CN115507733A

CN115507733A - Electricity tower displacement detection method and device and computer equipment

Info

Publication number: CN115507733A
Application number: CN202211122623.7A
Authority: CN
Inventors: 刘东甲; 汪洋; 赵胜计; 禹晋云; 刘鸿亮; 东广正; 王安军; 国建宝; 任君; 杨启宾; 陶雄俊; 张晓辉; 李聪; 彭智勇; 杨跃光; 赵伟; 刘世增; 李佳城; 陈刚; 汪豪
Original assignee: Kunming Bureau of Extra High Voltage Power Transmission Co
Current assignee: Kunming Bureau of Extra High Voltage Power Transmission Co
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2022-12-23

Abstract

The application relates to an electric tower displacement detection method, an electric tower displacement detection device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring monitoring station data corresponding to the electric tower through satellite monitoring equipment configured on the electric tower; according to the data of the monitoring station, constructing double difference equations corresponding to the target satellite under two continuous epochs, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite; resolving the least square observation equation according to a preset resolving interval to obtain a three-directional displacement amount and a clock error residual corresponding to the resolving interval; substituting three directional displacement and clock error residual errors into a least square observation equation, and calculating to obtain the residual error of each epoch in the least square observation equation; and detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch. By adopting the method, the electric tower displacement detection precision can be improved.

Description

Electricity tower displacement detection method and device and computer equipment

Technical Field

The present application relates to the field of electric tower monitoring technologies, and in particular, to a method and an apparatus for detecting electric tower displacement, a computer device, a storage medium, and a computer program product.

Background

Due to the fact that the high-voltage line passes through a complex regional environment, the high-voltage line is influenced by various factors in the operation process, deformation, inclination, collapse or the like of the electric tower are prone to being caused, huge economic losses are caused, and therefore the electric tower needs to be monitored for a long time.

The traditional electric tower monitoring mode mainly adopts instruments such as a total station instrument, a level gauge and the like to regularly measure an electric tower, and then adopts automation equipment such as an inclination angle, an accelerometer, a stay-supported displacement meter and the like to monitor important points of the electric tower.

Although traditional automation monitoring facilities such as inclination, accelerometer, stay-supported displacement meter can in time monitor the electric tower, there is the problem of error accumulation in inclination and accelerometer, and long-time monitoring accuracy can not be guaranteed, and the stay-supported displacement meter is subject to stay wire length, can only short distance deployment usually, can't effectively monitor to the condition of electric tower high frequency swing, therefore has the lower problem of electric tower displacement monitoring accuracy.

Disclosure of Invention

In view of the above, it is necessary to provide an electric tower displacement detection method, an apparatus, a computer device, a computer readable storage medium, and a computer program product, which can improve the electric tower displacement detection accuracy.

In a first aspect, the present application provides a method for detecting electric tower displacement. The method comprises the following steps:

acquiring monitoring station data corresponding to the electric tower based on satellite monitoring equipment configured on the electric tower;

according to the data of the monitoring station, constructing a double-difference equation corresponding to the target satellite under two continuous epochs, and combining the double-difference equations to obtain a least square observation equation corresponding to the target satellite;

resolving the least square observation equation according to a preset resolving interval to obtain a three-directional displacement amount and a clock error residual corresponding to the resolving interval;

substituting three directional displacement and clock error residual errors into a least square observation equation, and calculating to obtain the residual error of each epoch in the least square observation equation;

and detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch.

In one embodiment, according to the data of the monitoring station, a double difference equation corresponding to the target satellite is constructed, and the double difference equations are combined to obtain a least square observation equation corresponding to the target satellite, including:

acquiring a first carrier observation value and a second carrier observation value according to the data of the monitoring station, and performing wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data;

and according to the wide-lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain a least square observation equation.

In one embodiment, before obtaining the first carrier observation and the second carrier observation from the monitoring station data, the method further includes:

carrying out cycle slip detection on the data of the monitoring station to obtain carrier data;

acquiring a broadcast ephemeris in data of a monitoring station, and performing satellite clock error correction on carrier data according to the broadcast ephemeris;

and carrying out single-point positioning calculation on the monitoring station data, acquiring the receiver clock error of the electric tower, and carrying out receiver clock error correction on the monitoring station data.

In one embodiment, the determining the displacement of the electric tower according to the three directional displacement amounts and the residual error of each epoch includes:

judging the displacement in the resolving interval according to the residual error of each epoch to obtain a judgment result of the displacement in the resolving interval;

judging the displacement between the resolving intervals according to the three-directional displacement quantity to obtain a judgment result of the displacement between the resolving intervals;

and judging the displacement of the electric tower according to the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals.

In one embodiment, the determining the displacement within the resolving interval according to the residual error of each epoch to obtain a result of determining the displacement within the resolving interval includes:

calculating the absolute value of the average value of the residual error of each epoch within a calculation interval;

if the absolute value is not smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement;

and if the absolute value is smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is that no displacement occurs.

