CN114383613B - Beidou orientation-based power line galloping monitoring system and method - Google Patents
Beidou orientation-based power line galloping monitoring system and method Download PDFInfo
- Publication number
- CN114383613B CN114383613B CN202210055598.9A CN202210055598A CN114383613B CN 114383613 B CN114383613 B CN 114383613B CN 202210055598 A CN202210055598 A CN 202210055598A CN 114383613 B CN114383613 B CN 114383613B
- Authority
- CN
- China
- Prior art keywords
- acceleration
- power line
- inclination angle
- beidou
- detection module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000001133 acceleration Effects 0.000 claims abstract description 135
- 238000001514 detection method Methods 0.000 claims abstract description 96
- 238000012545 processing Methods 0.000 claims abstract description 39
- 238000012937 correction Methods 0.000 claims description 23
- 238000006073 displacement reaction Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 16
- 239000011159 matrix material Substances 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000010354 integration Effects 0.000 claims description 11
- 230000009466 transformation Effects 0.000 claims description 5
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005284 excitation Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The embodiment of the application relates to a power line galloping monitoring system and method based on Beidou orientation, wherein the system comprises a processor, a Beidou detection module, an acceleration detection module and an angular velocity detection module; the Beidou detection module detects a first inclination angle of the power line; the acceleration detection module is used for detecting first acceleration of the power line; the angular speed detection module is used for detecting the angular speed of the power line; the processor is used for processing the first inclination angle, the angular speed and the first acceleration to obtain corrected second acceleration in the x, y and z directions; and processing the second acceleration in the x, y and z directions to obtain the galloping amplitude of the power line. According to the system, the angular velocity and the first acceleration are corrected through the first inclination angle to obtain the second acceleration, the second acceleration is adopted to calculate the galloping amplitude of the power line, the accuracy of calculating the galloping amplitude is improved, and the acceleration detection module and the angular velocity detection module are corrected to have large detection data errors due to the fact that the power line galloping is unstable.
Description
Technical Field
The application relates to the technical field of power line monitoring, in particular to a Beidou directional-based power line galloping monitoring system and method.
Background
The power wire waving is that the power wire presents vibration with large amplitude and low frequency under the action of air flow, and the reasons for occurrence of the vibration mainly include the influence of icing of the power wire, wind excitation and line structure and parameters. For example: in mountain areas, the natural environment is bad, the icing phenomenon of the power wires is very easy to occur, the icing power wires are easy to cause low-frequency large-amplitude galloping under the wind excitation effect, and if maintenance work cannot be found timely, flashover, power wire breakage, damage and the like can be finally caused among the power wires.
At present, most of galloping monitoring systems of power wires adopt an acceleration measurement method or a Beidou differential positioning method. The accelerometer measurement method is that an accelerometer is bound on a power lead, an acceleration data sample is collected, the sample is transmitted to a server through a communication module for processing, such as filtering, fast Fourier transform, integration and the like, and finally processed information is uploaded to a user. The Beidou differential positioning method is characterized in that signals between two different base stations of a Beidou satellite are utilized for differential calculation, and finally, the motion trail of a mobile base station is fitted.
Disclosure of Invention
The embodiment of the application provides a Beidou directional-based power line galloping monitoring system and method, which are used for solving the technical problems of low precision and poor stability of the existing galloping monitoring mode of a power wire.
In order to achieve the above object, the embodiment of the present application provides the following technical solutions:
the utility model provides a power line galloping monitoring system based on big dipper orientation, includes the processor and with big dipper detection module, acceleration detection module and the angular velocity detection module that the processor is connected, big dipper detection module acceleration detection module with the angular velocity detection module all sets up on the power line;
the Beidou detection module is used for detecting a first inclination angle of the power line;
the acceleration detection module is used for detecting first accelerations of the power lines in the x direction, the y direction and the z direction;
the angular velocity detection module is used for detecting the angular velocities of the power lines in the x direction, the y direction and the z direction;
the processor is used for processing the first inclination angle, the angular speed and the first acceleration to obtain corrected second acceleration in the x, y and z directions; and processing the second acceleration in the x, y and z directions to obtain the galloping amplitude of the power line.
Preferably, the Beidou orientation-based power line galloping monitoring system comprises a communication module connected with the processor, and the communication module is used for being in communication connection with a server.
Preferably, the power line galloping monitoring system based on Beidou orientation comprises a power supply module connected with the processor, wherein the power supply module is used for supplying power to at least the processor, the Beidou detection module, the acceleration detection module and the angular speed detection module.
