement settlement, the inclination and the torsional deformation of the tower foundation, periodically draw the three-dimensional displacement deformation track of the whole tower foundation and reflect the displacement and settlement conditions of the bottom of the foundation so as to evaluate the stress condition and the structural stability of the whole tower foundation.
A high-precision monitoring method for three-dimensional displacement tracks of a power transmission line tower footing comprises the steps of firstly defining a coordinate system by using the center of the upper surface of the tower footing and drawing an initial track of the tower footing; then measuring a three-dimensional high-precision displacement vector at the surface of the tower foundation by using a Beidou satellite positioning device; measuring the inclination angle and direction of the tower footing by using a three-dimensional inclinometer; and measuring a torsion angle of the tower footing in the horizontal direction by adopting a compass, measuring an included angle between the line trend and a CGCS2000 coordinate system, performing coordinate transformation and solving on the measurement data of the sensor to obtain displacement vectors of each central point and each vertex of the tower footing, and repeatedly drawing to obtain a three-dimensional deformation track of the tower footing according to a monitoring period of 1-4 hours.
Further, the monitoring method specifically comprises the following steps:
step 1: defining an O-xyz coordinate system, measuring the coordinate of the Beidou satellite antenna G in the O-xyz coordinate system, and measuring the top surface vertex A on the tower footing1、B1、C1、D1Determining the center point O of the bottom surface of the tower footing2Lower surface apex A2、B2、C2、D2Drawing an initial track of a tower foundation;
step 2: positioning the coordinates of a Beidou antenna G by adopting a Beidou satellite high-precision positioning device, measuring an angle gamma between an O-xyz coordinate system and a CGCS2000 coordinate system on a horizontal plane by adopting a compass, and solving the coordinates of the origin of coordinates O of the O-xyz coordinate system in the CGCS2000 coordinate system through coordinate transformation;
and step 3: when the tower foundation is likely to deform, according to a monitoring period of 1-4 hours, a Beidou satellite high-precision positioning device is used for positioning coordinates G ' of a Beidou antenna, a north pointer is used for measuring a torsion angle gamma ' of the tower foundation, an inclinometer is used for measuring an inclination angle of the tower foundation, coordinates of an origin of coordinates O ' in a CGCS2000 coordinate system are solved through coordinate conversion, and then the step 2 is combined to solve to obtain a displacement vector of the origin of coordinates
Figure BDA0002300661070000031
Further obtaining the displacement of the origin of coordinates, namely the displacement of the center point of the upper surface of the tower foundation;
and 4, step 4: in the O-xyz coordinate system, based on the center point O of the bottom of the tower footing2Determining the central point O of the bottom of the tower footing according to the relative position relation of the tower footing and the central point O2The coordinates of';
and 5: and (4) repeating the steps 3 and 4 according to the monitoring period of 1-4 hours, and drawing the three-dimensional displacement deformation track of the tower foundation.
Further, the specific implementation process of step 1 is as follows:
step 1.1: defining an O-xyz coordinate system: taking the plane central point of a tower foundation foot as a coordinate origin O; taking the line trend as a y axis, and the direction of the large-size side as the positive direction of the y axis; taking the direction perpendicular to the line trend as an x axis, and the right side facing the large-size side as the positive direction of the x axis; the altitude direction is taken as the z axis, and the upper part is taken as the positive direction of the z axis;
step 1.2: in an O-xyz coordinate system, measuring the coordinates of a G point of the Beidou antenna as follows: (x)G，yG，zG)T＝(m，n，h)TIn the formula: m, n and h are projection distances of the Beidou antenna in the x, y and z directions;
step 1.3: measuring the top surface vertex A of the tower footing1、B1、C1、D1Respectively (-a, -b, 0)T，(-a，b，0)T，(a，b，0)T，(a，-b，0)TDetermining the length H of the tower footing based on the circuit design data, and further determining the center O of the bottom surface of the tower footing2Is (0, 0, -H)TLower surface apex A2、B2、C2、D2Has the coordinates (-a, -b, -H)T，(-a，b，-H)T，(a，b，-H)T，(a，-b，-H)TAnd further drawing an initial track of the tower foundation.
