CN108955630A - Attitude detecting method and attitude detection system - Google Patents

Attitude detecting method and attitude detection system Download PDF

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Publication number
CN108955630A
CN108955630A CN201810901386.1A CN201810901386A CN108955630A CN 108955630 A CN108955630 A CN 108955630A CN 201810901386 A CN201810901386 A CN 201810901386A CN 108955630 A CN108955630 A CN 108955630A
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China
Prior art keywords
attitude
angle sensor
receiving
mobile station
preset position
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CN201810901386.1A
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CN108955630B (en
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王光光
王君雄
唐修俊
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Sany Marine Heavy Industry Co Ltd
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Sany Marine Heavy Industry Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention provides a kind of attitude detecting method and attitude detection systems, belong to attitude detection technical field.The attitude detecting method includes: the absolute coordinate signal for receiving the first predeterminated position, receives the attitude angle data signal of the second predeterminated position；The attitude angle data signal of absolute coordinate signal and second predeterminated position to first predeterminated position carries out calculation processing, and exports the coordinate of the first position to be measured on part to be measured.The attitude detecting method can accurately determine vehicle posture, improve the initial alignment precision of vehicle, reduce capital construction and purchase cost.

Description

Attitude detection method and attitude detection system
Technical Field
The invention relates to the technical field of attitude detection, in particular to an attitude detection method and an attitude detection system.
Background
The attitude of the current port and pier tire crane vehicle comprises a main beam, a trolley and a cart cross beam, and the attitude of each mechanism is often influenced mutually. At present, the intelligent degree and the automatic degree of port and pier equipment are continuously improved, and the detection accuracy of the whole vehicle posture needs to be improved for better control equipment.
The existing attitude detection of the whole vehicle mainly detects the attitude of the large vehicle, one method adopts a magnetic pin sensor arranged near the tire of the large vehicle, and the other method adopts a Gray bus and laser range finder scheme with complex capital construction.
The magnetic nail scheme has the advantages that data of the magnetic nail scheme is easily influenced by factors such as the tire pressure of a large vehicle tire, asynchronous extrusion of front and rear wheels, field unevenness and the like, and the magnetic nail data can only reflect the absolute coordinates of a large vehicle beam in a stock yard base point coordinate system. The gray bus scheme requires a mounting bracket for the gray bus to be established beside the equipment, so that the period is long, the cost is high, and the design is complex.
Both methods cannot accurately determine the posture of the whole vehicle.
Disclosure of Invention
The invention provides an attitude detection method, which can be used for overcoming the defects in the prior art, accurately determining the attitude of a whole vehicle, improving the initial positioning precision of the whole vehicle and reducing the capital construction and purchase cost.
The invention also provides an attitude detection system, and the attitude of the whole vehicle can be more accurately determined through the system.
The embodiment of the invention is realized by the following steps:
the embodiment of the invention provides a posture detection method, which comprises the following steps:
receiving an absolute coordinate signal of a first preset position, and receiving an attitude angle data signal of a second preset position;
and calculating the absolute coordinate signal of the first preset position and the attitude angle data signal of the second preset position, and outputting the coordinate of the first position to be detected on the piece to be detected.
Specifically, the attitude detection method can accurately determine the attitude of the whole vehicle, improve the initial positioning precision of the whole vehicle and reduce the capital construction and purchase cost.
Optionally, the piece to be tested is a tire crane, and a first GPS mobile station and a second GPS mobile station are respectively installed on diagonal lines of a main beam of the tire crane;
a first angle sensor is mounted on a flexible leg of the tire crane, and a second angle sensor is mounted on a rear cross beam of the tire crane;
the receiving of the absolute coordinate signal of the first preset position includes: receiving an absolute coordinate signal of a first preset position sent by a controller;
the receiving of the attitude angle data signal of the second preset position includes: receiving attitude angle data signals of the flexible leg detected by the first angle sensor and receiving attitude angle data signals of the rear cross beam detected by the second angle sensor.
Optionally, the absolute coordinate signal of the first preset position is obtained by processing, by the controller, the GPS signal and the differential data signal of the GPS base station, the first GPS mobile station, and the second GPS mobile station.
Optionally, the receiving the attitude angle data signal of the second preset position includes:
receiving the yaw angle gamma of the flexible leg sent by the first angle sensor3and receiving the elevation angle β of the rear cross beam sent by the second angle sensor2。
Optionally, the firstThe preset position is a main beam midpoint determined according to absolute coordinates of the first GPS mobile station and the second GPS mobile station; the first position to be measured of the piece to be measured is a connecting point j of the flexible leg and the rear cross beam2；
The calculating the absolute coordinate signal of the first preset position and the attitude angle data signal of the second preset position, and outputting the coordinate of the first position to be measured on the piece to be measured includes:
according to the absolute coordinate signal O and the gamma of the midpoint of the main beam3and said β2Calculating to obtain the j2The coordinates of (a).
