Monitoring the motion of power transmission line（ PTL） through magnetic angular rate and gravity（MARG） sensor array

including accelerometer

magnetometer and gyroscope

is one of the most mature technology in PTL monitoring system. However

it suffers lot of principle problems

such as initial point of position integration is unknown and the low frequency movement information of PTL is easy to be lost. Propose a new attitude-based algorithm to estimate real-time movement of PTL during galloping: it fuses the attitudes of multiple MARG sensor deployed on the PTL to calculate the displacement of MARG sensor as well as the movement of PTL. With this algorithm

integration cumulative error in displacements can be avoided

solve length constraints of PTL and recover PTL galloping movement image accurately through just a small number of MARG sensor.Simulations prove that this algorithm can reduce amplitude error of PTL galloping

and restoring error can’ t increase with time.