Further, the specific implementation process of step 2 is as follows:
step 2.1: the initial coordinate is (X) by adopting the Beidou satellite high-precision positioning device to position the coordinate of the Beidou antenna GG，YG，ZG)TThe Beidou positioning coordinate system adopts a CGCS2000 coordinate system, the origin of coordinates is the earth mass center, and the x axis is the east directionThe y axis is north, and the h axis is elevation;
step 2.2: measuring an included angle gamma between an O-xyz coordinate system and a CGCS2000 coordinate system on a horizontal plane by adopting a north arrow, wherein the clockwise direction of the y axis relative to the north direction is positive, and the anticlockwise direction is negative;
step 2.3: solving the coordinate of the coordinate origin O of the O-xyz coordinate system in the CGCS2000 coordinate system
Figure BDA0002300661070000041
Further, the specific implementation process of step 3 is as follows:
step 3.1: when the tower foundation is displaced and settled, a Beidou satellite high-precision positioning device is adopted to position the coordinate (X ') of the Beidou antenna G'G，Y′G，Z′G)T；
Step 3.2, measuring the inclination of the tower foundation by using a three-dimensional inclinometer, wherein the inclination of the axis of the tower foundation relative to the z axis is β+The direction of inclination with respect to the x-axis is α+；
Step 3.3: according to a transformation formula of the spherical coordinate and the rectangular coordinate system, a rectangular coordinate vector of the antenna G relative to the tower footing center point O
Figure BDA0002300661070000042
Transformation to spherical coordinates:
Figure BDA0002300661070000043
in the formula:
Figure BDA0002300661070000044
Figure BDA0002300661070000045
when the tower footing is displaced and inclined, the vector of the antenna G 'relative to the center point O' of the tower footing in an O-xyz coordinate system
Figure BDA0002300661070000046
Comprises the following steps:
Figure BDA0002300661070000047
wherein β' ═ βG+β+，α′＝αG+α+；
Step 3.4: adopting a north pointer to measure a torsion angle gamma 'of the axis of the tower foundation relative to the north direction, wherein the clockwise direction is positive, the anticlockwise direction is negative, and according to a coordinate rotation formula, in an O-xyz coordinate system, the vector of an antenna G' relative to the center point of the tower foundation is as follows:
step 3.5: combining the steps 3.1 and 3.4, solving to obtain the coordinates of the O' point in the CGCS2000 coordinate system as follows:
Figure BDA0002300661070000052
step 3.6: combining the steps 2.5 and 3.5, solving to obtain the coordinate of the tower footing central point O' in the O-xyz coordinate system after the tower footing is displaced:
Figure BDA0002300661070000053
in the formula:
Figure BDA0002300661070000054
is the relative displacement vector of the Beidou antenna G
Figure BDA0002300661070000055
Step 3.7: calculating to obtain the displacement of the center point of the tower footing in the horizontal direction as follows:
Figure BDA0002300661070000056
the three-dimensional displacement is as follows:
Figure BDA0002300661070000057
further, the specific implementation process of step 4 is as follows:
step 4.1: according to the step 1.3, the central point O of the bottom of the tower foundation is obtained2In the direction of' relative to OThe amount is:the spherical coordinates are:
Figure BDA0002300661070000059
in the formula:
Figure BDA00023006610700000510
step 4.2: when the tower foundation is inclined, calculating the central point O at the bottom of the tower foundation in an O-xyz coordinate system according to the measurement result in the step 3.22Vector of' relative to O
Figure BDA0002300661070000061
Comprises the following steps:
Figure BDA0002300661070000062
in the formula
Step 4.3: when the tower foundation rotates, according to the measurement result in the step 3.4, the torsion angle of the tower foundation axis relative to the y axis of the O-xyz coordinate system can be obtained as
Figure BDA0002300661070000064
In the O-xyz coordinate system, the vector
Figure BDA0002300661070000065
Coordinate rotation is carried out to obtain a vector
Figure BDA0002300661070000066
Comprises the following steps:
Figure BDA0002300661070000067
combining with the step 3.5, O can be obtained2' the coordinates in the O-xyz coordinate system are:
Figure BDA0002300661070000068
if the tower foundation is not twistedI.e. by
Figure BDA0002300661070000069
O2' the coordinates in the O-xyz coordinate system can be simplified as:
Figure BDA00023006610700000610
step 4.4: in the same way, A can be obtained1′→B1′→C1′→D1′，A2′→B2′→C2′→D2The three-dimensional coordinates of the tower foundation can be obtained, and then the position of the tower foundation after displacement is drawn.