Preferably, the processor comprises an inclination angle processing sub-module, a correction sub-module and an amplitude calculation sub-module;
the inclination angle processing submodule is used for calculating the first inclination angle and the angular velocity by adopting a gesture quaternion formula to obtain an inclination angle estimation value corresponding to the angular velocity;
the correction submodule is used for calculating the first acceleration and the inclination angle estimation quantity corresponding to the first acceleration by adopting a correction formula to obtain a second acceleration corresponding to the first acceleration;
the amplitude value calculation sub-module is used for obtaining displacement values in corresponding directions through the second acceleration in the x, y and z directions, and performing square sum of the displacement values in the x, y and z directions respectively, and then performing square sum processing to obtain the galloping amplitude value of the power line;
wherein, the gesture quaternion formula is:
wherein q is 0 Andis at a first inclination angle, t is time, w t For the angular velocity in the x, y or z direction at time t,/>And->Inclination angle estimation amounts of attitude quaternions at t-1 and t time respectively, +.>The method is characterized in that alpha and beta are weight coefficients for inclination angle differential values of attitude quaternion at the moment t, alpha+beta=1, delta t is a time interval for collecting inclination angle data, and t%1 is a time t divided by 100% remainder;
the correction formula is: a, a m ＝R(g+a true )+n，Wherein a is m The first acceleration in the x, y or z direction is represented by R as a rotation matrix, C as a transformation matrix of inclination angle estimation quantity of attitude quaternion and equivalent rotation vector, n as a noise value measured by a Beidou detection module and a true G is a gravitational acceleration, which is a second acceleration corresponding to the first acceleration.
Preferably, the amplitude calculation submodule is used for obtaining displacement values in corresponding directions by adopting twice integration processing on the second acceleration in the x, y and z directions.
Preferably, the processor includes a judging sub-module, the judging sub-module is configured to judge whether the galloping amplitude exceeds a set threshold, if so, the power line gallops and the processor sends out alarm information.
Preferably, the Beidou detection module detects the first inclination angle of the power line by adopting frequency output of 1 Hz.
The application also provides a power line galloping monitoring method based on Beidou orientation, which comprises the following steps of:
acquiring first acceleration and angular velocity in three directions of a first inclination angle, x, y and z of a detection power line and a detected noise value;
calculating the first inclination angle and the angular velocity by adopting a gesture quaternion formula to obtain an inclination angle estimation value corresponding to the angular velocity;
calculating the first acceleration and the inclination angle estimation amount corresponding to the first acceleration by adopting a correction formula to obtain a second acceleration corresponding to the first acceleration;
obtaining displacement values in corresponding directions through the second acceleration in the x, y and z directions, and performing square sum of the displacement values in the x, y and z directions respectively, and then performing square sum processing to obtain the galloping amplitude of the power line;
wherein, the gesture quaternion formula is:
wherein q0 andis at a first inclination angle, t is time, w t For the angular velocity in the x, y or z direction at time t,/>And->Inclination angle estimation amounts of attitude quaternions at t-1 and t time respectively, +.>The method is characterized in that alpha and beta are weight coefficients for inclination angle differential values of attitude quaternion at the moment t, alpha+beta=1, delta t is a time interval for collecting inclination angle data, and t%1 is a time t divided by 100% remainder;
the correction formula is: a, a m ＝R(g+a true )+n，Wherein a is m A first acceleration in x, y or z direction, R is a rotation matrix, and C is a gestureConversion matrix of inclination angle estimation quantity and equivalent rotation vector of state quaternion, n is noise value measured by Beidou detection module, and a is calculated by the conversion matrix true G is a gravitational acceleration, which is a second acceleration corresponding to the first acceleration.
Preferably, the method for monitoring the power line galloping based on Beidou orientation comprises the following steps: if the galloping amplitude exceeds the set threshold, the power line is galloped and alarm information is sent out.
Preferably, the method for monitoring the power line galloping based on Beidou orientation comprises the following steps: and carrying out secondary integration treatment on the second acceleration in the x, y and z directions to obtain displacement values in the corresponding directions.
