Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol.

2(8), 2010, 3743-3752

A METHOD OF GETTING SAG OF POWER TRANSMISSION LINE FROM DSP OF GPS MEASUREMENTS
SANGEETA KAMBOJ

Research Scholar, National Institute of Technology Kurukshetra

Kurukshetra - 136119, Haryana, India http://www.nitkkr.ac.in/

DR. RATNA DAHIYA

Faculty, National Institute of Technology Kurukshetra

Kurukshetra - 136119, Haryana, India http://www.nitkkr.ac.in/

DR. P.K CHATURVEDI

Dean, Skyline Institute of Engineering and Technology

Greater Noida, U.P India

Abstract: This paper deals with the measurement of overhead conductor sag for 66KV power transmission line at no wind load. The power engineering applications of GPS Technologies especially those that relate to the measurement of vertical position have been discussed. The power system operation and reliability improves by continuously regular monitoring of overhead conductor sag and hence we see the importance of this study. The focus of this paper is on the digital signal processing of vertical GPS measurements for accurate sag measurements of overhead conductor in power transmission line. In this paper ordinary least squares and weighted least squares techniques are used to determine parameter vector from observed GPS measurements. The algorithms of these two methods i.e. ordinary least squares and weighted least squares for digital signal processing of GPS measurements have been developed to improve accuracy of GPS measurements. Also comparison of these two methods has been discussed. Keywords: Global Positioning System; Overhead Conductor Sag; Least Square Parameter Estimation. 1. Introduction The Global Positioning System GPS consists of 24 satellites in medium earth orbit at an altitude of 20,200 km with an orbital inclination of 55 degree [3]. The orbits of 24 GPS satellites are in such a way that at anytime, anywhere in the world GPS receiver can pick up signals from at least four satellites. The GPS system operated by U.S Air force from GPS master control station (MCS) at Falcon Air force base in Colorado Springs, Colorado. GPS satellites transmit two signals at different frequency bands L1 and L2. The L1 band frequency carrier (1575.42MHz) is modulated by modulo 2 sum of 1.023Mbps PN sequence called coarse/acquisition (C/A) code and navigation message of 50bps. It also carries precise (P) code as Quadrature modulation. The L2 band frequency carrier (1227.6MHz) is modulated by modulo 2 sum of 10.23Mbps PN sequence called precise (P) code and navigation message of 50bps [3, 4]. The GPS transmission has at very low power strength and about 90-120dbm [4]. A GPS receiver at given location determines its location by analysis of signal level received from GPS satellites. Thus, a GPS receiver gives users latitude, longitude and altitude. Typical GPS receiver has an accuracy of 20m-100m (in xy direction) which is appropriate for its applications in power system. The accuracy of position measurements using

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752 the GPS receiver depend on various factors such as type of measurement made, ionosphere and troposphere conditions, government inserted error for security measure, number of satellites in view, receiver equipment used, digital signal processing of the received signal, reflection of signals, and other factors. There are various applications of Global Positioning System (GPS) in power system [2]. Some of which are: Surveying Mapping System protection Phasor measurement in real time In addition, GPS has been proposed for the measurement of overhead conductor sag (i.e. z-direction) in power transmission system [1]. In power transmission system, overhead conductor forms its backbone. Conductor sag plays an important role in mechanical designing of transmission lines. Real time direct measurement of conductor sag is needed for operation of power transmission system without requiring measurement of conductor tension, temperature and ambient weather conditions. The power system operation and reliability improves by continuously regular monitoring of overhead conductor sag and hence is the importance of this sag measurement study. The overhead conductor sag directly relates to the temperature of conductor. In this paper ordinary least squares and weighted least squares are developed in matrix form to determine parameter vector from observed GPS data. The measurement of vertical position (i.e. z-direction) is more problematic because some compromises were made in the GPS design to attain accuracy in x y measurements [4]. For this reason, the focus of this paper relates to the digital signal processing of vertical GPS measurements for accurate sag measurements of overhead conductor in power transmission line. 2. Overhead Conductor Sag measurement using GPS Receiver (Experimental Setup) The figure 3 shows proposed basic GPS configuration for measurement of overhead conductor sag in the 66KV NH3-PALLA power transmission line, Faridabad (Haryana), India, under shut down conditions at no wind load. The basic configuration of the system for the proposed GPS based sag measurement in an overhead power conductor shown in figure 1. It consists of: Bluetooth GPS receiver BT359 GPSLogger3025 Laptop / PC Bluetooth device compatible with GPS receiver BT359