Compared with the prior art, the invention has the beneficial effects that:
(1) compared with the prior art, the method solves the problem that the displacement deformation quantity of the bottom of the tower footing foundation is difficult to monitor. According to the method, the displacement deformation indicated by the tower footing is monitored by adopting a Beidou satellite high-precision positioning technology, and the displacement settlement vector at the bottom of the tower footing is solved by combining the inclination angle of the tower footing.
(2) Compared with the prior art, the method can measure the torsional deformation of the tower footing. According to the invention, the torsion angle of the tower footing is measured by adopting the compass, so that the torsion deformation condition of the foundation can be measured, and the unbalanced stress of the tower footing is reflected; the included angle of the coordinate system is measured through the compass, the coordinate system transformation of the Beidou antenna displacement vector is realized, and the relation of the tower footing displacement vector relative to the line trend is reflected
(3) Compared with the prior art, the method can draw the three-dimensional displacement deformation track of the tower footing, measure the displacement trend and the speed of the whole foundation and reflect the stress condition of the whole tower footing. According to the invention, through quasi-real-time all-weather continuous monitoring, the weak and slow displacement deformation track of the tower footing can be tracked and monitored, the shearing motion condition of the rock-soil layer where the foundation is located is reflected, the evaluation on the stress stability of the tower footing is facilitated, and the tower geological disaster risk early warning information is issued.
Drawings
FIG. 1 is a schematic diagram of the definition of the O-xyz coordinate system of the present invention and its relationship to the CGCS2000 coordinate system;
FIG. 2 is an initialization trajectory of a tower footing in an O-xyz coordinate system of the present invention;
FIG. 3 is a schematic diagram of the three-dimensional displacement deformation of the tower footing of the present invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Firstly, defining a coordinate system by using the center of the upper surface of a tower footing, and drawing an initial track of the tower footing; then measuring a three-dimensional high-precision displacement vector at the surface of the tower foundation by using a Beidou satellite positioning device; measuring the inclination angle and direction of the tower footing by using a three-dimensional inclinometer; and measuring a torsion angle of the tower footing in the horizontal direction by adopting a compass, measuring an included angle between the line trend and a CGCS2000 coordinate system, performing coordinate transformation and solving on the measurement data of the sensor to obtain displacement vectors of each central point and each vertex of the tower footing, and repeatedly drawing to obtain a three-dimensional deformation track of the tower footing according to a monitoring period of 1-4 hours. The specific implementation steps are as follows.
Step 1: defining an O-xyz coordinate system, measuring the coordinate of the Beidou satellite antenna G in the O-xyz coordinate system, and measuring the top surface vertex A on the tower footing1、B1、C1、D1Determining the center point O of the bottom surface of the tower footing2Lower surface apex A2、B2、C2、D2Drawing an initial track of a tower foundation; the specific implementation process of the step 1 is as follows:
step 1.1: defining an O-xyz coordinate system: taking the plane central point of a tower foundation foot as a coordinate origin O; taking the line trend as a y axis, and the direction of the large-size side as the positive direction of the y axis; taking the direction perpendicular to the line trend as an x axis, and the right side facing the large-size side as the positive direction of the x axis; the altitude direction is taken as the z-axis, and the upper direction is taken as the positive direction of the z-axis, as shown in fig. 1.