From the above technical solutions, the embodiment of the present application has the following advantages: the application provides a Beidou directional-based power line galloping monitoring system and a Beidou directional-based power line galloping monitoring method, wherein the system comprises a processor, and a Beidou detection module, an acceleration detection module and an angular velocity detection module which are connected with the processor, wherein the Beidou detection module, the acceleration detection module and the angular velocity detection module are all arranged on a power line; the Beidou detection module is used for detecting a first inclination angle of the power line; the acceleration detection module is used for detecting first accelerations of the power lines in the x direction, the y direction and the z direction; the angular velocity detection module is used for detecting the angular velocities of the power lines in the x direction, the y direction and the z direction; the processor is used for processing the first inclination angle, the angular speed and the first acceleration to obtain corrected second acceleration in the x, y and z directions; and processing the second acceleration in the x, y and z directions to obtain the galloping amplitude of the power line. This power line galloping monitoring system based on big dipper orientation corrects the angular velocity and the first acceleration of collection power line through big dipper detection module's first inclination, obtains the second acceleration after the correction, adopts the second acceleration after the correction to calculate the galloping amplitude of power line, has improved the precision of calculation and has obtained the galloping amplitude, has also rectified acceleration detection module and angular velocity detection module and has caused because of the power line galloping instability and detect data error big, has solved current galloping monitoring mode to the electric wire and has had the technical problem that precision is not high, stability is poor.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the application, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a frame diagram of a power line galloping monitoring system based on Beidou orientation according to an embodiment of the present application;
fig. 2 is a frame diagram of a power line galloping monitoring system based on Beidou orientation according to another embodiment of the present application;
fig. 3 is a frame diagram of a flash memory testing device of a power line galloping monitoring system based on Beidou orientation according to another embodiment of the present application;
fig. 4 is a flowchart of steps of a power line galloping monitoring method based on Beidou orientation according to an embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present application more comprehensible, the technical solutions in the embodiments of the present application are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the embodiments of the present application, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the embodiments of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present application, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
In the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.
The embodiment of the application provides a Beidou directional-based power line galloping monitoring system and method, which are used for solving the technical problems of low precision and poor stability of the existing galloping monitoring mode of a power wire.
Embodiment one:
fig. 1 is a frame diagram of a power line galloping monitoring system based on Beidou orientation according to an embodiment of the application.
As shown in fig. 1, the embodiment of the application provides a power line galloping monitoring system based on Beidou orientation, which comprises a processor 10, and a Beidou detection module 20, an acceleration detection module 30 and an angular velocity detection module 40 which are connected with the processor 10, wherein the Beidou detection module 20, the acceleration detection module 30 and the angular velocity detection module 40 are all arranged on a power line.
In the embodiment of the present application, the beidou detection module 20 is mainly used for detecting the first inclination angle of the power line, and transmitting the first inclination angle data to the processor 10. The Beidou detection module 20 outputs a first inclination angle of the detection power line by adopting a frequency of 1Hz, and the first inclination angle can be used for correcting the attitude angle error of the acceleration detection module which grows along with time.
It should be noted that, the beidou detection module 20 mainly includes two beidou signal receivers and a signal processing unit. The Beidou signal receiver is preferably a HX-BS682A type receiver, and the signal processing unit is preferably a TD1030 type microprocessor. In this embodiment, the signal processing unit performs differential processing on the signals collected by the two beidou signal receivers, so as to obtain the inclination angle detected by the beidou detection module 20. The differential processing of signals by the Beidou detection module 20 is a relatively mature technology in the Beidou field, and is not described in detail in this embodiment.
In the embodiment of the application, the line segment formed between the two Beidou signal receivers is called a baseline, and the baseline between the two Beidou signal receivers is vertical to the longitudinal direction of the power line and parallel to the horizontal plane in the process of installing the Beidou detection module 20 on the power line, so that the error of detecting the first inclination angle can be reduced.
In the embodiment of the present application, the acceleration detection module 30 is mainly used for detecting the first acceleration in the x, y and z directions of the power line. The angular velocity detection module 40 is mainly used for detecting angular velocities in three directions of the power lines x, y and z.
The acceleration detection module 30 includes an acceleration sensor, and the angular velocity detection module 40 includes an angular velocity sensor. Both the acceleration sensor and the angular velocity sensor may be a BMI270 model integrated sensor. In this embodiment, a spatial coordinate system is established on a device of the Beidou-oriented power line galloping monitoring system, and the Beidou-oriented power line galloping monitoring system collects first accelerations and angular velocities of power lines in three directions of x, y and z through an acceleration sensor and an angular velocity sensor and transmits the collected first accelerations and angular velocities to the processor 10.
