CN101963497A - Method and device for monitoring position of overhead transmission line - Google Patents
Method and device for monitoring position of overhead transmission line Download PDFInfo
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- CN101963497A CN101963497A CN2009100552307A CN200910055230A CN101963497A CN 101963497 A CN101963497 A CN 101963497A CN 2009100552307 A CN2009100552307 A CN 2009100552307A CN 200910055230 A CN200910055230 A CN 200910055230A CN 101963497 A CN101963497 A CN 101963497A
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Abstract
The embodiment of the invention discloses a method for monitoring the position of an overhead transmission line, which comprises the following steps of: processing GPS (global position system) signals received by a GPS antenna on the overhead transmission line to obtain a rough coordinate value, and then sending the rough coordinate value to a CORS (continuous operational reference system) data center through a communication antenna; receiving differential corrected data calculated by the CORS data center aiming at the rough coordinate value, and performing network carrier phase RTK (real-time kinematic) calculation to obtain an accurate coordinate value after the GPS signals are combined; and sending the accurate coordinate value to a user service center through the communication antenna. The invention also discloses a device for monitoring the position of the overhead transmission line. The device is placed on the overhead transmission line; the device comprises a body, the GPS double-frequency antenna, the communication antenna and an external power supply, wherein the GPS double-frequency antenna and the communication antenna are connected on the body; and the external power supply supplies power to the body. The method and the device effectively reduce error caused by inaccurate pre-measured span and inaccurate load of a unit length lead during calculating sag.
Description
Technical field
The present invention relates to power transmission line on-line monitoring technique field, more particularly, relate to a kind of method and apparatus of monitoring the overhead power transmission line position.
Background technology
The power transmission line sag is the important technology parameter in overhead transmission line design, construction, the operation maintenance, by calculating and the monitoring sag, and, can effectively prevent the power transmission line discharge accident in conjunction with the monitoring that power transmission line is crossed over regional ground environment, guarantee the safe operation of electrical network.
The prior art scheme of monitoring overhead transmission line sag adopts span by measuring in advance, the known suffered load of unit length lead and the data such as physical characteristics of lead to calculate acquisition usually.Adopt the method need utilize the power transmission line mechanical model, as shown in Figure 1, wherein, A, B are the hitch point of power transmission line; L is a span; l
D1, l
D2Be equivalent span; H is the hitch point discrepancy in elevation; T
HBe lead minimum point horizontal pull; f
D1, f
D2Be sag.
Use the method for power transmission line mechanical model calculating sag as follows:
Carry out the approximate treatment of equivalent span according to following formula:
Calculate lead arbitrfary point sag according to following formula:
q＝q
0+q
bing+q
feng…………………………………………(4)
Wherein:
Y represents the arbitrfary point sag, and unit is a rice; Suffered vertical load on the q representation unit length lead, unit is a Newton/meter;
q
0Representation unit length lead gravity, unit is a Newton/meter;
q
BingThe suffered average ice coating load of representation unit length lead, unit is a Newton/meter;
q
FengThe suffered average wind load of representation unit length lead, unit is a Newton/meter;
T
HExpression lead minimum point horizontal pull, unit is newton;
L represents span, and unit is a rice;
H represents the hitch point discrepancy in elevation, and unit is a rice;
l
D1, l
D2Represent equivalent span, unit is a rice;
f
MaxRepresent maximum sag, unit is a rice.
Work transmission line will move the time of many decades after building up.During this period, variation of ambient temperature and the conductor temperature that causes because of the variation of conveying electric current change the variation that all can cause wire tension, the shaft tower distortion that wind load, ice coating load cause, the imbalance that shaft tower both sides wire tension changes all can cause actual conditions lower wire physical parameter, wire tension and the isoparametric variation of span.So use the span of measuring in advance, the known suffered load of unit length lead to come the computing electric power line sag, can be difficult to avoid producing bigger error.
Summary of the invention
In view of this, the invention provides a kind of method and apparatus of monitoring the overhead power transmission line position, reduce effectively when calculating sag because of using the inaccurate error of measuring in advance that produces of span, the suffered load of unit length lead.