Fig. 1. Bluetooth GPS receiver BT359

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752 GPS Specification : ,GPS Chipset SiRF Star III Frequency L1 1575.42 MHz , C/A Code 1.023 MHz chip rate s 20 channels all-in-view tracking, 2D RMS 1-5 meters 2D RMS, WAAS corrected Velocity 0.1m/sec Time1 microsecond synchronized to GPS time, Datum Default: WGS-84

Fig. 2. GPSLogger3025

GPS Logger 3.02.5 converts incoming NMEA sentences transmitted by GPS satellites into position of point in terms of longitude, latitude and altitude of that point. Additional features include easy-to-read UTC and local time display and PC-clock to GPS synchronization.

Fig3. Basic GPS configuration for Conductor Sag Measurement

To measure the sag in the overhead conductor, we measure altitude of overhead conductor. During data collection GPS receiver BT359 has been used in a stationary position. A selected number of experiments have been performed

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752 under shut down condition at no wind load on 66KV NH3-PALLA power transmission line, Faridabad, Haryana (India). It has been reported by major GPS manufactures that improvement in accuracy within centimeter error range can achieve with a Differential Global Positioning System (DGPS) receiver. 3. Digital Processing Methods for GPS Data The pseudorandom signals from the GPS are digitally decoded, converted to pseudo range data, and solved for position and time at the receiver digitally. The measurement errors can be due to various sources such as multipath, ionospheric, tropospheric effects and clock offset [3, 4]. A distribution of errors that affect positioning accuracy of GPS data are shown in table1.
Table1. Error Distributions in meters [3, 4]

Error Sources Multipath Ephemeris Troposphere Ionosphere

GPS 0.6 2.5 0.5 5

To reduce the effect of these errors in raw GPS measurements, least square method has been used. Least square method is used to find good estimation of parameters that fit a function f(x) of a set of data x1, x2xn. Least Squares method may be classified as Ordinary Least Squares (OLS), Weighted Least Squares (WLS), Alternating Least Squares (ALS) and Partial Least Squares (PLS). 3.1 Ordinary Least Square Method In this method, a mathematical model is fitted to measurements obtained from experiments. This method is basically used to solve over determined systems. The best fit is that instance of model for which sum of squared residuals has its least value [7] for n number of GPS measurements taken. (1) Ordinary least square method may be linear and non linear. And to reduce errors in data as obtained by GPS based overhead conductor sag measuring instrument linear least square method has been used. This method has been used so as to improve the accuracy of raw GPS measurements. For knowing the nonlinear behavior of the error, the ordinary least squares method may be formulated as: (2) Where: estimation. The measurements : Sampled readings at certain time that produce the corresponding vertical measurement equation can be expressed in matrix form by using the set of taken for a set of known altitude:

above

Z known X
Where = [A B C D E F]
T

(3)

This has been determined by using the Moore-Penrose pseudo inverse of the matrix X for a known altitude Therefore, the parameters vector may be determined as follows [7,8 ]: =( (4)

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752 3.2 Weighted Least Square Method This method gives better accuracy as compared to ordinary least squares method. A weight has applied to data points that reflect confidence in the data .According to this method more weight has been assigned to more accurate measurements to get maximum reduction of errors in GPS measurements [7].When GPS measurements are not equally reliable a weighted sum of squares of residuals has minimized for improvement in accuracy. S (5) Where W: diagonal weight matrix. The parameters vector which minimizes weighted squared error may be determined as follows [7, 8]: =( (6)