Optionally, the absolute coordinate signal O and the absolute coordinate signal γ according to the center point of the main beam3and said β2Calculating to obtain the j2The coordinates of (a) include:
using affine transformation transfer principle, according to absolute coordinates O, said gamma3and said β2Calculating to obtain the j2。
Optionally, the attitude angle data signal of the flexible leg and the attitude angle data signal of the rear cross beam are filtered by a high-pass filtering method.
An embodiment of the present invention further provides an attitude detection system, including:
a GPS base station;
the GPS mobile station is used for being installed on a piece to be tested;
a radio station for receiving GPS signals and differential data of the GPS base station and the GPS mobile station;
the controller is used for receiving the GPS signal and the differential data and carrying out coordinate conversion to obtain an absolute coordinate of the GPS mobile station;
the angle sensor is used for being installed on the installation position of the piece to be detected and used for detecting attitude angle data of the installation position;
and the processor is used for calculating the absolute coordinate of the preset position on the piece to be measured according to the absolute coordinate of the GPS mobile station and the attitude angle data of the installation position.
Optionally, the piece to be measured is a tire crane, two GPS mobile stations are respectively installed on diagonal lines of a main beam of the tire crane, and the two GPS mobile stations are respectively a first GPS mobile station and a second GPS mobile station.
Optionally, the angle sensor includes a first angle sensor and a second angle sensor;
the first angle sensor is mounted on a flexible leg of the tire crane and is arranged close to the main beam;
and the rear cross beam of the tire crane is provided with the second angle sensor, and the second angle sensor is close to the flexible leg.
Optionally, the angle sensor further includes a third angle sensor, and the third angle sensor is installed on a front cross beam of the tire crane.
Optionally, the attitude detection system further includes a high-pass filter, and the high-pass filter is configured to filter a harmonic of the detection signal of the angle sensor.
Compared with the prior art, the beneficial effects of the embodiment of the invention include, for example:
the attitude detection method can accurately determine the attitude of the whole vehicle, improve the initial positioning precision of the whole vehicle and reduce the capital construction and purchase cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a gesture detection method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a tire crane according to an embodiment of the present invention from a first perspective;
FIG. 3 is a schematic structural diagram of a tire crane according to an embodiment of the present invention from a second perspective;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a block diagram of a gesture detection system provided by embodiments of the present invention;
fig. 6 is a schematic structural diagram of an attitude detection apparatus according to an embodiment of the present invention.
Icon: 11-a GPS base station; 13-a first GPS mobile station; 15-a second GPS mobile station; 17-a radio station; 19-a controller; 21-a first angle sensor; 23-a second angle sensor; 25-a third angle sensor; 27-a processor; 29-a high pass filter; 200-tyre crane; 201-main beam; 203-flexible legs; 205-rigid legs; 207-front cross member; 209-rear cross member; 211-tyre; 301-a receiving module; 302-processing module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the terms are only used for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," "third," and the like, if any, are only used to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1, fig. 1 shows a method for detecting an attitude according to the present embodiment, which includes:
s101, receiving an absolute coordinate signal of a first preset position, and receiving an attitude angle data signal of a second preset position.
S102, calculating and processing the absolute coordinate signal of the first preset position and the attitude angle data signal of the second preset position, and outputting the coordinate of the first position to be detected on the piece to be detected.
Generally, the absolute coordinate signal of the first preset position may be obtained by the GPS mobile station, or may be obtained by both the GPS mobile station and the GPS base station.
generally, the attitude angle data may be directly detected by a general angle sensor, where the attitude angle data includes a yaw angle γ, a roll angle α, and a pitch angle β, and of course, a compass, a gyroscope, or the like may be used for detection.
If the to-be-detected piece is of a rigid structure, the coordinate of the first to-be-detected position can be obtained by calculation only by acquiring an absolute coordinate signal of the first preset position; if the to-be-measured piece has both a rigid structure and a flexible structure, the coordinate of the first to-be-measured position can be calculated only by acquiring the attitude angle data signal.
Specifically, the attitude detection method can accurately determine the attitude of the whole vehicle, improve the initial positioning precision of the whole vehicle and reduce the capital construction and purchase cost.