The method of described monitoring overhead power transmission line position comprises:
To be in gps signal that global position system GPS antenna on the overhead transmission line receives handle obtain the rough coordinates value after, mail to continuous operation satnav integrated service system CORS data center by communication antenna;
Receive the differential correcting data that described CORS data center is calculated at described rough coordinates value, and resolve and obtain the accurate coordinates value in conjunction with carrying out network carriers phase place dynamic real-time difference RTK behind the described gps signal;
Described accurate coordinates value is sent to customer acceptance center by described communication antenna.
Preferably, also comprise: the described accurate coordinates value that is sent to customer acceptance center is write the server of operation based on browser-server architecture software.
Preferably, after the gps signal that described gps antenna receives is handled and obtained the rough coordinates value, mail to described CORS data center by described communication antenna and comprise:
Global position system GPS double frequency locating module will obtain the rough coordinates value through the global position system GPS signal Processing after described GPS dual-band antenna receives;
Described GPS double frequency locating module is transferred to micro-control unit MCU with described rough coordinates value;
Described MCU is transferred to GPRS (General Packet Radio Service) GPRS wireless communication module with described rough coordinates value;
Described MCU controls described GPRS wireless communication module and is connected with the continuous satnav integrated service system CORS data center that moves, and sets up network communication protocol TCP/IP link 1;
Described GPRS wireless communication module is transferred to CORS data center with described rough coordinates value by described TCP/IP link 1.
Preferably, receive the differential correcting data that described CORS data center is calculated described rough coordinates value, and resolve and obtain the accurate coordinates value and comprise in conjunction with carrying out described RTK behind the described gps signal:
Described CORS data center will be transferred to described GPRS wireless communication module by described TCP/IP link 1 at the differential correcting data that described rough coordinates value is calculated gained;
Described MCU is transferred to described GPS double frequency locating module read described differential correcting data from described GPRS wireless communication module after;
Described GPS double frequency locating module with described differential correcting data with carry out obtaining the accurate coordinates value after network carriers phase place dynamic real-time difference RTK resolves after described gps signal combines.
Preferably, described accurate coordinates value is sent to customer acceptance center by described communication antenna and comprises:
Described GPS double frequency locating module is transferred to described MCU with described accurate coordinates value;
Described MCU is transferred to described GPRS wireless communication module after receiving described accurate coordinates value again;
Described MCU controls described GPRS wireless communication module and is connected with customer acceptance center and sets up network communication protocol TCP/IP link 2;
The accurate coordinates value of the described GPRS of being transferred to wireless communication module is transferred to described customer acceptance center by described TCP/IP link 2.
Preferably, described rough coordinates value and accurate coordinates value are the WGS84LLA coordinate.
The device of described monitoring overhead power transmission line position is positioned on the overhead transmission line, and described device comprises:
Body;
Be connected global position system GPS antenna and communication antenna on the body;
External power supply for described body power supply;
Wherein, described body is used for: after the gps signal that gps antenna is received is handled and obtained the rough coordinates value, mail to continuous operation satnav integrated service system CORS data center by communication antenna, and receive the differential correcting data that described CORS data center is calculated at described rough coordinates value, carry out obtaining the accurate coordinates value after network carriers phase place dynamic real-time difference RTK resolves in conjunction with described gps signal, and be sent to customer acceptance center by described communication antenna.
Preferably, described body comprises: GPS double frequency locating module, the signaling conversion circuit plate that is connected with described GPS double frequency locating module, the master control borad that is connected with described signaling conversion circuit plate and the GPRS communication module that is connected with master control borad, wherein:
Described GPS double frequency locating module is used to receive described gps signal and handles and obtains the accurate coordinates value;
Described signaling conversion circuit plate is used to change the signal that described signaling conversion circuit plate receives;
Described master control borad is used to realize the communication of described MCU and described GPS double frequency locating module and described GPRS communication module;
Described GPRS communication module is used for the link that connects between device and described CORS data center and the described customer acceptance center, transmission signals.
Preferably, described master control borad comprises: micro-control unit MCU, power-switching circuit and signal indicating circuit, wherein:
Described MCU controls described GPS double frequency locating module and the work of described GPRS communication module;
Described power-switching circuit is used for the voltage of external power supply voltage transitions for suitable described monitoring device work;
Described signal indicating circuit is used to indicate the state of described monitoring device service part.
Preferably, also comprise the level shifting circuit that is used between the different standard for serial communication.
From above-mentioned technical scheme as can be seen, the embodiment of the invention is arranged on described monitoring device on the overhead transmission line, and according to GPS (the Global Position System that receives, GPS) signal and the differential correcting data calculated through CORS data center, described differential correcting data are carried out RTK after in conjunction with described gps signal to be resolved and obtains the accurate coordinates value, calculate sag according to described accurate coordinates value, reduce error effectively because of using the inaccurate calculating sag of span, the suffered load of unit length lead measured in advance to produce.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the synoptic diagram of power transmission line mechanical model of the prior art;
Fig. 2 is the synoptic diagram of monitoring device of a kind of overhead power transmission line position of the embodiment of the invention;
Fig. 3 is a kind of process flow diagram of monitoring the method for overhead power transmission line position of the embodiment of the invention;
Fig. 4 is the process flow diagram of the extremely described CORS of the described rough coordinates value of transmission data center in the embodiment of the invention;
Fig. 5 is the auxiliary process flow diagram that obtains the accurate coordinates value for the differential correcting data that issue with CORS data center in the embodiment of the invention;
Fig. 6 is the process flow diagram that the described accurate coordinates value of transmission arrives described customer acceptance center in the embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
The embodiment of the invention discloses a kind of device of monitoring the overhead power transmission line position, be arranged on the described overhead transmission line, reduce effectively when calculating sag because of using span, the inaccurate error of measuring in advance that produces of the suffered load of unit length lead.
The structure of described monitoring device comprises as shown in Figure 2:
Be connected global position system GPS antenna 2 and communication antenna 3 on the body;
Wherein, body 1 is used for: after the gps signal that gps antenna 2 is received is handled and obtained the rough coordinates value, mail to continuous operation satnav integrated service system (ContinuousOperational Reference System by communication antenna 3, CORS) data center, and receive gained calculates in described CORS data center at described rough coordinates value differential correcting data, carry out network carriers phase place dynamic real-time difference (Real-time kinematics in conjunction with described gps signal, RTK) resolve, obtain the accurate coordinates value after resolving, and be sent to customer acceptance center by described communication antenna 3.
Wherein, also as shown in Figure 2, body 1 comprises: GPS double frequency locating module 5, the signaling conversion circuit plate 6 that is connected with GPS double frequency locating module 5, the master control borad 7 that is connected with signaling conversion circuit plate 6 and GPRS (General Packet Radio Service) (the General Packet Radio Service that is connected with master control borad 7, GPRS) communication module 8, wherein:
GPS double frequency locating module 5 is used to receive described gps signal and handle the accurate coordinates value that obtains;
Signaling conversion circuit plate 6 is used to change the signal that described signaling conversion circuit plate receives;
MCU7.1 control GPS double frequency locating module 5 and 8 work of GPRS communication module;
The voltage transitions that power-switching circuit 7.3 is used for external power supply 4 is the voltage of suitable described monitoring device work;
Signal indicating circuit 7.3 is used to indicate the state of described monitoring device service part.
Described communication antenna can be for being used for global system for mobile communications (Global System for MobileCommunications, antenna GSM).
And described monitoring device also comprises the change-over circuit 9 that is used between the different standard for serial communication.
Described monitoring device is arranged on the overhead transmission line, can monitor the accurate coordinates value that overhead transmission line is installed described monitoring device point in real time, and calculates sag according to described accurate coordinates value.Generally speaking, to the situation that does not have topographic feature to change in the span scope, described monitoring device is installed in the liftoff closest approach of overhead transmission line, O point as shown in Figure 1, this point also is the dangerous point that possible occur discharging, and like this, can directly monitor the distance to the ground of dangerous point.Billy makes the classic method that whether safety is judged over the ground more in view of the above with the suffered LOAD FOR sag of measuring in advance of span, unit length lead, the accuracy height, and error is little.When knowing the sag of other positions of overhead transmission line if desired, certainly described monitoring device is installed in the position of the needs monitoring of overhead transmission line, monitors the coordinate of this position, thereby calculate sag.But in the power transmission line operational process, described monitoring device is difficult for removing and installing, thus also described monitoring device can be fixedly mounted on certain point of overhead transmission line, and the coordinate of calculating other points according to the coordinate figure and the equations of line of this point.
The embodiment of the invention also discloses a kind of method of using described monitoring device monitoring overhead power transmission line position, reduce classic method effectively because of the employed error of measuring span, the suffered load change generation of unit length lead in advance.
The method of described on-line monitoring overhead power transmission line position, detailed process may further comprise the steps as shown in Figure 3:
Step S1, will be in gps signal that gps antenna on the overhead transmission line receives resolve obtain the rough coordinates value after, mail to continuous operation satnav integrated service system CORS data center by communication antenna;
Step S2 receives described CORS data center and calculates the differential correcting data of gained at described rough coordinates value, and resolves and obtain the accurate coordinates value in conjunction with carrying out network carriers phase place dynamic real-time difference RTK behind the described gps signal;
Step S3, described accurate coordinates value is sent to customer acceptance center by described communication antenna.
Above step is constantly repeating, in the coordinate figure Bao Hanzai $GPGGA statement that the GPS locating module calculates, therein except coordinate figure, also have special zone bit to be used to indicate the state of separating, the GPS locating module only needs the total data of $GPGGA statement is sent to MCU continuously, MCU judges the state of separating according to zone bit, and the while is also mail to wireless communication module with the total data of this statement, mails to CORS data center by wireless communication module again.Simultaneously, the differential correcting data that gained calculates in CORS data center also are to continue to be received by wireless communication module, are transmitted to the GPS locating module after being received by MCU again.
Concrete, the specific implementation process of described step 1 may further comprise the steps as shown in Figure 4:
Step S11, described GPS double frequency locating module will obtain the rough coordinates value through the global position system GPS signal Processing after described GPS dual-band antenna receives;
Step S12, described GPS double frequency locating module is transferred to micro-control unit MCU with described rough coordinates value;
Step S13, described MCU is transferred to described GPRS wireless communication module with described rough coordinates value;
Step S14, described MCU control described GPRS wireless communication module and are connected with the continuous satnav integrated service system CORS data center that moves, and set up network communication protocol TCP/IP link 1;
Step S15, described GPRS wireless communication module is transferred to CORS data center with described rough coordinates value through TCP/IP link 1.
More specifically, in step S11, described rough coordinates value is WGS84LLA (World Geodetic System a 1984) coordinate, in described WGS84LLA coordinate, comprise statement according to NMEA-0183 (National Marine Electronics Association) definition De $GPGGA, Suo Shu $GPGGA statement be a kind of be the character string of separator with the comma.
Because, described GPS double frequency locating module serial communication interface comprises GPS double frequency locating module first serial communication interface GPS-UART1 and the GPS double frequency locating module second serial communication interface GPS-UART2, and described MCU serial communication interface comprises: the MCU first serial communication interface MCU-UART1, the MCU second serial communication interface MCU-UART2 and MCU the 3rd serial communication interface MCU-UART3.Described UART is Universal Asynchronous Receiver/Transmitter, universal asynchronous reception/dispensing device.
So in step S12, GPS double frequency locating module transmits described rough coordinates value through described GPS-UART1, is transferred among the described MCU through described MCU-UART1 again.
In step S13, described MCU is transferred to described GPRS wireless communication module through described MCU-UART3 with described rough coordinates value.
In step S14, described MCU also controls described GPRS wireless communication module by described MCU-UART3 issue an order and is connected with described CORS data center, sets up network communication protocol TCP/IP link 1.
Yet because the serial communication interface of described GPS double frequency locating module meets the RS232 level, the serial communication interface of described MCU meets the LVTTL level, so before described MCU transmission, change by advanced line level by described GPS double frequency locating module for described rough coordinates value.
And in step S15, described GPRS wireless communication module sends to described rough coordinates value on the described TCP/IP link 1 by the GSM antenna.
The specific implementation process of described step 2 may further comprise the steps as shown in Figure 5:
Step S21, the differential correcting data that described CORS data center is calculated according to described rough coordinates value are transferred to described GPRS wireless communication module by described TCP/IP link 1;
Step S22, described MCU read described differential correcting number and are transferred to described GPS double frequency locating module then from described GPRS wireless communication module;
Step S23, described GPS double frequency locating module with described differential correcting data with carry out obtaining the accurate coordinates value after network carriers phase place dynamic real-time difference RTK resolves after described gps signal combines.
More specifically, in step S21, the differential correcting data that gained calculates according to described rough coordinates value in described CORS data center are transferred to the data buffer of described GPRS wireless communication module again by described TCP/IP link 1.
In step S22, described MCU is transferred to described GPS double frequency locating module by described MCU-UART2 through described GPS-UART2 again through described MCU-UART3 reads described differential correcting data from described GPRS wireless communication module after.
In step S23, described accurate coordinates value also is the WGS84LLA coordinate.
The specific implementation process of described step 3 may further comprise the steps as shown in Figure 6:
Step S31, described GPS double frequency locating module is transferred to described MCU with described accurate coordinates value;
Step S32, described MCU are transferred to described GPRS wireless communication module after receiving described accurate coordinates value again;
Step S33, described MCU control described GPRS wireless communication module and are connected with customer acceptance center and set up network communication protocol TCP/IP link 2;
Step S34, the accurate coordinates value of the described GPRS of being transferred to wireless communication module is transferred to described customer acceptance center by described TCP/IP link 2.
More specifically, in step S31, described GPS double frequency locating module is transferred to described MCU through described MCU-UART1 with described accurate coordinates value again through described GPS-UART1 transmission.
In step S32, described MCU is transferred to described GPRS wireless communication module through described MCU-UART3 after receiving described accurate coordinates value again.
In step S33, described MCU controls described GPRS wireless communication module and is connected the network communication protocol TCP/IP link of setting up 2 with customer acceptance center by described MCU-UART3 issue an order.
In step S34, described accurate coordinates value also will be through described GSM antenna transmission to described TCP/IP link 2 from described GPRS wireless communication module.
In other embodiments, described method also comprises step: the described accurate coordinates value that is sent to customer acceptance center writes the server of operation based on the framework software of browser-server.Like this, the user just can read the accurate coordinates value of the described monitoring device point of installation on the overhead transmission line that is stored in the described server by accessed web page.
Need to prove that each embodiment adopts the mode of going forward one by one to describe in this instructions, what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.And the foregoing description the methods and apparatus disclosed are corresponding, relevant part can be mutually referring to.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (10)
1. a method of monitoring the overhead power transmission line position is characterized in that, comprising:
To be in gps signal that global position system GPS antenna on the overhead transmission line receives handle obtain the rough coordinates value after, mail to continuous operation satnav integrated service system CORS data center by communication antenna;
Receive the differential correcting data that described CORS data center is calculated at described rough coordinates value, and resolve and obtain the accurate coordinates value in conjunction with carrying out network carriers phase place dynamic real-time difference RTK behind the described gps signal;
Described accurate coordinates value is sent to customer acceptance center by described communication antenna.
2. method according to claim 1 is characterized in that, also comprises:
The described accurate coordinates value that is sent to customer acceptance center is write the server of operation based on browser-server architecture software.
3. method according to claim 1 is characterized in that, after the gps signal that described gps antenna receives is handled and obtained the rough coordinates value, mails to described CORS data center by described communication antenna and comprises:
Global position system GPS double frequency locating module will obtain the rough coordinates value through the global position system GPS signal Processing after described GPS dual-band antenna receives;
Described GPS double frequency locating module is transferred to micro-control unit MCU with described rough coordinates value;
Described MCU is transferred to GPRS (General Packet Radio Service) GPRS wireless communication module with described rough coordinates value;
Described MCU controls described GPRS wireless communication module and is connected with the continuous satnav integrated service system CORS data center that moves, and sets up network communication protocol TCP/IP link 1;
Described GPRS wireless communication module is transferred to CORS data center with described rough coordinates value by described TCP/IP link 1.
4. method according to claim 1 is characterized in that, receives the differential correcting data that described CORS data center is calculated described rough coordinates value, and resolves and obtain the accurate coordinates value and comprise in conjunction with carrying out described RTK behind the described gps signal:
Described CORS data center will be transferred to described GPRS wireless communication module by described TCP/IP link 1 at the differential correcting data that described rough coordinates value is calculated gained;
Described MCU is transferred to described GPS double frequency locating module read described differential correcting data from described GPRS wireless communication module after;
Described GPS double frequency locating module with described differential correcting data with carry out obtaining the accurate coordinates value after network carriers phase place dynamic real-time difference RTK resolves after described gps signal combines.
5. method according to claim 1 is characterized in that, described accurate coordinates value is sent to customer acceptance center by described communication antenna and comprises:
Described GPS double frequency locating module is transferred to described MCU with described accurate coordinates value;
Described MCU is transferred to described GPRS wireless communication module after receiving described accurate coordinates value again;
Described MCU controls described GPRS wireless communication module and is connected with customer acceptance center and sets up network communication protocol TCP/IP link 2;
The accurate coordinates value of the described GPRS of being transferred to wireless communication module is transferred to described customer acceptance center by described TCP/IP link 2.
6. method according to claim 1 is characterized in that, described rough coordinates value and accurate coordinates value are the WGS84LLA coordinate.
7. a device of monitoring the overhead power transmission line position is characterized in that, is positioned on the overhead transmission line, and described device comprises:
Body;
Be connected global position system GPS antenna and communication antenna on the body;
External power supply for described body power supply;
Wherein, described body is used for: after the gps signal that gps antenna is received is handled and obtained the rough coordinates value, mail to continuous operation satnav integrated service system CORS data center by communication antenna, and receive the differential correcting data that described CORS data center is calculated at described rough coordinates value, carry out obtaining the accurate coordinates value after network carriers phase place dynamic real-time difference RTK resolves in conjunction with described gps signal, and be sent to customer acceptance center by described communication antenna.
8. device according to claim 7 is characterized in that, described body comprises:
GPS double frequency locating module, the signaling conversion circuit plate that is connected with described GPS double frequency locating module, the master control borad that is connected with described signaling conversion circuit plate and the GPRS communication module that is connected with master control borad, wherein:
Described GPS double frequency locating module is used to receive described gps signal and handles and obtains the accurate coordinates value;
Described signaling conversion circuit plate is used to change the signal that described signaling conversion circuit plate receives;
Described master control borad is used to realize the communication of described MCU and described GPS double frequency locating module and described GPRS communication module;
Described GPRS communication module is used for the link that connects between device and described CORS data center and the described customer acceptance center, transmission signals.
9. device according to claim 7 is characterized in that, described master control borad comprises: micro-control unit MCU, power-switching circuit and signal indicating circuit, wherein:
Described MCU controls described GPS double frequency locating module and the work of described GPRS communication module;
Described power-switching circuit is used for the voltage of external power supply voltage transitions for suitable described monitoring device work;
Described signal indicating circuit is used to indicate the state of described monitoring device service part.
10. device according to claim 7 is characterized in that, also comprises the level shifting circuit that is used between the different standard for serial communication.
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| CN104236526A (en) * | 2014-10-10 | 2014-12-24 | 国家电网公司 | Monitoring device for inclining, sinking and horizontal displacement of four-antennae electric transmission line tower frame |
| CN104568276A (en) * | 2013-10-21 | 2015-04-29 | 北京慧峰仁和科技股份有限公司 | GPS (global positioning system)-based all-weather sag observation control system for overhead power transmission line |
| CN105738918A (en) * | 2014-12-10 | 2016-07-06 | 云南电网有限责任公司临沧供电局 | Satellite-navigation-information-fusion-based power transmission line displacement monitoring system ad method |
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