Ideally it is equal to reciprocal of variance of GPS measurements. Although the calculations involved in this weighted least squares method is slightly more than ordinary least squares method but it gives better accuracy. 4. Results and Discussions The following figures show that how error resulting from observed GPS measurements gets reduce by using ordinary least square method and weighted least square method.
Observed & Actual Altitude Above Ellipsoid 220 Actual Altitude Above Ellipsoid Observed Altitude Above Ellipsoid 215

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GPS Measurements(m)

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Fig. 4. Comparison of actual altitude measurements with observed altitude measurements

Figure 4 shows the observed altitude above ellipsoid and the actual altitude above ellipsoid. As can be seen from figure 4, the observed altitude above ellipsoid of overhead conductor using GPS has lot of difference with that of the actual or controlled altitudes above ellipsoid.

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752
Estimated & Actual Altitude Above Ellipsoid 220 Actual Altitude Above Ellipsoid Estimated Altitude Above Ellipsoid

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GP S M eas urem ents(m )

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Fig. 5. Comparison of actual altitude measurements with estimated altitude measurements using ordinary least square method

The figure 5 shows the estimated altitude above ellipsoid resulting from the ordinary least square (OLS) technique and the actual altitude above ellipsoid. As can be seen from figure 5, the resulting estimated altitude matches that of the actual or controlled altitudes above ellipsoid.
Estimated & Actual Altitude Above Ellipsoid 220 Actual Altitude Above Ellipsoid Estimated Altitude Above Ellipsoid 215

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G P S M e a s u re m e n t s (m )

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Fig. 6. Comparison of actual altitude measurements with estimated altitude measurements using weighted least square method

The figure 6 shows the estimated altitude above ellipsoid resulting from the weighted least square (WLS) technique and the actual altitude above ellipsoid. As can be seen from figure 6, the resulting estimated altitude matches that of the actual or controlled altitudes above ellipsoid

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752
Estimated & Actual Altitude Above Ellipsoid 220 Actual Altitude Above Ellipsoid Estimated Altitude Above Ellipsoid using OLS method Estimated Altitude Above Ellipsoid using WLS method

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G P S M e a s u re m e n t s (m )

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Fig. 7. Comparison of actual altitude measurements with estimated altitude measurements using Ordinary and weighted least square method
Estimated & Actual Error 10 Error before Estimation Error after estimation using OLS method Error after estimation using WLS method

2 E rro r(m )

-2

-4

-6

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-10 0

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Fig.8. Ordinary least squares vs. weighted least square errors

The respective errors in the ordinary least square and that of the weighted least square method from the actual altitudes are depicted in figure 7. The weighted least square method tends to have relatively better performance than the ordinary least square method in most cases as shown in figure 8. 3.1 Statistical Analysis of GPS Measurements The table 2 shows comparison of Raw GPS measurements and Estimated GPS measurements above ellipsoid(vertical position of overhead conductor) obtained using ordinary least square and weighted least square

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752 method for selected conditions based on field trials of 500s of measurements using 12 channel GPS receiver BT359.The readings were taken at the rate of one reading per second. The measurements were taken to illustrate the accuracy enhancement using ordinary least square method and weighted least square method.
Table2. Statistical analysis of raw GPS /estimated GPS measurement of altitude of overhead conductor under selected conditions

Parameter

Raw GPS(m)

Estimated GPS using OLS method(m)

Estimated GPS using WLS method(m) 207.8598 0.2817

Mean Standard Deviation Mode Median

201.298 1.8125

207.2214 0.3109

203.100 201.700

207.3731 207.0728

208.1155 207.7202

As seen in table2, the standard deviation of estimated GPS measurements obtained by using weighted least square method is less as compared to raw GPS measurements and estimated GPS measurements obtained by using ordinary least square method. Thus weighted least square method gives better accuracy as than that of ordinary least square method.
Statisticl Analysis of Raw GPS Measurements 140

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100 Statistical Frequency

80

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0 198

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201 202 203 Altitude Above Ellipsoid(m)

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Fig 9. GPS distribution in the vertical (z) direction [Raw GPS measurements]

The figure 9 shows that statistical frequency distribution for raw GPS measurements taken on 66KV NH3-PALLA power transmission line, Faridabad, Haryana (India).