Step 1.2: in an O-xyz coordinate system, measuring the coordinates of a G point of the Beidou antenna as follows: (x)G，yG，zG)T＝(m，n，h)TIn the formula: m, n and h are projection distances of the Beidou antenna in the x, y and z directions。
Step 1.3: measuring the top surface vertex A of the tower footing1、B1、C1、D1Respectively (-a, -b, 0)T，(-a，b，0)T，(a，b，0)T，(a，-b，0)T. Determining the length H of the tower footing based on the circuit design data, and further determining the center O of the bottom surface of the tower footing2Is (0, 0, -H)TLower surface apex A2、B2、C2、D2Has the coordinates (-a, -b, -H)T，(-a，b，-H)T，(a，b，-H)T，(a，-b，-H)TAnd further drawing an initial track of the tower foundation, as shown in fig. 2.
Step 2: the coordinates of a Beidou antenna G are positioned by adopting a Beidou satellite high-precision positioning device, an angle gamma between an O-xyz coordinate system and a CGCS2000 coordinate system on a horizontal plane is measured by adopting a compass, and the coordinates of an origin of coordinates O of the O-xyz coordinate system in the CGCS2000 coordinate system are solved through coordinate transformation. The specific implementation process of the step 2 is as follows:
step 2.1: the initial coordinate is (X) by adopting the Beidou satellite high-precision positioning device to position the coordinate of the Beidou antenna GG，YG，ZG)TThe Beidou positioning coordinate system adopts a CGCS2000 coordinate system, the origin of coordinates is the earth mass center, the x axis is the east direction, the y axis is the north direction, and the h axis is the elevation direction.
Step 2.2: and measuring an included angle gamma between the O-xyz coordinate system and the CGCS2000 coordinate system on a horizontal plane by using a north arrow, wherein the clockwise direction of the y axis relative to the north direction is positive, and the counterclockwise direction is negative, such as 0.
Step 2.3: solving the coordinate of the coordinate origin O of the O-xyz coordinate system in the CGCS2000 coordinate system
Figure BDA0002300661070000091
And step 3: when the tower foundation is likely to deform, according to the monitoring period of 1-4 hours, a Beidou satellite high-precision positioning device is adopted to position the coordinate G 'of the Beidou antenna, a compass is adopted to measure the torsion angle gamma' of the tower foundation, and an inclinometer is adopted to measure the inclination of the tower foundationAnd (4) solving the coordinates of the coordinate origin O' in the CGCS2000 coordinate system through coordinate conversion. And combining the step 2 to obtain a displacement vector of the origin of coordinates by solving
Figure BDA0002300661070000092
And then obtaining the displacement of the origin of coordinates, i.e. the displacement of the center point of the upper surface of the tower foundation, as shown in fig. 3. The specific implementation process of the step 3 is as follows:
step 3.1: when the tower foundation is displaced and settled, a Beidou satellite high-precision positioning device is adopted to position the coordinate (X ') of the Beidou antenna G'G，Y′G，Z′G)T。
Step 3.2, measuring the inclination of the tower foundation by using a three-dimensional inclinometer, wherein the inclination of the axis of the tower foundation relative to the z axis is β+The direction of inclination with respect to the x-axis is α+Such as 0.