In one embodiment, the three-directional displacement includes an x-directional displacement, a y-directional displacement and a z-directional displacement, and the judgment of the displacement of the resolving compartment is performed according to the three-directional displacement to obtain a judgment result of the displacement of the resolving compartment, including:

comparing the x-direction displacement, the y-direction displacement and the z-direction displacement with a second threshold value respectively;

if at least one of the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount is not less than a second threshold value, determining that the judgment result of the inter-calculation-space displacement is displacement;

and if the x-direction displacement, the y-direction displacement and the z-direction displacement are smaller than the second threshold value, determining that the judgment result of the displacement between the resolving intervals is that no displacement occurs.

In one embodiment, the judging the displacement of the electric tower according to the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals comprises the following steps:

and if at least one judgment result is the displacement, determining the electric tower to be displaced in the calculation interval internal displacement judgment result and the calculation interval internal displacement judgment result.

In a second aspect, the present application further provides an electric tower displacement detection apparatus. The device comprises:

the acquisition module is used for acquiring monitoring station data corresponding to the electric tower based on satellite monitoring equipment configured on the electric tower;

the modeling module is used for constructing double difference equations corresponding to the target satellite under two continuous epochs according to the data of the monitoring station, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite;

the resolving module is used for resolving the least square observation equation according to a preset resolving interval to obtain three-directional displacement and clock error residual errors corresponding to the resolving interval;

the calculation module is used for substituting the three-direction displacement and the clock error residual into a least square observation equation, and calculating to obtain the residual of each epoch in the least square observation equation;

and the detection module is used for detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

resolving the least square observation equation according to a preset resolving interval to obtain three-directional displacement and clock error residual errors corresponding to the resolving interval;

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

according to the data of the monitoring station, constructing double difference equations corresponding to the target satellite under two continuous epochs, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite;

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

According to the electric tower displacement detection method, the electric tower displacement detection device, the computer equipment, the storage medium and the computer program product, the monitoring station data corresponding to the electric tower is acquired through the satellite monitoring equipment configured on the basis of the electric tower; according to the data of the monitoring station, constructing a double-difference equation corresponding to the target satellite under two continuous epochs, and combining the double-difference equations to obtain a least square observation equation corresponding to the target satellite; resolving the least square observation equation according to a preset resolving interval to obtain three-directional displacement and clock error residual errors corresponding to the resolving interval; substituting three directional displacement and clock error residual errors into a least square observation equation, and calculating to obtain the residual error of each epoch in the least square observation equation; and detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch. The three-direction displacement and the residual error of each epoch can be calculated according to the monitoring station data acquired by the satellite monitoring equipment, and whether the electric tower is displaced or not is detected from two aspects of a resolving interval and a resolving interval according to the two parameters, so that the accuracy of electric tower displacement detection is improved.

Drawings

FIG. 1 is a schematic flow chart of a method for detecting electric tower displacement according to one embodiment;

FIG. 2 is a logic flow diagram of a method for electric tower displacement detection in one embodiment;

FIG. 3 is a flow diagram illustrating the calculation of the residual for each epoch in one embodiment;

FIG. 4 is a block diagram of an embodiment of a pylon displacement detection apparatus;

FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.

In one embodiment, as shown in fig. 1, a method for detecting electric tower displacement is provided, and this embodiment is illustrated by applying the method to a computer device, and it is understood that the computer device may specifically be a terminal or a server. The terminal can be but not limited to various personal computers, notebook computers, smart phones, tablet computers, internet of things equipment and portable wearable equipment, and the internet of things equipment can be intelligent sound boxes, intelligent televisions, intelligent air conditioners, intelligent medical equipment and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The server may be implemented as a stand-alone server or as a server cluster comprised of multiple servers. In this embodiment, the method includes the steps of:

and 102, acquiring data of a monitoring station corresponding to the electric tower based on the satellite monitoring equipment configured on the electric tower.

The monitoring station data refers to satellite data received by a satellite monitoring device configured in an electric tower, and includes, but is not limited to, broadcast ephemeris and observation data, and the observation data includes a carrier observation value (also referred to as carrier data) and a pseudorange observation value.

Optionally, the satellite monitoring equipment can select big dipper monitoring facilities for use, installs big dipper monitoring facilities on the electric tower in advance, and computer equipment acquires the monitoring station data that this electric tower corresponds through big dipper monitoring facilities.

And 104, constructing double difference equations corresponding to the target satellite under two continuous epochs according to the data of the monitoring station, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite.

Optionally, the computer device obtains a first carrier observation value and a second carrier observation value of each satellite in each epoch according to observation data in the monitoring station data, and when the Beidou monitoring device is adopted, the first carrier observation value and the second carrier observation value are respectively a carrier observation value of a Beidou B1 frequency point and a carrier observation value of a Beidou B2 frequency point. And then performing wide-lane combination on the first carrier observation value and the second carrier observation value under each epoch to obtain wide-lane combination data of each satellite under each epoch. According to the wide-lane combined data of the target satellite, a double-difference equation of the target satellite under two continuous epochs is constructed, the double-difference equation of the target satellite is combined, and a least square observation equation of the target satellite is obtained.