Referring to fig. 2 and 3, in the present embodiment, the object to be measured is a tire crane 200, and a first GPS mobile station 13 and a second GPS mobile station 15 are respectively installed on diagonal lines of a main beam 201 of the tire crane 200.
A first angle sensor 21 is mounted on a flexible leg 203 of the tyre crane 200 and a second angle sensor 23 is mounted on a rear cross member 209 of the tyre crane 200.
Accordingly, the receiving the absolute coordinate signal of the first preset position includes: the absolute coordinate signal of the first preset position sent by the controller 19 is received.
The receiving the attitude angle data signal of the second preset position includes: receives attitude angle data signals of the flexible legs 203 detected by the first angle sensor 21 and receives attitude angle data signals of the rear cross member 209 detected by the second angle sensor 23.
In this embodiment, the two GPS mobile stations can reduce errors and detect the absolute coordinates of the first preset position as accurately as possible. In specific implementation, the number of the GPS mobile stations is not limited, and may be one, two, three or more.
The number of angle sensors is also not limited, and may be one, two, three, or more. Meanwhile, when a GPS mobile station is not convenient to install in some structures, the detection accuracy can be improved through an angle sensor.
Meanwhile, it should be noted that, in the specific implementation, the to-be-tested piece may also be of other types of structures, such as a traveling crane.
In this embodiment, the absolute coordinate signal of the first preset position is obtained by the controller according to the GPS signals and the differential data signal processing of the GPS base station 11, the first GPS mobile station 13, and the second GPS mobile station 15.
Through the double-DGPS positioning, the detection accuracy can be further improved.
In this embodiment, receiving the attitude angle data signal of the second preset position includes:
receiving the yaw angle γ of the flexible leg 203 sent by the first angle sensor 213and receiving the elevation angle beta of the rear cross member 209 transmitted by the second angle sensor 232。
In this embodiment, the first preset position is a midpoint of the main beam 201 determined according to absolute coordinates of the first GPS mobile station 13 and the second GPS mobile station 15; the first position to be measured of the piece to be measured is the connection point j of the flexible leg 203 and the rear cross beam 2092；
The absolute coordinate signal of the first preset position and the attitude angle data signal of the second preset position are calculated, and the output of the coordinate of the first position to be measured on the piece to be measured comprises the following steps:
according to the absolute coordinate signals O and gamma of the middle point of the main beam 2013and beta2Calculated to obtain j2The coordinates of (a).
Referring to fig. 3 and 4, in the present embodiment, the absolute coordinate signals O and γ of the center point of the main beam 201 are obtained3and beta2Calculated to obtain j2The coordinates of (a) include:
by affine transformation transfer principle, according to absolute coordinates O and gamma3and beta2Calculated to obtain j2。
The specific calculation method is as follows:
the vector from the absolute coordinate O point to the hinge point of the main beam 201 and the flexible leg 203 isThe hinge point of the main beam 201 and the flexible leg 203 is connected to O1The vector of points isO1Point to j2The vector of points isj2Point to O2The vector of points isOO1Vector isO1O2Vector isWherein, O1The point is the mounting point of an angle sensor located on said flexible leg 203, O2The point is a mounting point at the second angle sensor 23;
according to the affine transformation transfer principle, O1Dot and O2All the points are obtained by the absolute coordinate O point after transfer and rotation transformation, W1i＝r0i+r1i；W2i＝r2i+r3i(ii) a Wherein:
from the rotation theory of affine transformation: wherein,is a matrix of the rotation of the tensor,is in a coordinate system o1x1y1z1Is a vector ofRotating to obtain the product;is in a coordinate system o2x2y2z2Is a vector ofAfter rotation, obtain1x1y1z1A coordinate system, o, established with the position of the first angle sensor 21 as the center2x2y2z2A coordinate system, o, established with the position of the second angle sensor 23 as the center1x1y1x1And o coordinate system2x2y2z2The plane of the x-axis and the y-axis in the coordinate system is parallel to the horizontal plane;
the mounting point of the first angle sensor 21 is close to the hinge point of the main beam 201 and the flexible leg 203, and the mounting point of the second angle sensor 23 is close to the hinge point of the rear cross beam 209 and the flexible leg 203, according to the formula:
r2i＝r0i+r1i+(Roo′r′2)i＝r0i+(Roo′r′2)i；
r4i＝r0i+r1i+(Roo′r′2)i+r3i+(Roo″r″4)i＝r0i+(Roo′r′2)i+(Roo″r″4)i；
formula medium rotation torque array
r0i＝0；r3i＝0。
Hinge point j of rear cross beam 209 and flexible leg 2032The coordinates of (a) are as follows:
j2＝(r″4R″oo)i+r3i＝r2i；
thus, j is obtained2Coordinates in absolute coordinates O.