Step 3.3: according to a transformation formula of the spherical coordinate and the rectangular coordinate system, a rectangular coordinate vector of the antenna G relative to the tower footing center point O
Figure BDA0002300661070000093
Transformation to spherical coordinates:
Figure BDA0002300661070000101
in the formula:
Figure BDA0002300661070000102
when the tower footing is displaced and inclined, the vector of the antenna G 'relative to the center point O' of the tower footing in an O-xyz coordinate system
Figure BDA0002300661070000104
Comprises the following steps:
Figure BDA0002300661070000105
wherein β' ═ βG+β+，α′＝αG+α+。
Step 3.4: and measuring the torsion angle gamma' of the axis of the tower foundation relative to the north direction by using a north pointer, wherein the clockwise direction is positive, and the anticlockwise direction is negative. According to the coordinate rotation formula, in the O-xyz coordinate system, the vector of the antenna G' relative to the center point of the tower base is:
Figure BDA0002300661070000106
step 3.5: combining the steps 3.1 and 3.4, solving to obtain the coordinates of the O' point in the CGCS2000 coordinate system as follows:
Figure BDA0002300661070000107
step 3.6: combining the steps 2.5 and 3.5, solving to obtain the coordinate of the tower footing central point O' in the O-xyz coordinate system after the tower footing is displaced:in the formula:
Figure BDA0002300661070000109
is the relative displacement vector of the Beidou antenna G
Step 3.7: calculating to obtain the displacement of the center point of the tower footing in the horizontal direction as follows:
Figure BDA0002300661070000111
the three-dimensional displacement is as follows:
and 4, step 4: in the O-xyz coordinate system, based on the center point O of the bottom of the tower footing2Determining the central point O of the bottom of the tower footing according to the relative position relation of the tower footing and the central point O2' coordinates of. The specific implementation process of the step 4 is as follows:
step 4.1: according to the step 1.3, the central point O of the bottom of the tower foundation is obtained2The vector for 'relative to O' is:
Figure BDA0002300661070000113
the spherical coordinates are:
Figure BDA0002300661070000114
in the formula:
Figure BDA0002300661070000115
step 4.2: when the tower foundation is inclined, calculating the central point O at the bottom of the tower foundation in an O-xyz coordinate system according to the measurement result in the step 3.22Vector of' relative to O
Figure BDA0002300661070000116
Comprises the following steps:
Figure BDA0002300661070000117
in the formula
Figure BDA0002300661070000118
Step 4.3: when the tower foundation rotates, according to the measurement result in the step 3.4, the torsion angle of the tower foundation axis relative to the y axis of the O-xyz coordinate system can be obtained as
Figure BDA0002300661070000119
In the O-xyz coordinate system, the vectorCoordinate rotation is carried out to obtain a vector
Figure BDA00023006610700001111
Comprises the following steps:
Figure BDA00023006610700001112
combining with the step 3.5, O can be obtained2' the coordinates in the O-xyz coordinate system are:
Figure BDA0002300661070000121
if the tower foundation is not twisted, that is to sayO2' the coordinates in the O-xyz coordinate system can be simplified as:
Figure BDA0002300661070000123
step 4.4: in the same way, A can be obtained1′→B1′→C1′→D1′，A2′→B2′→C2′→D2The three-dimensional coordinates of the tower foundation can be obtained, and then the position of the tower foundation after displacement is drawn.
And 5: and (4) repeating the steps 3 and 4 according to the monitoring period of 1-4 hours, and drawing the three-dimensional displacement deformation track of the tower foundation.
The technical scheme of the invention is explained in detail below by taking a certain 500kV line tower foundation as an example, and the specific implementation steps are as follows.
1) Defining the direction of an O-xyz coordinate system according to the step 1, and measuring the coordinate of the Beidou satellite antenna G in the O-xyz coordinate system to be (0.5, 0.5, 3.2) and the unit of m; measuring the top surface vertex A of the tower footing1、B1、C1、D1Has coordinates of (-0.6, -0.6, 0), (-0.6, 0.6, 0), (0.6, 0.6, 0) and (0.6, -0.6, 0), respectively, and determines the bottom surface center point O of the column foot2Is (0, 0, -8), and has a lower surface vertex A2、B2、C2、D2Have coordinates of (-0.6, -0.6, -8), (-0.6, 0.6, -8), (0.6, 0.6, -8) and (0.6, -0.6, -8), respectively. The initial coordinate of the G point of the Beidou antenna is obtained by positioning by adopting the Beidou satellite positioning technology and is (X)G，YG，ZG)TThe coordinate system of the coordinates is CGCS2000 coordinate system; and measuring an included angle gamma between the O-xyz coordinate system and the CGCS2000 coordinate system on a horizontal plane to be 31.2 degrees by adopting a north arrow, wherein the included angle of the coordinate system is constant.