And 106, resolving the least square observation equation according to a preset resolving interval to obtain three-directional displacement and clock error residual errors corresponding to the resolving interval.

Here, the calculation interval is generally a natural time, and for example, the calculation interval may be preset to 1 second.

Optionally, the computer device respectively constructs a least square observation equation according to at least 4 satellites, and calculates the least square observation equation of the target satellite according to the 4 least square observation equations and the calculation interval to obtain x, y, z three-direction displacement and clock error residual errors corresponding to the calculation interval.

And 108, substituting the three-direction displacement and the clock error residual into a least square observation equation, and calculating to obtain the residual of each epoch in the least square observation equation.

Optionally, the computer device substitutes the calculated x, y, z three-direction displacement and clock error residual into the least square observation equation of the target satellite to calculate a group of residuals of the least square observation equation, where the group of residuals includes a residual of each epoch in the least square observation equation.

And step 110, detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch.

Optionally, judging the displacement within the resolving interval according to the residual error of each epoch to obtain a judgment result of the displacement within the resolving interval; meanwhile, according to the three-directional displacement, the displacement between the resolving intervals is judged to obtain a judgment result of the displacement between the resolving intervals. And judging the displacement of the electric tower according to the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals, and judging that the electric tower generates the displacement when any one of the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals judges that the displacement is generated.

In the electric tower displacement detection method, the monitoring station data corresponding to the electric tower is obtained through satellite monitoring equipment configured on the electric tower; according to the data of the monitoring station, constructing double difference equations corresponding to the target satellite under two continuous epochs, and combining the double difference equations to obtain a least square observation equation; resolving the least square observation equation according to a preset resolving interval to obtain three-directional displacement and clock error residual errors corresponding to the resolving interval; substituting three-directional displacement and clock error residual into a least square observation equation, and calculating to obtain the residual of each epoch in the least square observation equation; and detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch. The electric tower displacement detection precision can be improved.

In one embodiment, a method for detecting electric tower displacement, as shown in fig. 2, includes:

and the computer equipment performs cycle slip detection on the data of the monitoring station to obtain carrier data.

And the computer equipment acquires a first carrier observation value and a second carrier observation value according to the carrier data, and performs wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data.

And the computer equipment establishes an epoch difference model (double difference equation) for the target satellite according to the wide-lane combination data.

And the computer equipment combines the epoch difference model of the target satellite to obtain a least square observation equation, and solves the least square observation equation according to a preset solving interval to obtain three-directional displacement and clock error residual errors corresponding to the solving interval.

And the computer equipment brings the three-direction displacement and the clock error residual into a least square observation equation, and performs gross error elimination through a middle error sliding window to calculate and obtain the residual of each epoch in the least square observation equation.

And the computer equipment judges the displacement in the resolving interval according to the residual error of each epoch to obtain a judgment result of the displacement in the resolving interval.

And the computer equipment judges the displacement between the resolving intervals according to the three-direction displacement to obtain a judgment result of the displacement between the resolving intervals.

And if at least one judgment result is the displacement, determining the electric tower to be displaced in the calculation interval internal displacement judgment result and the calculation interval internal displacement judgment result. And if the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals are not displaced, continuously monitoring.

After the electric tower is determined to be displaced, an early warning is sent out on site, a cos (Continuously Operating Reference Stations) network rtk is started to calculate, and a calculation result is pushed to a data center for further analysis by operation and maintenance personnel.

In one embodiment, according to the data of the monitoring station, a double difference equation corresponding to the target satellite is constructed, and the double difference equations are combined to obtain a least square observation equation corresponding to the target satellite, and the method comprises the following steps: acquiring a first carrier observation value and a second carrier observation value according to the data of the monitoring station, and performing wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data; and according to the wide-lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain a least square observation equation.

Further, the least square observation equation is solved according to a preset solving interval, and a three-directional displacement amount and a clock error residual corresponding to the solving interval are obtained. And substituting the three-directional displacement amount and the clock error residual into a least square observation equation, and calculating to obtain the residual of each epoch in the least square observation equation.

Optionally, the computer device obtains the data of the monitoring station through the big dipper monitoring device, as shown in fig. 2, a least square observation equation corresponding to the target satellite is constructed, and the method for solving the three-directional displacement and the residual error of each epoch in the least square observation equation is as follows:

1) And (6) combining wide lanes. According to the following formula, wide lane combination is carried out on the carrier wave observation values of the Beidou B1 and B2 frequency points, the wavelength after the wide lane combination is 86.19cm, the deformation between the electric tower epochs cannot exceed 86.19cm, and the deformation calculation and cycle slip identification are facilitated.

