基于互补滤波的输电导线舞动轨迹还原算法

方向余弦矩阵算法(DCM算法)是工业级MEMS惯性传感器姿态解算常用算法。但由于受到外部机械振动和电磁环境影响,MEMS陀螺输出数据漂移较大,导致陀螺积分解算得出的姿态角误差会随着时间累积增长,因此须结合DCM算法与GPS或磁罗盘对陀螺计算出的角度进行误差修正。然而本文设计的导线舞动检测仪是直接安装于高电压架空输电线路表面,仪器处于很强的工频电磁干扰环境中,GPS和磁罗盘传感器失效,所以为了实时准确输出高压导线的运动轨迹,本文提出采用改进的DCM算法,即MEMS陀螺和加速度计的互补滤波算法；并设计出详细的导线舞动轨迹解算流程；最后以仿真测试验证该算法的正确性,并且在专用的舞动监测实验平台上证实了新型舞动监测仪样机的有效性。

An algorithm based on Complementary filter to reshape galloping track of transmission line

Direction cosine matrix algorithm (DCM) is common algorithm used in industrial grade MEMS movement sensors. However, due to external mechanical vibration and strong electromagnetic environment, MEMS gyro drift output data is large, by which attitude errors of gyro integral solver appears cumulative growth from time to time. So the combination of DCM algorithm with GPS or gyro magnetic is widely adopted to calculate the angle error correction. However, this kind of monitors within the GPS and magnetic sensors appear disabled, when mounted directly on the surface of high-voltage transmission lines for existing strong power frequency electromagnetic interference environment. In order to real-time output accurate value of wire trajectory, the improved DCM algorithm is proposed that complementary filter algorithm applied to MEMS gyroscopes and accelerometers; and then a detailed galloping track solver process is designed; Finally, the correctness of the algorithm is verified by simulation, and the validity of the new galloping monitor is proved on galloping experiment platform.