2) Repeatedly positioning the coordinate (X ') of the Beidou antenna G ' according to the monitoring period of 4 hours 'G，Y′G，Z′G)TAccording to the calculation formula of step 3.6
Figure BDA0002300661070000131
To obtain [ Delta X ]G′G，ΔYG′G，ΔZG′G]T＝[0.28，0.11，-0.39]TMeasuring the inclination of the tower base axis to the z-axis using a three-dimensional inclinometer of β+At 3.2 deg. and an oblique direction α with respect to the x-axis+1.8. And measuring an included angle gamma of 31.2 degrees between the axis of the tower footing and the CGCS2000 coordinate system on the horizontal plane by adopting a compass.
3) According to the step 3.3, calculating the rectangular coordinate vector of the antenna G relative to the tower footing center point O in the O-xyz coordinate system
Figure BDA0002300661070000132
Transformation to spherical coordinates:
Figure BDA0002300661070000133
wherein r is 3.277, βG＝12.46°，αG45.0 °. combined with the three-dimensional inclinometer measurement result β ' ═ 15.66 °, α ' ═ 46.8 °, according to step 3.5, in the O-xyz coordinate system, the coordinate of the tower base center point O ' in the O-xyz coordinate system is (x)O′yO′zO′)T＝(0.115 0.041 -0.346)T。
4) According to the step 3.6, calculating to obtain the displacement of the center point of the tower footing in the horizontal direction as follows:
ΔsO0.122 m. The three-dimensional displacement is as follows: Δ lO＝0.366m。
5) According to the step 4.1, the center point O of the bottom of the tower foundation2The spherical coordinates of the vector of 'relative to O' are:
Figure BDA0002300661070000141
in the formula: h is 8, and H is equal to 8,
Figure BDA0002300661070000143
6) according to step 4.2, the center point O of the bottom of the column foot2Vector of' relative to O
Figure BDA0002300661070000144
Comprises the following steps:
wherein H is 8, and H is not more than 8,
Figure BDA0002300661070000146
7) according to the step 4.3, the torsion angle of the tower foundation is
Figure BDA0002300661070000147
No twisting occurred. Calculating to obtain a vector according to a simplified formula
Figure BDA00023006610700001410
Is composed of
Figure BDA0002300661070000148
Further obtain O2' the coordinates in the O-xyz coordinate system are:
Figure BDA0002300661070000149
8) by repeating the steps, coordinates of A1 '→ B1' → C1 '→ D1', A2 '→ B2' → C2 '→ D2' can be obtained, and then the position of the tower foundation after displacement is drawn.
9) And (3) repeating the steps according to a monitoring period of 4 hours to draw a displacement deformation track of the tower footing, as shown in figure 3.
According to the method, a Beidou satellite positioning technology is adopted to measure the displacement vector of the surface of the tower footing, a three-dimensional inclinometer is combined to deduce the overall deformation of the tower footing, and a compass is adopted to measure the included angle of a coordinate system, so that the coordinate system transformation of the displacement vector of the tower footing is realized, and further a deformation track for arranging the tower footing is drawn, so that the method has millimeter-level high precision and can be used for drawing the weak and slow displacement deformation of the tower footing; and the method can continuously monitor all weather, and can reflect the trend and the speed of the displacement deformation of the tower footing so as to predict and early warn the risk level of the tower.

Claims (6)

1. A high-precision monitoring method for three-dimensional displacement tracks of a power transmission line tower footing is characterized by comprising the following steps: firstly, defining a coordinate system by using the center of the upper surface of a tower footing, and drawing an initial track of the tower footing; then measuring a three-dimensional high-precision displacement vector at the surface of the tower foundation by using a Beidou satellite positioning device; measuring the inclination angle and direction of the tower footing by using a three-dimensional inclinometer; and measuring a torsion angle of the tower footing in the horizontal direction by adopting a compass, measuring an included angle between the line trend and a CGCS2000 coordinate system, performing coordinate transformation and solving on the measurement data of the sensor to obtain displacement vectors of each central point and each vertex of the tower footing, and repeatedly drawing to obtain a three-dimensional deformation track of the tower footing according to a monitoring period of 1-4 hours.
