基于惯性传感器的电力线路杆塔倾斜监测装置设计

针对电力线路杆塔倾斜角实时测量的需要，设计了一种基于惯性传感器的倾斜角度实时监测装置。装置硬件上由惯性传感器、单片机、通信电路和电源变换控制电路组成。软件上采用中断模式和尽量减少工作模块和通信次数相结合的工作策略以降低系统功耗，将6轴惯性传感器的加速度和角速度原始数据进行去极值平均滤波预处理，再经由互补滤波算法进行倾斜角度的综合计算，经实测倾斜角测量相对精度能达到1.30%。该装置在测量精度、功耗、成本和易用性上均能较好地满足电力线路杆塔倾斜在线监测的需求，具有一定的推广应用价值。

Design of Transmission Tower Inclination Monitoring Device Based on Inertial Sensor

According to meet the need of real-time measurement of transmission tower inclination angle, a real-time monitoring device based on inertial sensor is designed. The hardware of the device consists of an inertial sensor, a microcomputer, a communication circuit and a power conversion control circuit. In the software, the strategy of combining interrupt mode and minimizing working modules and communication times to reduce the system power consumption was adopted, the original data of acceleration and angular velocity of 6-axis inertial sensor are preprocessed by removing extreme data filter, and then the comprehensive calculation of inclination angle is carried out by complementary filtering algorithm. The relative accuracy of inclination angle measurement can reach 1.30%. This device can well meet the demand of online monitoring of transmission tower inclination angle measurement in measuring accuracy, power consumption, cost and ease of use, and has certain popularization value.