In the embodiment of the application, an angular velocity sensor is arranged at a position which takes a midpoint of a base line as a center and is parallel to a horizontal plane, the angular velocity of power line torsion is acquired, and the output frequency is 100Hz; so that the angular velocity sensor can more accurately measure the angular velocity. The acceleration sensor and the angular velocity sensor are arranged on the same plane in parallel, and the triaxial first acceleration of the coordinate system established by the Beidou-oriented power line galloping monitoring system is collected.
In the embodiment of the application, the processor is mainly used for processing the first inclination angle, the angular speed and the first acceleration to obtain corrected second acceleration in the x, y and z directions; and processing the second acceleration in the x, y and z directions to obtain the galloping amplitude of the power line.
Before the processor processes the first inclination angle, the first acceleration and the angular velocity, the processor needs to perform filtering processing on the first inclination angle, the first acceleration and the angular velocity, so that noise in signals such as the first inclination angle, the first acceleration and the angular velocity is removed, and accuracy of processed data is improved. In this embodiment, the processor is preferably a TD1050 model processor.
The application provides a Beidou directional-based power line galloping monitoring system which comprises a processor, and a Beidou detection module, an acceleration detection module and an angular velocity detection module which are connected with the processor, wherein the Beidou detection module, the acceleration detection module and the angular velocity detection module are all arranged on a power line; the Beidou detection module is used for detecting a first inclination angle of the power line; the acceleration detection module is used for detecting first accelerations of the power lines in the x direction, the y direction and the z direction; the angular velocity detection module is used for detecting the angular velocities of the power lines in the x direction, the y direction and the z direction; the processor is used for processing the first inclination angle, the angular speed and the first acceleration to obtain corrected second acceleration in the x, y and z directions; and processing the second acceleration in the x, y and z directions to obtain the galloping amplitude of the power line. This power line galloping monitoring system based on big dipper orientation corrects the angular velocity and the first acceleration of collection power line through big dipper detection module's first inclination, obtains the second acceleration after the correction, adopts the second acceleration after the correction to calculate the galloping amplitude of power line, has improved the precision of calculation and has obtained the galloping amplitude, has also rectified acceleration detection module and angular velocity detection module and has caused because of the power line galloping instability and detect data error big, has solved current galloping monitoring mode to the electric wire and has had the technical problem that precision is not high, stability is poor.
Fig. 2 is a frame diagram of a power line galloping monitoring system based on Beidou orientation according to another embodiment of the present application.
As shown in fig. 2, in one embodiment of the present application, the Beidou orientation-based power line galloping monitoring system includes a communication module 50 connected to the processor 10, wherein the communication module 50 is configured to be communicatively connected to a server 60.
It should be noted that the communication module 50 is mainly used for implementing data transmission between the server 60 and the processor 10, so that a person monitoring the power line can know the galloping condition of the power line through the server 60.
Fig. 3 is a frame diagram of a flash memory testing device of a power line galloping monitoring system based on Beidou orientation according to another embodiment of the present application.
As shown in fig. 3, in one embodiment of the present application, the power line galloping monitoring system based on the beidou orientation includes a power supply module 70 connected to the processor 10, wherein the power supply module 70 is configured to supply power to at least the processor 10, the beidou detection module 20, the acceleration detection module 30, the angular velocity detection module 40 and the communication module 50.
It should be noted that, the power supply module 70 is mainly used for providing power for each module of the power line galloping monitoring system based on the Beidou orientation, so that the power line galloping monitoring system based on the Beidou orientation works normally.
In one embodiment of the present application, the processor 10 includes a tilt angle processing sub-module, a correction sub-module, an amplitude calculation sub-module, and a determination sub-module;
the inclination angle processing sub-module is used for calculating the first inclination angle and the angular velocity by adopting a gesture quaternion formula to obtain an inclination angle estimation value corresponding to the angular velocity;
the correction sub-module is used for calculating the first acceleration and the inclination angle estimation amount corresponding to the first acceleration by adopting a correction formula to obtain a second acceleration corresponding to the first acceleration;
the amplitude value calculation sub-module is used for obtaining displacement values in corresponding directions through second acceleration in the x, y and z directions, and carrying out square sum re-square processing on the displacement values in the x, y and z directions respectively to obtain the galloping amplitude value of the power line;
the judging submodule is used for judging whether the galloping amplitude exceeds a set threshold value, if so, the power line is galloped and the processor sends out alarm information;
wherein, the gesture quaternion formula is:
wherein q is 0 Andis at a first inclination angle, t is time, w t For the angular velocity in the x, y or z direction at time t,/>And->Inclination angle estimation amounts of attitude quaternions at t-1 and t time respectively, +.>The method is characterized in that alpha and beta are weight coefficients for inclination angle differential values of attitude quaternion at the moment t, alpha+beta=1, delta t is a time interval for collecting inclination angle data, and t%1 is a time t divided by 100% remainder;
the correction formula is: a, a m ＝R(g+a true )+n，Wherein a is m The first acceleration in the x, y or z direction is represented by R as a rotation matrix, C as a transformation matrix of inclination angle estimation quantity of attitude quaternion and equivalent rotation vector, n as a noise value measured by a Beidou detection module and a true G is a gravitational acceleration, which is a second acceleration corresponding to the first acceleration. The amplitude value calculation sub-module is used for obtaining displacement values in corresponding directions by adopting secondary integration processing on second acceleration in the x, y and z directions.