2. The high-precision monitoring method for the three-dimensional displacement track of the power transmission line tower footing of claim 1 is characterized in that: the monitoring method specifically comprises the following steps:
step 1: defining an O-xyz coordinate system, measuring the coordinate of the Beidou satellite antenna G in the O-xyz coordinate system, and measuring the top surface vertex A on the tower footing1、B1、C1、D1Determining the center point O of the bottom surface of the tower footing2Lower surface apex A2、B2、C2、D2Drawing an initial track of a tower foundation;
step 2: positioning the coordinates of a Beidou antenna G by adopting a Beidou satellite high-precision positioning device, measuring an angle gamma between an O-xyz coordinate system and a CGCS2000 coordinate system on a horizontal plane by adopting a compass, and solving the coordinates of the origin of coordinates O of the O-xyz coordinate system in the CGCS2000 coordinate system through coordinate transformation;
and step 3: when the tower foundation is likely to deform, according to the monitoring period of 1-4 hours, a Beidou satellite high-precision positioning device is adopted to position the coordinate G 'of the Beidou antenna, a compass is adopted to measure the torsion angle gamma' of the tower foundation, an inclinometer is adopted to measure the inclination angle of the tower foundation, and the coordinate is changed to change the inclination angle of the tower foundationCalculating the coordinate of the solved coordinate origin O' in the CGCS2000 coordinate system, and combining the step 2 to obtain the displacement vector of the coordinate origin
Figure FDA0002300661060000011
Further obtaining the displacement of the origin of coordinates, namely the displacement of the center point of the upper surface of the tower foundation;
and 4, step 4: in the O-xyz coordinate system, based on the center point O of the bottom of the tower footing2Determining the central point O of the bottom of the tower footing according to the relative position relation of the tower footing and the central point O2The coordinates of';
and 5: and (4) repeating the steps 3 and 4 according to the monitoring period of 1-4 hours, and drawing the three-dimensional displacement deformation track of the tower foundation.
3. The high-precision monitoring method for the three-dimensional displacement track of the power transmission line tower footing according to claim 2, characterized by comprising the following steps of: the specific implementation process of the step 1 is as follows:
step 1.1: defining an O-xyz coordinate system: taking the plane central point of a tower foundation foot as a coordinate origin O; taking the line trend as a y axis, and the direction of the large-size side as the positive direction of the y axis; taking the direction perpendicular to the line trend as an x axis, and the right side facing the large-size side as the positive direction of the x axis; the altitude direction is taken as the z axis, and the upper part is taken as the positive direction of the z axis;
step 1.2: in an O-xyz coordinate system, measuring the coordinates of a G point of the Beidou antenna as follows: (x)G，yG，zG)T＝(m，n，h)TIn the formula: m, n and h are projection distances of the Beidou antenna in the x, y and z directions;
step 1.3: measuring the top surface vertex A of the tower footing1、B1、C1、D1Respectively (-a, -b, 0)T，(-a，b，0)T，(a，b，0)T，(a，-b，0)TDetermining the length H of the tower footing based on the circuit design data, and further determining the center O of the bottom surface of the tower footing2Is (0, 0, -H)TLower surface apex A2、B2、C2、D2Has the coordinates (-a, -b, -H)T，(-a，b，-H)T，(a，b，-H)T，(a，-b，-H)TAnd further drawing an initial track of the tower foundation.
