Research On Deformation Monitoring Of Electric Power Transmission Tower Based On Inertial Navigation

This paper mainly study the tower deformation monitoring method based on inertial navigation transmission.Based on the IMU inertial sensing element as the basic tool,the basic theory and method of inertial navigation are studied to describe the deformation state of the transmission tower.The existing correction methods for attitude matrix,An improved acceleration feedback correction algorithm based on Gauss Newton method is proposed.Because of the instantaneous sudden acceleration of transmission tower,quadratic feedback correction of attitude quaternion is carried out by using acceleration measurement,and the simulation research is carried out.Based on the research and analysis of the traditional gradient descent algorithm,the key technologies of the power tower attitude correction algorithm based on the quadratic feedback feedback of the base acceleration are studied.The traditional gradient descent algorithm is compared with the modified Gauss Newton method In contrast,it analyzes its characteristics and advantages and disadvantages.According to the simulation results,it can be seen that under the high dynamic conditions,the improved Gauss Newton method has a significant improvement on the precision of attitude correction compared with the gradient descent method.After instantaneous sudden acceleration,the modified quadratic feedback acceleration Gauss Newton method can effectively improve the accuracy of attitude correction.Then,in this paper,based on the basic principles of inertial navigation,this paper presents a measurement method of transmission tower deformation based on dual inertial navigation.The simulation results show that the dual inertial navigation combination can track the tower attitude of transmission tower under high dynamic state more accurately.In order to calculate the transmission tower deformation more accurately,the secondary feedback of acceleration is introduced to correct the attitude matrix.Simulation results show that the dual inertial measurement method modified by the quadratic feedback acceleration can effectively track the attitude of the transmission tower and maintain a small error during the long-term operation.Finally,the monitoring system and the hardware measurement platform which are suitable for monitoring the attitude of transmission tower are developed.After running and debugging shows that the system can display changes in the status of transmission tower attitude.