In the embodiment of the application, the Beidou orientation-based power line galloping monitoring system combines the dip angle detected by the Beidou detection module 20 with the angular speed obtained by the angular speed detection module 40 through the dip angle processing sub-module to obtain the dip angle estimator at each detection moment. The inclination angle processing submodule mainly uses the first inclination angle measured by the Beidou detection module 20 as an initial state of posture updating, and then acquires the angular velocity w at each moment t And the inclination angle differential quantity of the attitude quaternion is updated, and then the inclination angle estimated quantity of the attitude quaternion at the moment can be obtained by adding the differential quantity to the attitude at the last moment in unit time.
In the attitude quaternion formula, the accuracy of the time t is 0.01, so that the time t is updated 100 times in one secondWherein the yaw angle is updated 99 times by using the angular velocity sensor, and 1 time by using the first inclination angle measured by the Beidou detection module 20. />The purpose is to correct the error introduced by the integration of angular velocity with a dynamically measured first tilt angle, once every second, and once every second.
In the embodiment of the application, the angular velocity sensor can measure the angular velocity rotating around the sensor, and then the angular increment can be obtained through integration so as to calculate the torsion angle from the initial moment to the measurement moment, but the sensor has irremovable noise, the noise is amplified in the integration process, and the integration error is increased along with the time. Therefore, the Beidou orientation-based power line galloping monitoring system uses the first inclination angle of the Beidou detection module 20 as an initial inclination angle to be combined with the angular speed of the angular speed detection module 40 through the correction submodule to obtain the dynamic inclination angle estimation quantity at each moment for correcting the integral error of the angular speed sensor, namely, after the correct second acceleration is calculated by adopting the first inclination angle, the displacement values in the x, y and z directions can be obtained by twice integrating the second acceleration, and the galloping amplitude of the power line can be monitored by vector combination of the displacement values in the three directions.
The displacement values in the x, y and z directions are divided into s x 、s y 、s z The swing amplitude of the power line is
In the embodiment of the present application, the judging submodule is mainly used for judging whether the galloping amplitude exceeds a set threshold, if the galloping amplitude exceeds the set threshold, the power line is indicated to gallop, and the processor 10 will control the communication module 50 to send out an alarm signal; if the swing amplitude does not exceed the set threshold, indicating that the power line is not swinging, the processor 10 will control the communication module 50 to send out a normal operation signal. In this embodiment, the server 60 is configured to receive the signal sent by the communication module 50, where the signal is divided into an alarm signal and a normal operation signal, and the signal sent by the communication module 50 is received once every 20 minutes, and the interval time can be set according to the requirement, so that a worker can arrange for maintenance as soon as possible when a galloping occurs.
It should be noted that the setting threshold may be set according to the requirement, which is not limited in detail herein.
Example two
Fig. 4 is a flowchart of steps of a power line galloping monitoring method based on Beidou orientation according to an embodiment of the present application.