4. The high-precision monitoring method for the three-dimensional displacement track of the power transmission line tower footing according to claim 3, characterized by comprising the following steps of: the specific implementation process of the step 2 is as follows:
step 2.1: the initial coordinate is (X) by adopting the Beidou satellite high-precision positioning device to position the coordinate of the Beidou antenna GG，YG，ZG)TThe Beidou positioning coordinate system adopts a CGCS2000 coordinate system, the origin of coordinates is the earth mass center, the x axis is the east direction, the y axis is the north direction, and the h axis is the elevation direction;
step 2.2: measuring an included angle gamma between an O-xyz coordinate system and a CGCS2000 coordinate system on a horizontal plane by adopting a north arrow, wherein the clockwise direction of the y axis relative to the north direction is positive, and the anticlockwise direction is negative;
step 2.3: solving the coordinate of the coordinate origin O of the O-xyz coordinate system in the CGCS2000 coordinate system
Figure FDA0002300661060000031
5. The high-precision monitoring method for the three-dimensional displacement track of the power transmission line tower footing of claim 4 is characterized in that: the specific implementation process of the step 3 is as follows:
step 3.1: when the tower foundation is displaced and settled, a Beidou satellite high-precision positioning device is adopted to position the coordinate (X ') of the Beidou antenna G'G，Y′G，Z′G)T；
Step 3.2, measuring the inclination of the tower foundation by using a three-dimensional inclinometer, wherein the inclination of the axis of the tower foundation relative to the z axis is β+The direction of inclination with respect to the x-axis is α+；
Step 3.3: according to a transformation formula of the spherical coordinate and the rectangular coordinate system, a rectangular coordinate vector of the antenna G relative to the tower footing center point O
Figure FDA0002300661060000032
Transformation to spherical coordinates:
Figure FDA0002300661060000033
in the formula:
Figure FDA0002300661060000034
when the tower footing is displaced and inclined, the vector of the antenna G 'relative to the center point O' of the tower footing in an O-xyz coordinate system
Figure FDA0002300661060000036
Comprises the following steps:
Figure FDA0002300661060000037
wherein β' ═ βG+β+，α′＝αG+α+；
Step 3.4: adopting a north pointer to measure a torsion angle gamma 'of the axis of the tower foundation relative to the north direction, wherein the clockwise direction is positive, the anticlockwise direction is negative, and according to a coordinate rotation formula, in an O-xyz coordinate system, the vector of an antenna G' relative to the center point of the tower foundation is as follows:
Figure FDA0002300661060000041
step 3.5: combining the steps 3.1 and 3.4, solving to obtain the coordinates of the O' point in the CGCS2000 coordinate system as follows:
Figure FDA0002300661060000042
step 3.6: combining the steps 2.5 and 3.5, solving to obtain the coordinate of the tower footing central point O' in the O-xyz coordinate system after the tower footing is displaced:
Figure FDA0002300661060000043
in the formula:
Figure FDA0002300661060000044
is the relative displacement vector of the Beidou antenna G
Figure FDA0002300661060000045
Step 3.7: calculating to obtain the displacement of the center point of the tower footing in the horizontal direction as follows:
Figure FDA0002300661060000046
the three-dimensional displacement is as follows:
Figure FDA0002300661060000047
6. the high-precision monitoring method for the three-dimensional displacement track of the power transmission line tower footing of claim 5 is characterized in that: the specific implementation process of the step 4 is as follows:
step 4.1: according to the step 1.3, the central point O of the bottom of the tower foundation is obtained2The vector for 'relative to O' is:
Figure FDA0002300661060000048
the spherical coordinates are:
Figure FDA0002300661060000049
in the formula:
Figure FDA00023006610600000410
step 4.2: when the tower foundation is inclined, calculating the central point O at the bottom of the tower foundation in an O-xyz coordinate system according to the measurement result in the step 3.22Vector of' relative to O
Figure FDA0002300661060000051
Comprises the following steps:
Figure FDA0002300661060000052
in the formula
Figure FDA0002300661060000053
Step 4.3: when the tower foundation rotates, according to the measurement result in the step 3.4, the torsion angle of the tower foundation axis relative to the y axis of the O-xyz coordinate system can be obtained asIn the O-xyz coordinate system, the vector
Figure FDA0002300661060000055
Coordinate rotation is carried out to obtain a vector
Figure FDA0002300661060000056
Comprises the following steps:
Figure FDA0002300661060000057
combining with the step 3.5, O can be obtained2' the coordinates in the O-xyz coordinate system are:
Figure FDA0002300661060000058
if the tower foundation is not twisted, that is to say
Figure FDA0002300661060000059
O2' the coordinates in the O-xyz coordinate system can be simplified as:
Figure FDA00023006610600000510
step 4.4: in the same way, A can be obtained1′→B1′→C1′→D1′，A2′→B2′→C2′→D2The three-dimensional coordinates of the tower foundation can be obtained, and then the position of the tower foundation after displacement is drawn.
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