CN-121995411-A - Method, system, equipment and medium for calibrating transmission line observation environment error

CN121995411ACN 121995411 ACN121995411 ACN 121995411ACN-121995411-A

Abstract

The application relates to the technical field of satellite navigation detection, in particular to a method, a system, equipment and a medium for calibrating an observation environment error of a power transmission line, wherein the method comprises the steps of collecting original monitoring data of each satellite navigation system on the power transmission line; the method comprises the steps of calculating ionosphere-free combined residual errors according to original monitoring data of each satellite navigation system, establishing a target grid according to the position of a station antenna and satellite observation angles, projecting the ionosphere-free combined residual errors to the target grid according to the satellite observation angles of the station antenna, establishing an ionosphere-free combined model according to projection results, and calibrating the observation environment errors of a power transmission line by using the ionosphere-free combined model. Therefore, the problems that the applicability is limited when the related technology processes multi-system observation data, the characterization capability of the observation environment error is insufficient, the accuracy of error modeling is low and the like are solved.

Inventors

CHEN GUO
HU ZHIGANG
ZHAO QILE

Assignees

武汉大学

Dates

Publication Date: 20260508
Application Date: 20260407

Claims (10)

1. The power transmission line observation environment error calibration method is characterized by comprising the following steps of: collecting original monitoring data of each satellite navigation system on a power transmission line; Calculating ionosphere-free combined residual errors according to the original monitoring data of each satellite navigation system; Establishing a target grid according to the position of a station antenna and a satellite observation angle, projecting the ionosphere-free combined residual error to the target grid according to the satellite observation angle of the station antenna, and establishing an ionosphere-free combined model according to a projection result; and calibrating the observation environment error of the power transmission line by using the ionosphere-free combined model.
2. The method for calibrating the error of the observed environment of the power transmission line according to claim 1, wherein the calculating the ionosphere-free combined residual error according to the original monitoring data of each satellite navigation system comprises: Extracting a first frequency point observation value and a second frequency point observation value in the original monitoring data; according to the first frequency point observation value and the second frequency point observation value, carrying out linear combination according to a frequency square proportion, and calculating an ionosphere-free combined observation value; And calculating a model observation value corresponding to the ionosphere-free combined observation value, and calculating the ionosphere-free combined residual according to the model observation value and a reference observation value.
3. The method for calibrating the error of the observed environment of the power transmission line according to claim 2, wherein the expression of the ionosphere-free combined residual error is: Wherein, the In order to have no ionospheric combined residual errors, For an observed environmental error without ionosphere combining, To measure noise.
4. The method for calibrating the error of the observation environment of the power transmission line according to claim 1, wherein the step of establishing the target grid according to the position of the station antenna and the satellite observation angle comprises the steps of: Constructing a target space according to the position of the station antenna; performing angle division on the target space according to the satellite observation angle of the station antenna; discretizing the angle division result of the target space to establish at least one grid unit, and establishing the target grid according to the grid unit and the preset grid resolution.
5. The method for calibrating the environmental error of the observation of the power transmission line according to claim 1, wherein the step of establishing the ionosphere-free combined model according to the projection result comprises the steps of: Establishing a parameter set to be estimated of a grid unit of the target grid; Acquiring a smoothness constraint between adjacent grid units and a preset weight of the smoothness constraint; And solving the parameter set to be estimated according to the ionosphere-free combined residual error, the smoothness constraint and the preset weight, and generating the ionosphere-free combined model according to the solving result of the parameter set to be estimated.
6. The method for calibrating an observed environmental error of a power transmission line according to claim 1, wherein the calibrating the observed environmental error of the power transmission line using the ionosphere-free combined model comprises: Extracting a first frequency point model and a second frequency point model of the ionosphere-free combined model; Discretizing the first frequency point model and the second frequency point model; Generating an observation environment error lookup table according to the discretized model, and calibrating the observation environment error of the power transmission line based on the observation environment error lookup table.
7. The method for calibrating an observation environment error of a power transmission line according to claim 6, wherein the expression of the first frequency point model is: Wherein, the An observed environmental error that is an observed value of the first frequency bin, In order to be a combined model without an ionosphere, In order to have no ionosphere combination coefficient, In order to have no ionosphere combination coefficient, The frequency ratio is the frequency ratio of the first frequency point frequency to the second frequency point frequency; the expression of the second frequency point model is as follows: Wherein, the And the observed environmental error is the observed value of the second frequency point.
8. The utility model provides a transmission line observation environment error calibration system which characterized in that includes: the acquisition module is used for acquiring original monitoring data of each satellite navigation system on the power transmission line; the calculation module is used for calculating ionosphere-free combined residual errors according to the original monitoring data of each satellite navigation system; The building module is used for building a target grid according to the position of the station antenna and the satellite observation angle, projecting the ionosphere-free combined residual error to the target grid according to the satellite observation angle of the station antenna, and building an ionosphere-free combined model according to the projection result; And the calibration module is used for calibrating the observation environment error of the power transmission line by using the ionosphere-free combined model.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the transmission line observed environmental error calibration method of any one of claims 1-7.
10. A computer readable storage medium, characterized in that a computer program is stored in the computer readable storage medium, wherein the computer program, when being executed by a processor, implements the steps of the transmission line observation environment error calibration method according to any one of claims 1-7.