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752
Statisticl Analysis of Estimated GPS Measurements 300

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Statistical Frequency

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207 207.5 208 Altitude Above Ellipsoid(m)

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Fig 10. GPS distribution in the vertical (z) direction [Estimated GPS measurements using OLS method]
Statisticl Analysis of Estimated GPS Measurements 300

250

Statistical Frequency

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207.2 207.4 207.6 207.8 208 208.2 208.4 208.6 208.8 Altitude Above Ellipsoid(m)

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Fig 11. GPS distribution in the vertical (z) direction [Estimated GPS measurements using WLS method]

And the figures 10 and 11 show the statistical frequency distribution for estimated GPS measurements obtained by using ordinary least square method and weighted least square method respectively. It has been shown that weighted least square method gives better accuracy of raw GPS measurements as compared to ordinary least square method. An accurate real time overhead conductor position (x, y, z, t) information can be used to redistribute power flow, detect the extent of conductor movement in the x-y plane in a remote location. Equally important is the use of overhead conductor sag information for dynamic thermal line ratings [5, 6] and phase measurement applications. 5. Conclusions The power engineering applications of GPS Technologies especially those that relate to the measurement of vertical position have been discussed. A GPS based conductor sag measuring instrument has been prototyped and used to measure altitudes. Thus the LSPE methods i.e. ordinary least square and weighted least square have been utilized to reduce the error of raw GPS measurements. The results show that both the ordinary least square method and weighted least square method approaches exhibit competitive results and reduce the error significantly. The GPS measurement data accuracy enhancement using the weighted least square method can be considered as a better and economical method for power line sag measurement.

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Sangeeta Kamboj et. al. / International Journal of Engineering Science and Technology Vol. 2(8), 2010, 3743-3752 6. Acknowledgements We acknowledge the cooperation of the officials department of Haryana Vidyut Parasaran Nigam Limited (HVPNL), Faridabad (Haryana), India in carrying out the work. References
[1] [2] [3] [4] [5] [6] [7] [8] [9] C. Mensah-Bonsu, U. Fernndez, G. T. Heydt, Y. Hoverson, J. Schilleci, B.L. Agrawal, Application of the Global Positioning System to the Measurement of Overhead Power Transmission Conductor Sag, IEEE Transactions on Power Delivery vol. 17, pp 273-278 , 2002. C. Mensah-Bonsu, G. T. Heydt, Real Time Digital Processing of GPS Measurements for Transmission Engineering, IEEE Transactions on Power Delivery, 1999. T. Pratt, C. Bostain, J. Allnutt, Satellite communication, Singapore : John Wiley & Sons , 2005. B. Hoffman-Wellenhof, H. Litchteneggr, J. Collins,Global Positioning System Theory and Practice, New York : Springer-Verlag, 1993. D. A. Douglass, D. C. Lawry, A. A. Edris, E. C. Bascom, III, Dynamic Thermal Ratings Realize Circuit Load Limits, IEEE Transactions on Computer Applications in Power, vol. 13, pp38-44, 2000. D. A. Douglass, D. C. Lawry, A. A. Edris, E. C. Bascom, III, Dynamic Thermal Ratings Realize Circuit Load Limits, IEEE Transactions on Computer Applications in Power,vol.13 , pp 38-44 , 2000. T.K.Moon,W.C.Stirling, Mathematical Methods and Algorithms for Signal Processing, Pearson Education, 2005 M.H. Hayes,Statistical Digital Signal Processing And Modeling, Singapore: John Wiley & Sons, 2005. G. M. Phillips, P. J. Taylor, Academic Press, New York : Theory and Applications of Numerical Analysis, 1996.

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