As shown in fig. 4, the application further provides a power line galloping monitoring method based on Beidou orientation, which comprises the following steps:
s1, acquiring first acceleration and angular velocity in three directions of a first inclination angle, x, y and z of a detection power line and a detected noise value;
s2, calculating a first inclination angle and an angular velocity by adopting a gesture quaternion formula to obtain an inclination angle estimation value corresponding to the angular velocity;
s3, calculating the first acceleration and the inclination angle estimation amount corresponding to the first acceleration by adopting a correction formula to obtain a second acceleration corresponding to the first acceleration;
s4, obtaining displacement values in corresponding directions through second acceleration in the x, y and z directions, and performing square sum of the displacement values in the x, y and z directions respectively, and then performing square sum processing to obtain the galloping amplitude of the power line;
wherein, the gesture quaternion formula is:
wherein q is 0 Andis at a first inclination angle, t is time, w t For the angular velocity in the x, y or z direction at time t,/>And->Inclination angle estimation amounts of attitude quaternions at t-1 and t time respectively, +.>The inclination angle differential quantity of the attitude quaternion at the moment t is that alpha and beta are weight coefficients, alpha+beta=1, deltat is the time interval for collecting inclination angle data, and t%1 is the time t divided by 100% to take the remainder;
the correction formula is: a, a m ＝R(g+a true )+n，Wherein a is m The first acceleration in the x, y or z direction is represented by R as a rotation matrix, C as a transformation matrix of inclination angle estimation quantity of attitude quaternion and equivalent rotation vector, n as a noise value measured by a Beidou detection module and a true G is a gravitational acceleration, which is a second acceleration corresponding to the first acceleration.
In one embodiment of the present application, the method for monitoring the galloping of the power line based on the Beidou orientation is characterized by comprising the following steps: s5, if the galloping amplitude exceeds a set threshold, the power line is galloped and alarm information is sent out.
In an embodiment of the present application, the Beidou orientation-based power line galloping monitoring system includes: and carrying out secondary integration treatment on the second acceleration in the x, y and z directions to obtain displacement values in the corresponding directions.
The details of the steps of the second method of the embodiment are described in the processor and the respective modules of the first system of the embodiment, and the details of the steps of the second method of the embodiment are not described in detail.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory may also be an external storage device of the terminal device, such as a plug-in hard disk provided on the terminal device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. Further, the memory may also include both an internal storage unit of the terminal device and an external storage device. The memory is used for storing computer programs and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or is to be output.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (9)
1. The power line galloping monitoring system based on Beidou orientation is characterized by comprising a processor, and a Beidou detection module, an acceleration detection module and an angular velocity detection module which are connected with the processor, wherein the Beidou detection module, the acceleration detection module and the angular velocity detection module are all arranged on a power line;
the Beidou detection module is used for detecting a first inclination angle of the power line;
the acceleration detection module is used for detecting first accelerations of the power lines in the x direction, the y direction and the z direction;
the angular velocity detection module is used for detecting the angular velocities of the power lines in the x direction, the y direction and the z direction;
the processor is used for processing the first inclination angle, the angular speed and the first acceleration to obtain corrected second acceleration in the x, y and z directions; processing the second acceleration in the x, y and z directions to obtain the galloping amplitude of the power line;
the processor comprises an inclination angle processing sub-module, a correction sub-module and an amplitude value calculation sub-module;
the inclination angle processing submodule is used for calculating the first inclination angle and the angular velocity by adopting a gesture quaternion formula to obtain an inclination angle estimation value corresponding to the angular velocity;
the correction submodule is used for calculating the first acceleration and the inclination angle estimation quantity corresponding to the first acceleration by adopting a correction formula to obtain a second acceleration corresponding to the first acceleration;
the amplitude value calculation sub-module is used for obtaining displacement values in corresponding directions through the second acceleration in the x, y and z directions, and performing square sum of the displacement values in the x, y and z directions respectively, and then performing square sum processing to obtain the galloping amplitude value of the power line;
wherein, the gesture quaternion formula is:
wherein q is 0 Andis at a first inclination angle, t is time, w t For the angular velocity in the x, y or z direction at time t,/>And->Inclination angle estimation amounts of attitude quaternions at t-1 and t time respectively, +.>The method is characterized in that alpha and beta are weight coefficients for inclination angle differential values of attitude quaternion at the moment t, alpha+beta=1, delta t is a time interval for collecting inclination angle data, and t%1 is a time t divided by 100% remainder;
the correction formula is:wherein a is m The first acceleration in the x, y or z direction is represented by R as a rotation matrix, C as a transformation matrix of inclination angle estimation quantity of attitude quaternion and equivalent rotation vector, n as a noise value measured by a Beidou detection module and a true G is a gravitational acceleration, which is a second acceleration corresponding to the first acceleration.
2. The Beidou directional based power line galloping monitoring system of claim 1, including a communication module coupled to the processor, the communication module being adapted to be communicatively coupled to a server.
3. The Beidou orientation-based power line galloping monitoring system of claim 1, including a power module connected with the processor, the power module for powering at least the processor, the Beidou detection module, the acceleration detection module, and the angular velocity detection module.