λ _wl L _wl ＝ρ+cdt _r +T-I _wl +λ _wl N _wl +ε(L _wl ) (1)

In the above formula L _wl A wide lane combination representing carrier observations; I.C. A _wl A wide-lane combination representing ionospheric delay; lambda [ alpha ] _wl The wide lane combination of the wavelength is shown, and the corresponding wavelength is 86.19cm; n is a radical of _wl Wide lane combinations representing ambiguities; epsilon (L) _wl ) Wide lane combinations representing carrier observation noise; t represents tropospheric delay; c is the speed of light; dt _r A corrected clock error residual for the receiver; ρ is the satellite-to-receiver distance.

2) Same satellite difference between epochs

In the above formula, the subscript i represents the ith epoch, and i-1 represents the ith-1 epoch; the upper table j represents the jth satellite; due to the inter-epoch difference, the time is close enough, without cycle slip

The double difference equation for the jth satellite can be abbreviated as:

λ _wl ΔL _wl(i/(i-1)) ＝-e _i *Δr _i/(i-1) +cΔdt _r(i/(i-1)) +Δε _i/(i-1) (3)

in the above formula,. DELTA.L _wl(i/(i-1)) The wide lane carrier difference between the ith epoch and the i-1 epoch; e.g. of the type _i The sight line vector from the receiver to the satellite of the ith epoch can be calculated according to the approximate position of the receiver and the position of the satellite; Δ r _i/(i-1) For the i-1 epoch to ith epoch displacement vectors, packetsThe method comprises the following steps of 1, enclosing three directions of x, y and z; Δ dt _r(i/(i-1)) The difference between the receiver clock difference residual of the ith epoch and the ith-1 epoch is taken as the difference; delta epsilon _i/(i-1) Is the carrier noise.

3) And constructing a least square observation equation. In the technical scheme, for the convenience of calculation, the calculation interval S is 1 second, 50 epochs are provided within 1 second, and on average, 15 satellites are provided per epoch, and the difference between epochs is 49 × 15=735 double-difference results, wherein the calculation interval S is equal to or greater than 1 second, S is equal to or less than 60, and the sampling frequency of the receiver is 50HZ, and the general equation of only one satellite is listed below:

the above formula can be abbreviated as: l = HX + V; the equation has x, y, z displacement and receiver clock error residual delta dt _r Four unknowns, with a unique solution when the least squares observation equation is greater than 4 (i.e., there are more than 4 satellites' least squares observation equations).

4) The displacement amount is resolved. The displacement and clock error residuals within the 1 second solution interval are calculated using a least squares algorithm. The weight P of the least square is calculated according to a height angle model of the Beidou satellite, and the displacement and clock error residual error delta dt are calculated according to the following formula _r(i/(i-1)) 。

X＝(H ^T PH) ^-1 (H ^T PL)

5) And (5) removing gross errors. As shown in fig. 3, residual calculation is performed on the data within the 1 second resolving interval according to the following method, and gross error data in the residual is removed, so as to obtain an accurate residual result.

A. Initial residual calculation. The displacement in x, y and z directions and clock error residual delta dt obtained by least squares _r(i/(i-1)) Substituting into equation (4) to obtain the initial residual Δ ε of each epoch _i 。

B. And constructing a middle error sliding window. Using a single cubic polynomial to pair the initial residuals Δ ε _i Fitting to obtain a fitting value delta gamma _i ，ΔΔε _i ＝Δε _i -Δγ _i ，ΔΔε _i To remove the residual error of the trend term, which is referred to as the gross error detection term herein for short, N seconds of the gross error detection term Δ Δ ε needs to be buffered _i And forming an error sliding window, wherein N is more than or equal to 10 and less than or equal to 100. In the embodiment, N is taken for 10 seconds, and when the middle error sliding window in the cache is less than 10 seconds, gross error elimination is not carried out; when the median error sliding window in the buffer is equal to 10 seconds, the median error of the data in the window is calculated, assuming that the calculated median error is σ.

C. And (3) calculating the displacement detection amount by using an improved IGG III method (weight selection iteration method). Using the error obtained by the previous step and adopting an IGG III method to solve the delta epsilon within the interval of 1 second _i And (5) performing gross error detection and rejecting a gross error result.

In addition, the determination of Δ Δ ε is independent _i If Δ Δ ε _i ≥λ _wl ，w _i ＝0；

In the above formula k ₀ ＝2；k ₁ ＝3；w _i As a residual measure of Δ Δ ε _i The weight of (c); since the time interval between adjacent epochs is short and the amount of electric tower displacement hardly exceeds 86.19cm, when Δ Δ ∈ is _i ≥λ _wl Judging that the epoch generates cycle slip, and reducing the weight to 0; using a formula

Recalculating residual error detection items after coarse error elimination, and then calculating according to a formula

The residual error is restored and the residual error is recovered,

i.e. the accurate residual error, is used for subsequent judgment of the resolving intervalWhether or not a displacement occurs in the inner.