Description

Method, system, equipment and medium for calibrating transmission line observation environment error Technical Field The application relates to the technical field of satellite navigation detection, in particular to a method, a system, equipment and a medium for calibrating an observation environment error of a power transmission line. Background The transmission line iron tower is located in a geological disaster prone area, and the tower foundation deformation needs to be monitored with high precision by using a Beidou satellite navigation system. However, due to the influence of the metal structure of the iron tower and the surrounding complex environment, the multipath effect is easy to generate on the monitoring signal, and the multipath error suppression method is difficult to eliminate by the conventional differential method, so that the research on the multipath error suppression method in the monitoring of the power transmission line is significant. The related art generally adopts a sun filtering method or a half-day grid model to model and suppress multipath errors. However, under the condition of multi-system mixed observation, the method is limited in applicability when uniformly processing multi-system observation data, has insufficient characterization capability on the observation environment errors, and has lower accuracy of error modeling. Disclosure of Invention The application provides a power transmission line observation environment error calibration method, a system, equipment and a medium, which are used for solving the problems that the applicability is limited when the related technology processes multi-system observation data, the characterization capability of the observation environment error is insufficient, the accuracy of error modeling is low and the like. The embodiment of the first aspect of the application provides a power transmission line observation environment error calibration method, which comprises the following steps of collecting original monitoring data of each satellite navigation system on a power transmission line, calculating ionosphere-free combined residual errors according to the original monitoring data of each satellite navigation system, establishing a target grid according to the position of a station antenna and a satellite observation angle, projecting the ionosphere-free combined residual errors to the target grid according to the satellite observation angle of the station antenna, establishing an ionosphere-free combined model according to a projection result, and calibrating the observation environment error of the power transmission line by using the ionosphere-free combined model. Optionally, in one embodiment of the application, the ionospheric-free combined residual is calculated according to the original monitoring data of each satellite navigation system, and the ionospheric-free combined residual comprises the steps of extracting a first frequency point observation value and a second frequency point observation value in the original monitoring data, linearly combining according to a frequency square proportion according to the first frequency point observation value and the second frequency point observation value, calculating the ionospheric-free combined observation value, calculating a model observation value corresponding to the ionospheric-free combined observation value, and calculating the ionospheric-free combined residual according to the model observation value and a reference observation value. Optionally, in one embodiment of the present application, the expression of ionosphere-free combined residuals is: Wherein, the In order to have no ionospheric combined residual errors,For the observation environment error without ionosphere combination (including non-white noise characteristic components such as multipath, protocol model residual systematic error and the like),For measuring noise, a white noise component is mainly used. Optionally, in one embodiment of the application, the target grid is built according to the position of the station antenna and the satellite observation angle, and the method comprises the steps of building a target space according to the position of the station antenna, performing angle division on the target space according to the satellite observation angle of the station antenna, and performing discretization on the angle division result of the target space to build at least one grid unit, and building the target grid according to the grid unit and the preset grid resolution. Optionally, in one embodiment of the application, the method for establishing the ionosphere-free combination model according to the projection result comprises the steps of establishing a parameter set to be estimated of grid units of a target grid, obtaining smooth constraints between adjacent grid units and preset weights of the smooth constraints, solving the parameter set to be estimated according to the ionosphere-free co