4. The Beidou directional-based power line galloping monitoring system of claim 1, wherein the amplitude calculation submodule is used for obtaining displacement values in corresponding directions by adopting twice integration processing on the second acceleration in the x, y and z directions.
5. The Beidou directional-based power line galloping monitoring system of claim 1, wherein the processor comprises a judging submodule, wherein the judging submodule is used for judging whether the galloping amplitude exceeds a set threshold value, if so, the power line gallops and the processor sends out alarm information.
6. The Beidou directional based power line galloping monitoring system of claim 1, wherein the Beidou detection module detects a first inclination angle of the power line with a frequency output of 1 Hz.
7. The power line galloping monitoring method based on Beidou orientation is characterized by comprising the following steps of:
acquiring first acceleration and angular velocity in three directions of a first inclination angle, x, y and z of a detection power line and a detected noise value;
calculating the first inclination angle and the angular velocity by adopting a gesture quaternion formula to obtain an inclination angle estimation value corresponding to the angular velocity;
calculating the first acceleration and the inclination angle estimation amount corresponding to the first acceleration by adopting a correction formula to obtain a second acceleration corresponding to the first acceleration;
obtaining displacement values in corresponding directions through the second acceleration in the x, y and z directions, and performing square sum of the displacement values in the x, y and z directions respectively, and then performing square sum processing to obtain the galloping amplitude of the power line;
wherein, the gesture quaternion formula is:
wherein q is 0 Andis at a first inclination angle, t is time, w t For the angular velocity in the x, y or z direction at time t,/>And->Inclination angle estimation amounts of attitude quaternions at t-1 and t time respectively, +.>The method is characterized in that alpha and beta are weight coefficients for inclination angle differential values of attitude quaternion at the moment t, alpha+beta=1, delta t is a time interval for collecting inclination angle data, and t%1 is a time t divided by 100% remainder;
the correction formula is: a, a m ＝R(g+a true )+n，Wherein a is m The first acceleration in the x, y or z direction is represented by R as a rotation matrix, C as a transformation matrix of inclination angle estimation quantity of attitude quaternion and equivalent rotation vector, n as a noise value measured by a Beidou detection module and a true G is a gravitational acceleration, which is a second acceleration corresponding to the first acceleration.
8. The Beidou directional-based power line galloping monitoring method of claim 7, comprising: if the galloping amplitude exceeds the set threshold, the power line is galloped and alarm information is sent out.
9. The Beidou directional-based power line galloping monitoring method of claim 7, comprising: and carrying out secondary integration treatment on the second acceleration in the x, y and z directions to obtain displacement values in the corresponding directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210055598.9A CN114383613B (en) | 2022-01-18 | 2022-01-18 | Beidou orientation-based power line galloping monitoring system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210055598.9A CN114383613B (en) | 2022-01-18 | 2022-01-18 | Beidou orientation-based power line galloping monitoring system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114383613A CN114383613A (en) | 2022-04-22 |
| CN114383613B true CN114383613B (en) | 2023-12-15 |
Family
ID=81204495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210055598.9A Active CN114383613B (en) | 2022-01-18 | 2022-01-18 | Beidou orientation-based power line galloping monitoring system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114383613B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116087869A (en) * | 2022-12-30 | 2023-05-09 | 泰斗微电子科技有限公司 | Satellite orientation method and device based on accelerometer and readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279084A (en) * | 2011-05-03 | 2011-12-14 | 西安工程大学 | Transmission line oscillation positioning system and method based on micro inertial measurement combination |
| CN108318904A (en) * | 2018-02-13 | 2018-07-24 | 北京国网富达科技发展有限责任公司 | Ultra-high-tension power transmission line based on Big Dipper location technology waves monitoring system and method |
| CN207730940U (en) * | 2018-01-17 | 2018-08-14 | 四川汇源光通信有限公司 | A kind of conductor galloping system based on Big Dipper Differential positioning |
| CN110108279A (en) * | 2019-06-05 | 2019-08-09 | 河南理工大学 | A kind of shaft tower inclinometric system and inclination calculation method |