In the embodiment, big dipper data is subjected to wide lane combination, so that subsequent displacement calculation and cycle slip result identification are facilitated, the displacement between the epochs is obtained by utilizing double difference calculation between the epochs, ambiguity calculation is not needed, and high-frequency calculation can be carried out. Coarse difference elimination is performed by adopting a unitary cubic equation and an improved IGGIII method, a coarse difference result is eliminated by utilizing wavelength limitation, a ln function is used for weighting detected coarse difference data, the data loss problem caused by coarse difference detection errors is reduced, a middle error sliding window is used for calculating a reference middle error, and an accurate residual error can be obtained.

In one embodiment, before obtaining the first carrier observations and the second carrier observations from the monitoring station data, the method further comprises: carrying out cycle slip detection on the data of the monitoring station to obtain carrier data; acquiring a broadcast ephemeris in the data of the monitoring station, and correcting the satellite clock error of the carrier data according to the broadcast ephemeris; and carrying out single-point positioning calculation on the data of the monitoring station, acquiring the receiver clock error of the electric tower, and correcting the receiver clock error on the data of the monitoring station.

Optionally, as shown in fig. 2, before performing the double-difference equation of the target satellite, data of the monitoring station needs to be preprocessed, cycle slip detection is performed on carrier data by using a cycle slip detection algorithm combined by a double-frequency code combination (MW) and an ionosphere residual error method (GF), and then satellite clock error correction is performed on the carrier data after cycle slip detection by using a broadcast ephemeris; and simultaneously, single-point positioning calculation is carried out on the data of the monitoring station to obtain the clock error of the receiver, and then the clock error correction of the receiver is carried out on the observed data.

In the embodiment, cycle slip detection is carried out on the monitoring station data to obtain carrier data; acquiring a broadcast ephemeris in data of a monitoring station, and performing satellite clock error correction on carrier data according to the broadcast ephemeris; and carrying out single-point positioning calculation on the data of the monitoring station, acquiring the receiver clock error of the electric tower, and correcting the receiver clock error on the data of the monitoring station. The accuracy of the data of the monitoring station can be ensured.

In one embodiment, the determining the displacement of the electric tower according to the three directional displacement amounts and the residual error of each epoch includes: calculating the absolute value of the average value of the residual error of each epoch in a resolving interval; if the absolute value is not smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement; and if the absolute value is smaller than the first threshold, determining that the displacement judgment result in the resolving interval is that no displacement occurs. Comparing the x-direction displacement, the y-direction displacement and the z-direction displacement with a second threshold value respectively; if at least one of the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount is not less than a second threshold value, determining that the judgment result of the inter-calculation-space displacement is displacement; and if the x-direction displacement, the y-direction displacement and the z-direction displacement are smaller than a second threshold value, determining that the judgment result of the displacement between the resolving intervals is no displacement. And if at least one judgment result is displacement in the calculation interval internal displacement judgment result and the calculation interval displacement judgment result, determining that the electric tower is displaced.

Optionally, as shown in fig. 2, the displacement determination is divided into two portions of determination, where the two portions of determination are executed synchronously, and if only one portion of determination is determined to have displacement, an early warning of tower deformation is sent out.

The first part is the judgment of the displacement in the resolving interval. Calculated from least squares observation equations

The absolute value of the mean is calculated if

If the absolute value of the average value of (a) is not less than 4 σ, it is considered that no displacement occurs.

The second part is the judgment of the displacement between the resolving intervals. And if the displacement in the x direction, the y direction and the z direction obtained by solving the least square observation equation is larger than or equal to a second threshold value, judging that the displacement occurs, and if the displacement is smaller than the second threshold value, judging that the displacement is normal, wherein the specific value of the second threshold value is set according to the experience of the project situation, and the second threshold value is 30cm in the embodiment.

In a feasible embodiment, as shown in fig. 2, if it is determined that the electric tower is displaced, a deformation warning of the electric tower is sent, a network rtk (Real-time kinematic) resolving mode is automatically opened, a resolving frequency of 1 second is used for resolving synchronously, the absolute displacement of the electric tower is calculated, and a resolving result is pushed to a data center for further analysis by operation and maintenance personnel.

In this embodiment, displacement monitoring is performed by adopting two ways of judging displacement within the resolving interval and judging displacement between the resolving intervals. The least square residual error in the resolving interval relatively judges whether the monitoring point generates displacement in the resolving interval; calculating the interval to judge whether displacement occurs or not by adopting an absolute threshold value; when the displacement is judged to occur, the network rtk is automatically switched to solve, and the result is pushed to a data center for an expert to make a decision. The efficiency and the precision of electricity tower displacement detection can be improved, the promptness of displacement detection is guaranteed.

In one embodiment, a method of electric tower displacement detection includes:

and satellite monitoring equipment is installed on the electric tower.

And acquiring monitoring station data corresponding to the electric tower based on the satellite monitoring equipment configured on the electric tower.

Carrying out cycle slip detection on the data of the monitoring station to obtain carrier data; acquiring a broadcast ephemeris in the data of the monitoring station, and correcting the satellite clock error of the carrier data according to the broadcast ephemeris; and carrying out single-point positioning calculation on the monitoring station data, acquiring the receiver clock error of the electric tower, and carrying out receiver clock error correction on the monitoring station data.

Acquiring a first carrier observation value and a second carrier observation value according to the monitoring station data, and carrying out wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data; and according to the wide lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain a least square observation equation corresponding to the target satellite.

And resolving the least square observation equation according to a preset resolving interval to obtain a three-directional displacement amount and a clock error residual corresponding to the resolving interval.

And substituting the three-directional displacement amount and the clock error residual into a least square observation equation, and calculating to obtain the residual of each epoch in the least square observation equation.

Calculating the absolute value of the average value of the residual error of each epoch in a resolving interval; if the absolute value is not smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement; and if the absolute value is smaller than the first threshold, determining that the displacement judgment result in the resolving interval is that no displacement occurs.

Comparing the displacement in the x direction, the displacement in the y direction and the displacement in the z direction with a second threshold value respectively; if at least one of the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount is not less than a second threshold value, determining that the calculation inter-compartment displacement judgment result is displacement; and if the x-direction displacement, the y-direction displacement and the z-direction displacement are smaller than the second threshold value, determining that the judgment result of the displacement between the resolving intervals is that no displacement occurs.

In the embodiment, data of the monitoring station can be acquired without a reference station, and only the Beidou equipment is arranged at the middle section of the electric tower, so that the arrangement is convenient; all resolving is completed in the receiver, the dependence on the network is low, and the whole system is high in cohesion; the wide lane combination and inter-epoch difference resolving mode is adopted, ambiguity fixing is not needed, high-frequency resolving can be carried out, and when the number of satellites is more than 4, the resolving success rate can reach 100%; two displacement judgment methods in the resolving interval and between the resolving intervals are adopted, so that the accuracy of displacement judgment and the timeliness of early warning are improved.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides an electric tower displacement detection device for realizing the electric tower displacement detection method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so that specific limitations in one or more embodiments of the electric tower displacement detection device provided below can be referred to the limitations on the electric tower displacement detection method in the above, and details are not repeated herein.

In one embodiment, as shown in fig. 4, there is provided an electric tower displacement detection apparatus 400 comprising: an obtaining module 401, a modeling module 402, a resolving module 403, a calculating module 404, and a detecting module 405, wherein:

an obtaining module 401, configured to obtain, based on a satellite monitoring device configured in an electric tower, data of a monitoring station corresponding to the electric tower;

the modeling module 402 is used for constructing a double difference equation corresponding to a target satellite under two continuous epochs according to the monitoring station data, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite;

a resolving module 403, configured to resolve the least square observation equation according to a preset resolving interval, so as to obtain a three-directional displacement amount and a clock error residual corresponding to the resolving interval;

a calculating module 404, configured to bring the three-directional displacement amount and the clock error residual into the least square observation equation, and calculate a residual of each epoch in the least square observation equation;

and a detection module 405, configured to detect the displacement of the electric tower according to the three-directional displacement and the residual error of each epoch.

In one embodiment, the modeling module 402 is further configured to obtain a first carrier observation value and a second carrier observation value according to the monitoring station data, and perform wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data; and according to the wide-lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain a least square observation equation.

In an embodiment, the obtaining module 401 is further configured to perform cycle slip detection on the monitoring station data to obtain carrier data; acquiring a broadcast ephemeris in data of a monitoring station, and performing satellite clock error correction on carrier data according to the broadcast ephemeris; and carrying out single-point positioning calculation on the data of the monitoring station, acquiring the receiver clock error of the electric tower, and correcting the receiver clock error on the data of the monitoring station.

In one embodiment, the detection module 405 is further configured to determine the displacement within the resolving interval according to the residual error of each epoch, so as to obtain a result of determining the displacement within the resolving interval; judging the displacement between the resolving intervals according to the three-direction displacement to obtain a judging result of the displacement between the resolving intervals; and judging the displacement of the electric tower according to the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals.

In one embodiment, the detection module 405 is further configured to calculate an absolute value of an average of residuals for each epoch during a resolution interval; if the absolute value is not smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement; and if the absolute value is smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is that no displacement occurs.

In one embodiment, the three-directional displacement includes an x-directional displacement, a y-directional displacement, and a z-directional displacement, and the detection module 405 is further configured to compare the x-directional displacement, the y-directional displacement, and the z-directional displacement with a second threshold respectively; if at least one of the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount is not less than a second threshold value, determining that the calculation inter-compartment displacement judgment result is displacement; and if the x-direction displacement, the y-direction displacement and the z-direction displacement are smaller than a second threshold value, determining that the judgment result of the displacement between the resolving intervals is no displacement.

In one embodiment, the detection module 405 is further configured to determine that the electric tower is displaced if at least one of the judgment result of the displacement between the resolving intervals and the judgment result of the displacement between the resolving intervals is displacement.

All or part of the modules in the electric tower displacement detection device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, an Input/Output interface (I/O for short), and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing three-way displacement amount and residual error data. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a method of electric tower displacement detection.

Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring monitoring station data corresponding to the electric tower based on satellite monitoring equipment configured on the electric tower; according to the data of the monitoring station, constructing a double-difference equation corresponding to the target satellite under two continuous epochs, and combining the double-difference equations to obtain a least square observation equation corresponding to the target satellite; resolving the least square observation equation according to a preset resolving interval to obtain three-directional displacement and clock error residual errors corresponding to the resolving interval; substituting three directional displacement and clock error residual errors into a least square observation equation, and calculating to obtain the residual error of each epoch in the least square observation equation; and detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch.

In one embodiment, the processor when executing the computer program further performs the steps of: acquiring a first carrier observation value and a second carrier observation value according to the monitoring station data, and carrying out wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data; and according to the wide lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain a least square observation equation.

In one embodiment, the processor, when executing the computer program, further performs the steps of: carrying out cycle slip detection on the data of the monitoring station to obtain carrier data; acquiring a broadcast ephemeris in data of a monitoring station, and performing satellite clock error correction on carrier data according to the broadcast ephemeris; and carrying out single-point positioning calculation on the data of the monitoring station, acquiring the receiver clock error of the electric tower, and correcting the receiver clock error on the data of the monitoring station.

In one embodiment, the processor when executing the computer program further performs the steps of: judging the displacement in the resolving interval according to the residual error of each epoch to obtain a judgment result of the displacement in the resolving interval; judging the displacement between the resolving intervals according to the three-direction displacement to obtain a judging result of the displacement between the resolving intervals; and judging the displacement of the electric tower according to the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals.

In one embodiment, the processor, when executing the computer program, further performs the steps of: calculating the absolute value of the average value of the residual error of each epoch within a calculation interval; if the absolute value is not smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement; and if the absolute value is smaller than the first threshold, determining that the displacement judgment result in the resolving interval is that no displacement occurs.

In one embodiment, the three-directional displacement includes an x-directional displacement, a y-directional displacement, and a z-directional displacement, and the processor executes the computer program to further implement the following steps: comparing the displacement in the x direction, the displacement in the y direction and the displacement in the z direction with a second threshold value respectively; if at least one of the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount is not less than a second threshold value, determining that the calculation inter-compartment displacement judgment result is displacement; and if the x-direction displacement, the y-direction displacement and the z-direction displacement are smaller than a second threshold value, determining that the judgment result of the displacement between the resolving intervals is no displacement.

In one embodiment, the processor when executing the computer program further performs the steps of: and if at least one judgment result is displacement in the calculation interval internal displacement judgment result and the calculation interval displacement judgment result, determining that the electric tower is displaced.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of: acquiring monitoring station data corresponding to the electric tower based on satellite monitoring equipment configured on the electric tower; according to the data of the monitoring station, constructing double difference equations corresponding to the target satellite under two continuous epochs, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite; resolving the least square observation equation according to a preset resolving interval to obtain a three-directional displacement amount and a clock error residual corresponding to the resolving interval; substituting three directional displacement and clock error residual errors into a least square observation equation, and calculating to obtain the residual error of each epoch in the least square observation equation; and detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a first carrier observation value and a second carrier observation value according to the data of the monitoring station, and performing wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data; and according to the wide lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain a least square observation equation.

In one embodiment, the computer program when executed by the processor further performs the steps of: carrying out cycle slip detection on the data of the monitoring station to obtain carrier data; acquiring a broadcast ephemeris in the data of the monitoring station, and correcting the satellite clock error of the carrier data according to the broadcast ephemeris; and carrying out single-point positioning calculation on the monitoring station data, acquiring the receiver clock error of the electric tower, and carrying out receiver clock error correction on the monitoring station data.

In one embodiment, the computer program when executed by the processor further performs the steps of: judging the displacement in the resolving interval according to the residual error of each epoch to obtain a judgment result of the displacement in the resolving interval; judging the displacement between the resolving intervals according to the three-direction displacement to obtain a judging result of the displacement between the resolving intervals; and judging the displacement of the electric tower according to the judgment result of the displacement in the resolving interval and the judgment result of the displacement between the resolving intervals.

In one embodiment, the computer program when executed by the processor further performs the steps of: calculating the absolute value of the average value of the residual error of each epoch in a resolving interval; if the absolute value is not smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement; and if the absolute value is smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is that no displacement occurs.

In one embodiment, the three directional displacement amounts comprise an x-direction displacement amount, a y-direction displacement amount and a z-direction displacement amount, and the computer program when executed by the processor further performs the steps of: comparing the displacement in the x direction, the displacement in the y direction and the displacement in the z direction with a second threshold value respectively; if at least one of the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount is not less than a second threshold value, determining that the judgment result of the inter-calculation-space displacement is displacement; and if the x-direction displacement, the y-direction displacement and the z-direction displacement are smaller than a second threshold value, determining that the judgment result of the displacement between the resolving intervals is no displacement.

In one embodiment, the computer program when executed by the processor further performs the steps of: and if at least one judgment result is the displacement, determining the electric tower to be displaced in the calculation interval internal displacement judgment result and the calculation interval internal displacement judgment result.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: acquiring monitoring station data corresponding to the electric tower based on satellite monitoring equipment configured on the electric tower; according to the data of the monitoring station, constructing double difference equations corresponding to the target satellite under two continuous epochs, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite; resolving the least square observation equation according to a preset resolving interval to obtain three-directional displacement and clock error residual errors corresponding to the resolving interval; substituting three-directional displacement and clock error residual into a least square observation equation, and calculating to obtain the residual of each epoch in the least square observation equation; and detecting the displacement of the electric tower according to the three-direction displacement and the residual error of each epoch.

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a first carrier observation value and a second carrier observation value according to the data of the monitoring station, and performing wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data; and according to the wide-lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain a least square observation equation.

In one embodiment, the computer program when executed by the processor further performs the steps of: calculating the absolute value of the average value of the residual error of each epoch in a resolving interval; if the absolute value is not smaller than the first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement; and if the absolute value is smaller than the first threshold, determining that the displacement judgment result in the resolving interval is that no displacement occurs.

In one embodiment, the computer program when executed by the processor further performs the steps of: and if at least one judgment result is displacement in the calculation interval internal displacement judgment result and the calculation interval displacement judgment result, determining that the electric tower is displaced.

It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the relevant laws and regulations and standards of the relevant countries and regions.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example. The databases involved in the embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. An electric tower displacement detection method, characterized in that the method comprises:

acquiring monitoring station data corresponding to an electric tower based on satellite monitoring equipment configured on the electric tower;

according to the monitoring station data, constructing a double difference equation corresponding to a target satellite under two continuous epochs, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite;

resolving the least square observation equation according to a preset resolving interval to obtain a three-directional displacement and a clock error residual corresponding to the resolving interval;

substituting the three-direction displacement and the clock error residual into the least square observation equation, and calculating to obtain the residual of each epoch in the least square observation equation;

2. The method of claim 1, wherein the constructing a double difference equation corresponding to a target satellite according to the monitoring station data and combining the double difference equations to obtain a least squares observation equation corresponding to the target satellite comprises:

acquiring a first carrier observation value and a second carrier observation value according to the monitoring station data, and performing wide lane combination on the first carrier observation value and the second carrier observation value to obtain wide lane combination data;

and according to the wide-lane combined data, constructing a double-difference equation corresponding to the target satellite, and combining the double-difference equations to obtain the least square observation equation.

3. The method of claim 2, wherein prior to obtaining the first carrier observations and the second carrier observations from the monitoring station data, further comprising:

acquiring a broadcast ephemeris in the monitoring station data, and performing satellite clock error correction on the carrier data according to the broadcast ephemeris;

4. The method according to claim 1, wherein the determining the displacement of the electric tower according to the three directional displacement amounts and the residual error of each epoch includes:

judging the displacement between the resolving intervals according to the three-direction displacement quantity to obtain a judging result of the displacement between the resolving intervals;

5. The method according to claim 4, wherein the determining the displacement in the solution interval according to the residual error of each epoch to obtain a result of determining the displacement in the solution interval includes:

calculating the absolute value of the average value of the residual error of each epoch in the resolving interval;

if the absolute value is not smaller than a first threshold, determining that the judgment result of the displacement in the resolving interval is the displacement;

and if the absolute value is smaller than the first threshold, determining that the displacement judgment result in the resolving interval is that no displacement occurs.

6. The method according to claim 4, wherein the three-directional displacement includes an x-directional displacement, a y-directional displacement and a z-directional displacement, and the determining the displacement between the resolving intervals according to the three-directional displacement to obtain a result of determining the displacement between the resolving intervals comprises:

comparing the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount with a second threshold value respectively;

if at least one of the x-direction displacement amount, the y-direction displacement amount and the z-direction displacement amount is not less than the second threshold value, determining that the judgment result of the inter-calculation-interval displacement is the displacement;

and if the x-direction displacement, the y-direction displacement and the z-direction displacement are all smaller than the second threshold value, determining that the judgment result of the displacement between the resolving intervals is no displacement.

7. The method according to claim 4, wherein the judging the displacement of the electric tower according to the judgment result of the displacement between the resolving intervals and the judgment result of the displacement between the resolving intervals comprises:

and if at least one judgment result is displacement in the calculation interval internal displacement judgment results and the calculation interval displacement judgment results is the displacement, determining that the electric tower is displaced.

8. An electric tower displacement detection apparatus, the apparatus comprising:

the modeling module is used for constructing double difference equations corresponding to the target satellite under two continuous epochs according to the monitoring station data, and combining the double difference equations to obtain a least square observation equation corresponding to the target satellite;

the calculation module is used for substituting the three-direction displacement and the clock error residual into the least square observation equation to calculate and obtain the residual of each epoch in the least square observation equation;

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.