基于多惯性传感器姿态的输电线舞动监测算法研究

摘要

针对目前使用惯性(MARG)传感器还原输电线舞动形状存在很多原理性的问题,如位置积分起始点未知、容易丢失输电线低频运动信息等,提出了一种基于惯性传感器姿态的输电线舞动形状还原算法,采用融合同一根输电线上多个MARG的姿态求取每个MARG真实位移以及输电线整体形状.算法能够避免加速度积分时的累积误差,解决了输电线长度约束问题且使用较少MARG即可还原舞动图像.仿真结果表明:算法可以有效地降低导线舞动振幅的误差,且还原误差不随时间增长.%Monitoring the motion of power transmission line (PTL )through magnetic angular rate and gravity (MARG) sensor array,including accelerometer,magnetometer and gyroscope,is one of the most mature technology in PTL monitoring system. However,it suffers lot of principle problems,such as initial point of position integration is unknown and the low frequency movement information of PTL is easy to be lost. Propose a new attitude-based algorithm to estimate real-time movement of PTL during galloping:it fuses the attitudes of multiple MARG sensor deployed on the PTL to calculate the displacement of MARG sensor as well as the movement of PTL. With this algorithm,integration cumulative error in displacements can be avoided,solve length constraints of PTL and recover PTL galloping movement image accurately through just a small number of MARG sensor. Simulations prove that this algorithm can reduce amplitude error of PTL galloping,and restoring error can′t increase with time.