| CN110133692A (en) * | 2019-04-18 | 2019-08-16 | 武汉苍穹电子仪器有限公司 | The high-precision GNSS dynamic tilt measuring system and method for inertial navigation technique auxiliary |
| CN112629538A (en) * | 2020-12-11 | 2021-04-09 | 哈尔滨工程大学 | Ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering |
| RU2749152C1 (en) * | 2020-06-19 | 2021-06-07 | Акционерное общество Московский научно-производственный комплекс "Авионика" имени О.В. Успенского (АО МНПК "Авионика") | Adaptive attitude angle corrector for strapdown inertial navigation system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104064869B (en) * | 2014-06-13 | 2016-10-05 | 北京航天万达高科技有限公司 | Biquaternion antenna for satellite communication in motion control method and system based on MEMS inertial navigation |
| CN109813308A (en) * | 2019-03-07 | 2019-05-28 | 京东方科技集团股份有限公司 | Attitude estimation method, apparatus and computer readable storage medium |
-
2022
- 2022-01-18 CN CN202210055598.9A patent/CN114383613B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102279084A (en) * | 2011-05-03 | 2011-12-14 | 西安工程大学 | Transmission line oscillation positioning system and method based on micro inertial measurement combination |
| CN207730940U (en) * | 2018-01-17 | 2018-08-14 | 四川汇源光通信有限公司 | A kind of conductor galloping system based on Big Dipper Differential positioning |
| CN108318904A (en) * | 2018-02-13 | 2018-07-24 | 北京国网富达科技发展有限责任公司 | Ultra-high-tension power transmission line based on Big Dipper location technology waves monitoring system and method |
| CN110133692A (en) * | 2019-04-18 | 2019-08-16 | 武汉苍穹电子仪器有限公司 | The high-precision GNSS dynamic tilt measuring system and method for inertial navigation technique auxiliary |
| CN110108279A (en) * | 2019-06-05 | 2019-08-09 | 河南理工大学 | A kind of shaft tower inclinometric system and inclination calculation method |
| RU2749152C1 (en) * | 2020-06-19 | 2021-06-07 | Акционерное общество Московский научно-производственный комплекс "Авионика" имени О.В. Успенского (АО МНПК "Авионика") | Adaptive attitude angle corrector for strapdown inertial navigation system |
| CN112629538A (en) * | 2020-12-11 | 2021-04-09 | 哈尔滨工程大学 | Ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering |
Non-Patent Citations (2)
| Title |
|---|
| 基于MIMU的Mann-Kendall输电线路运动趋势及断线预测;杨金显;范耀辉;;软件导刊(第01期);141-145 * |
| 基于互补滤波的输电导线舞动轨迹还原算法;汪滔;吴德智;胡柯;孔海林;李睿;;计算机测量与控制(第01期);178-181 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114383613A (en) | 2022-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107449393B (en) | Urban rail transit tunnel deformation monitoring system and method | |
| US9915550B2 (en) | Method and apparatus for data fusion of a three-axis magnetometer and three axis accelerometer | |
| CN114383613B (en) | Beidou orientation-based power line galloping monitoring system and method | |
| CN107991694B (en) | RTK-based reference station attitude monitoring system and monitoring method thereof | |
| CN112923924B (en) | Method and system for monitoring posture and position of anchoring ship | |
| CN106370178B (en) | Attitude measurement method and device of mobile terminal equipment | |
| JP6664642B2 (en) | Motion detection device and information processing device | |
| CN110493730A (en) | Wireless self-networking communication node localization method and communication node | |
| CN109091151B (en) | Pedestrian falling detection method and device based on MIMU | |
| CN108986433B (en) | Ship overturning warning method | |
| WO2019032092A1 (en) | Method and system for lean angle estimation of motorcycles | |
| CN111366154B (en) | Course angle determining method and device and electronic equipment | |
| CN108444468B (en) | Directional compass integrating downward vision and inertial navigation information | |
| CN112362293A (en) | Wind tunnel balance elastic angle correction system and using method thereof | |
| CN102538953A (en) | Method and system for monitoring vibration frequency of wire tower | |
| CN111024067A (en) | Information processing method, device and equipment and computer storage medium | |
| CN210710213U (en) | Device for detecting inclination angle of elevator car based on six-axis acceleration sensor | |
| CN110553669B (en) | Holder calibration method and calibration system | |
| CN112665612A (en) | Calibration method and device and electronic equipment | |
| CN116660965A (en) | Beidou inertial navigation positioning method, device and storage medium | |
| CN110986895A (en) | Method and system for judging complete water entry of lead fish based on Kalman filtering algorithm | |
| CN107796404B (en) | Aircraft positioning method and mobile terminal | |
| CN114111552B (en) | Landslide displacement monitoring method and device based on GNSS antenna and MEMS | |
| CN209570317U (en) | A kind of direction self-correcting vibrating sensor | |
| JP5571027B2 (en) | Portable device, program and method for correcting gravity vector used for autonomous positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |