基于远距离无线电和窄带物联网的杆塔姿态监测系统

针对现有高压输电杆塔姿态监测系统存在监测方式单一、监测精度低、无法实时监测和提前预警等缺点的问题，提出了一种基于远距离无线电和窄带物联网的杆塔姿态监测系统。系统采用STM32F103C8T6嵌入式单片机搭配微机电系统(micro-electro-mechanical system, MEMS)陀螺仪倾角传感器实时采集杆塔姿态数据，使用远距离无线电(long range radio, LoRa)局域网通信技术完成杆塔监测区域内多节点的数据交互与汇总，并通过窄带物联网专网将汇总后的数据上报至OneNET云平台以实现在线监测杆塔倾斜状态。同时为提高倾角传感器的测量精度及稳定性，针对零偏不稳定性、速率斜坡和角度随机游走白噪声建立随机漂移误差模型，通过引入Softmax函数完成自适应调节反馈功能，动态调整测量噪声协方差矩阵和过程噪声协方差矩阵来优化卡尔曼滤波算法，以提升在角速率变化较快的情况下卡尔曼滤波器的跟踪性能。杆塔姿态监测系统经过测试，具有输出数据精度高、功耗低的优点，工作稳定可靠，能够实时监测高压输电杆塔的姿态和完成预警等功能，对预防高压输电杆塔倾斜、倒塌，维持电力系统的安全运行有一定的...

Tower Attitude Monitoring System Based on Long-range Radio and Narrowband Internet of Things

Aiming at the problems that the existing high-voltage transmission tower attitude monitoring system has a single monitoring mode, low monitoring accuracy, unable to real-time monitoring and early warning, a tower attitude monitoring system based on long-range radio and narrowband Internet of things is proposed. The system adopts STM32F103C8T6 embedded microcontroller with a micro-electro-mechanical system (MEMS) gyroscope inclination sensor to collect tower attitude data in real-time, and uses Lora LAN communication technology to complete the data interaction and aggregation of multiple nodes in the tower monitoring area, and reports the aggregated data to OneNET cloud platform through NB-IoT private network to realize online monitoring of tower tilt status. Meanwhile, to improve the measurement accuracy of the inclination sensor, a random drift error model is established for zero bias instability, rate ramp and random angular wandering white noise. By introducing the Softmax function to complete the adaptive adjustment feedback function, the measurement noise covariance matrix and the process noise covariance matrix are dynamically adjusted to optimize the Kalman filter algorithm to improve the tracking performance and stability of the Kalman filter in the case of fast changes in angular rate. After testing, the tower attitude monitoring system has the advantages of high accuracy of output data, low power consumption, stable and reliable work, and can monitor the attitude of high-voltage transmission towers in real-time and complete the tower attitude monitoring system has the advantages of high accuracy of output data, low power consumption, stable and reliable work, and can monitor the attitude of high-voltage transmission towers in real time and complete functions such as early warning, which can contribute to the prevention of high-voltage transmission tower tilt and collapse and maintain the safe operation of the power system.