In this embodiment, the attitude angle data signal of the flexible leg 203 and the attitude angle data signal of the rear cross member 209 are signals filtered by a high-pass filtering method.
Meanwhile, it should be noted that, a third sensor is further mounted on the front cross beam 207 of the tire crane 200 in fig. 2 and 3, and coordinates of a hinge point of the front cross beam 207 and the rigid leg 205 can be calculated through the above manner.
Meanwhile, each of the tire cranes 200 in fig. 2 and 3 has four tires 211.
By adopting the method, the precision range of the angle sensor is 0.1-1 degree, and the attitude detection of the whole tire crane 200 can be realized by the technical combination of the angle sensor and the double DGPS.
Example 2
Referring to fig. 5 in conjunction with fig. 2-4, the present embodiment provides an attitude detection system, which includes:
a GPS base station 11;
the GPS mobile station is used for being arranged on the piece to be tested;
a radio station 17, the radio station 17 being configured to receive GPS signals and differential data of the GPS base station 11 and the GPS mobile station;
the controller 19 is used for receiving the GPS signals and the differential data and carrying out coordinate conversion to obtain absolute coordinates of the GPS mobile station;
the device comprises at least one angle sensor, a sensor module and a control module, wherein the angle sensor is used for being installed at the installation position of a piece to be detected and used for detecting attitude angle data of the installation position;
and the processor 27 is used for calculating the absolute coordinate of the preset position on the piece to be measured according to the absolute coordinate of the GPS mobile station and the attitude angle data of the installation position.
In this embodiment, the detection accuracy can be further improved by the dual-DGPS positioning. Of course, instead of using the GPS base station 11, the GPS mobile station may be directly mounted on the main beam 201. Or only one GPS mobile station may be mounted at the midpoint of the main beam 201.
It should be noted that the controller 19 is connected to the radio station 17 for receiving the GPS signal and the differential data received by the radio station 17, and the connection may be an electrical connection implemented by a wire or a wireless communication connection.
In this embodiment, the object to be measured is a tire crane 200, two GPS mobile stations are respectively installed on diagonal lines of a main beam 201 of the tire crane 200, and the two GPS mobile stations are respectively a first GPS mobile station 13 and a second GPS mobile station 15.
The errors can be reduced through the two GPS mobile stations, and the detection accuracy is improved.
In the present embodiment, the angle sensors include a first angle sensor 21 and a second angle sensor 23;
the flexible leg 203 of the tyre crane 200 is provided with a first angle sensor 21, and the first angle sensor 21 is arranged close to the main beam 201;
a second angle sensor 23 is mounted on a rear cross member 209 of the tire crane 200, and the second angle sensor 23 is disposed adjacent to the flexible leg 203.
In this embodiment, the angle sensor further includes a third angle sensor 25, and the third angle sensor 25 is mounted on the front cross member 207 of the tire crane 200.
In this embodiment, the attitude detection system further includes a high-pass filter 29, and the high-pass filter 29 is configured to perform filtering processing on a harmonic of a detection signal of the angle sensor.
Example 3
Referring to fig. 6, fig. 6 shows a schematic diagram of the gesture detection apparatus provided in the present embodiment, where the gesture detection apparatus includes:
the receiving module 301: the system comprises a first position sensor, a second position sensor, a first position sensor and a second position sensor, wherein the first position sensor is used for receiving an absolute coordinate signal of a first preset position and receiving an;
the processing module 302: and the system is used for calculating and processing the absolute coordinate signal of the first preset position and the attitude angle data signal of the second preset position and outputting the coordinate of the first position to be detected on the piece to be detected.
Further, the receiving module 301 is configured to receive an absolute coordinate signal of a first preset position sent by the controller; and receiving attitude angle data signals of the flexible legs detected by the first angle sensor and receiving attitude angle data signals of the rear cross beam detected by the second angle sensor.
Further, the receiving module 301 is used for receiving the yaw angle γ of the flexible leg sent by the first angle sensor3and receiving the elevation angle β of the rear cross beam sent by the second angle sensor2。
Further, the processing module 302 is configured to obtain the absolute coordinate signals O and γ of the midpoint of the main beam3and beta2Calculated to obtain j2The coordinates of (a).
Further, the processing module 302 is configured to apply affine transformation transfer principle according to the absolute coordinates O, γ3and beta2Calculated to obtain j2。
In conclusion, the invention provides the attitude detection method, which can accurately determine the attitude of the whole vehicle, improve the initial positioning precision of the whole vehicle and reduce the capital construction and purchase cost.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. An attitude detection method, characterized by comprising:
receiving an absolute coordinate signal of a first preset position, and receiving an attitude angle data signal of a second preset position;
and calculating the absolute coordinate signal of the first preset position and the attitude angle data signal of the second preset position, and outputting the coordinate of the first position to be detected on the piece to be detected.
2. The attitude detection method according to claim 1, wherein the object to be measured is a tire crane, and a first GPS mobile station and a second GPS mobile station are respectively installed on diagonal lines of a main beam of the tire crane;
a first angle sensor is mounted on a flexible leg of the tire crane, and a second angle sensor is mounted on a rear cross beam of the tire crane;
the receiving of the absolute coordinate signal of the first preset position includes: receiving an absolute coordinate signal of a first preset position sent by a controller;
the receiving of the attitude angle data signal of the second preset position includes: receiving attitude angle data signals of the flexible leg detected by the first angle sensor and receiving attitude angle data signals of the rear cross beam detected by the second angle sensor.
3. The attitude sensing method according to claim 2, wherein the absolute coordinate signal of the first preset position is acquired by the controller based on GPS signals of a GPS base station, the first GPS mobile station, and the second GPS mobile station, and differential data signal processing.
4. The attitude detection method according to claim 3, wherein said receiving the attitude angle data signal of the second preset position comprises:
receiving the yaw angle gamma of the flexible leg sent by the first angle sensor3and receiving the elevation angle β of the rear cross beam sent by the second angle sensor2。
5. The attitude detection method according to claim 4, wherein the first preset position is a main beam midpoint determined from absolute coordinates of the first GPS mobile station and the second GPS mobile station; the first position to be measured of the piece to be measured is a connecting point j of the flexible leg and the rear cross beam2；
The calculating the absolute coordinate signal of the first preset position and the attitude angle data signal of the second preset position, and outputting the coordinate of the first position to be measured on the piece to be measured includes:
according to the absolute coordinate signal O and the gamma of the midpoint of the main beam3and said β2Calculating to obtain the j2The coordinates of (a).
6. The attitude detection method according to claim 5, wherein the absolute coordinate signal O from the main beam midpoint is the γ3and said β2Calculating to obtain the j2The coordinates of (a) include:
using affine transformation transfer principle, according to absolute coordinates O, said gamma3and said β2Calculating to obtain the j2。
7. The attitude sensing method according to any one of claims 2 to 6, wherein the attitude angle data signal of the flexible leg and the attitude angle data signal of the rear cross member are signals filtered by a high-pass filtering method.
8. An attitude detection system, comprising:
a GPS base station;
the GPS mobile station is used for being installed on a piece to be tested;
a radio station for receiving GPS signals and differential data of the GPS base station and the GPS mobile station;
the controller is used for receiving the GPS signal and the differential data and carrying out coordinate conversion to obtain an absolute coordinate of the GPS mobile station;
the angle sensor is used for being installed on the installation position of the piece to be detected and used for detecting attitude angle data of the installation position;
and the processor is used for calculating the absolute coordinate of the preset position on the piece to be measured according to the absolute coordinate of the GPS mobile station and the attitude angle data of the installation position.
9. The attitude sensing system according to claim 8, wherein said object to be measured is a tire crane, and two of said GPS mobile stations are respectively installed on diagonal lines of a main beam of said tire crane, and said two GPS mobile stations are respectively a first GPS mobile station and a second GPS mobile station.
10. The attitude detection system according to claim 9, wherein the angle sensor includes a first angle sensor and a second angle sensor;
the first angle sensor is mounted on a flexible leg of the tire crane and is arranged close to the main beam;
and the rear cross beam of the tire crane is provided with the second angle sensor, and the second angle sensor is close to the flexible leg.
11. The attitude sensing system of claim 9, wherein the angle sensor further includes a third angle sensor mounted to a front cross member of the tire crane.
12. The attitude detection system according to any one of claims 8 to 11, characterized by further comprising a high-pass filter for performing filtering processing on harmonics of the detection signal of the angle sensor.
CN201810901386.1A 2018-08-09 2018-08-09 Attitude detection method and attitude detection system Active CN108955630B (en)

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106568430A (en) * 2015-10-09 2017-04-19 张琳俐 Positioning method of earth moving system and device thereof

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106568430A (en) * 2015-10-09 2017-04-19 张琳俐 Positioning method of earth moving system and device thereof

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