CN110850458A - Vibration detection method and system based on GNSS-RTK and UWB fusion positioning - Google Patents
Vibration detection method and system based on GNSS-RTK and UWB fusion positioning Download PDFInfo
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- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- 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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Abstract
The invention relates to the technical field of hydraulic engineering, aims to solve the problem that the existing vibration quality control is easy to cause leakage vibration misjudgment, and provides a vibration detection method based on GNSS-RTK and UWB fusion positioning, which comprises the following steps: acquiring the operating state of the vibrating equipment in real time; when the vibrating equipment is in a vibrating state, respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate; generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the selected UWB positioning coordinate; and calculating the coordinates of the vibrating point location according to the positioning coordinate set, and determining a vibrating area according to the coordinates of the vibrating point location. The invention improves the positioning precision and avoids the phenomenon of false judgment of leakage vibration by more perfect and more accurate technical means of fusion compensation positioning.
Description
Technical Field
The invention relates to the technical field of hydraulic engineering, in particular to a vibration detection method and a vibration detection system.
Background
GNSS (Global Navigation Satellite System), also known as Global Navigation Satellite System, is a space-based radio Navigation positioning System that can provide users with all-weather three-dimensional coordinates and velocity and time information at any location on the earth's surface or in near-earth space.
An RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference solving.
The UWB (Ultra Wide Band) technology is a wireless carrier communication technology, which does not use sinusoidal carriers but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and the impulse pulses have high positioning accuracy. The UWB technology has extremely strong penetration capacity, can carry out accurate positioning indoors and underground, and the ultra wide band radio locator can give relative position, and its positioning accuracy can reach centimeter level.
When the concrete mixing machine is used for mixing the concrete pouring member, air bubbles in the concrete must be removed, tamping is carried out, so that the concrete is combined closely, the phenomena of honeycomb pitted surface and the like of the concrete are eliminated, and the vibrating refers to a process of vibrating and tamping concrete mixture discharged into a pouring bin, so that the strength of the concrete member is improved, and the quality of the concrete member is ensured. In concrete construction, vibration is a key related to the quality of a concrete building, and if the concrete is insufficiently vibrated, overlarge and excessive pores inside the concrete can be caused to influence the strength of the concrete.
The traditional concrete construction vibration quality control generally adopts the experience judgment of a constructor, the site detection of the warehouse surface construction supervision, and the timely communication with the constructor, or utilizes analysis software based on the GPS positioning technology to realize the judgment of whether the warehouse surface leaks vibration, so as to ensure the vibration quality. In the high-strength warehouse surface vibration construction activity, on one hand, the vibration quality does not reach the standard due to the fact that the concrete cannot be guaranteed not to have the phenomenon of local leakage vibration in the vibration process due to human reasons such as fatigue and negligence and the problem of construction organization; on the other hand, the GPS positioning technology can not meet the requirements of high mountain canyon shielding and complex structural surface operation surface positioning accuracy, the accuracy of position information acquisition can not be guaranteed, and the quality problem of regional vibration leakage or over vibration is caused due to the fact that the regional vibration leakage misjudgment condition is easy to occur.
Disclosure of Invention
The invention aims to solve the problem that the existing vibration quality control is easy to cause vibration leakage and misjudgment, and provides a vibration detection method and system based on GNSS-RTK and UWB fusion positioning.
The technical scheme adopted by the invention for solving the technical problems is as follows: the vibration detection method based on GNSS-RTK and UWB fusion positioning comprises the following steps:
step 1, acquiring the operation state of the vibrating equipment in real time, wherein the operation state at least comprises the following steps: a vibrated state and an un-vibrated state;
step 2, when the vibrating equipment is in a vibrating state, respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate;
step 3, judging the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value, if the GNSS-RTK positioning differential value corresponding to a certain period is larger than or equal to the preset value, selecting a GNSS-RTK positioning coordinate corresponding to the GNSS-RTK positioning differential value, otherwise, selecting a UWB positioning coordinate corresponding to the GNSS-RTK positioning differential value in the period, and generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the UWB positioning coordinate;
and 4, calculating the coordinates of the vibrating point location according to the positioning coordinate set, and determining a vibrating area according to the coordinates of the vibrating point location.
As a further optimization, in step 1, the acquiring the operating state of the vibrating equipment includes:
and acquiring the operating state of the vibrating equipment through a current sensor, a vibrating gear switch or a hydraulic sensor.
As a further optimization, in step 3, the preset value is 4.
As a further optimization, in step 4, the calculating the coordinates of the vibration point location according to the positioning coordinate set includes:
and judging whether the number of the GNSS-RTK positioning coordinates in the positioning coordinate set is greater than zero, if so, fitting the GNSS-RTK positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate, and otherwise, fitting the UWB positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate.
As a further optimization, the step 4 further includes:
and drawing a vibration mass diagram, marking the coordinates of the vibration point in the vibration mass diagram, and determining a vibration area, a vibration leakage area and an under-vibration area according to the vibration mass diagram.
On the other hand, the invention also provides a vibration detection system based on GNSS-RTK and UWB fusion positioning, which comprises:
the acquisition unit is used for acquiring the operation state of the vibrating equipment in real time, and the operation state at least comprises the following steps: a vibrated state and an un-vibrated state;
the positioning unit is used for respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period when the vibrating equipment is in a vibrating state, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate;
the judging unit is used for judging the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value, if the GNSS-RTK positioning differential value corresponding to a certain period is larger than or equal to the preset value, selecting a GNSS-RTK positioning coordinate corresponding to the GNSS-RTK positioning differential value, otherwise, selecting a UWB positioning coordinate corresponding to the GNSS-RTK positioning differential value in the period, and generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the UWB positioning coordinate;
and the calculation unit is used for calculating the vibration point location coordinates according to the positioning coordinate set and determining the vibration area according to the vibration point location coordinates.
As further optimization, the acquisition unit is a current sensor, a vibration gear switch or a hydraulic sensor.
As a further optimization, the preset value is 4.
As a further optimization, the computing unit is further configured to: and judging whether the number of the GNSS-RTK positioning coordinates in the positioning coordinate set is greater than zero, if so, fitting the GNSS-RTK positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate, and otherwise, fitting the UWB positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate.
As a further optimization, the method further comprises the following steps: and the drawing unit is used for drawing a vibration mass diagram, marking the coordinates of the vibration point in the vibration mass diagram, and determining a vibration area, a leakage vibration area and an under vibration area according to the vibration mass diagram.
The invention has the beneficial effects that: the vibration detection method and the vibration detection system based on the GNSS-RTK and UWB fusion positioning are combined with the state information of the vibration equipment, the vibration equipment is positioned in real time with high precision, the leakage vibration and under-vibration conditions of the regional vibration are statistically analyzed, the phenomenon of misjudgment of the leakage vibration is avoided by a more perfect and more precise fusion compensation positioning technical means, and meanwhile, when the leakage vibration or the under-vibration occurs, the leakage vibration or the under-vibration is early-warned and the image information transmission is analyzed in time, so that the vibration quality problem is avoided.
Drawings
Fig. 1 is a schematic flowchart of a vibration detection method based on GNSS-RTK and UWB fusion positioning according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vibration detection system based on GNSS-RTK and UWB fusion positioning according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The vibration detection method based on GNSS-RTK and UWB fusion positioning comprises the following steps: step 1, acquiring the operation state of the vibrating equipment in real time, wherein the operation state at least comprises the following steps: a vibrated state and an un-vibrated state; step 2, when the vibrating equipment is in a vibrating state, respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate; step 3, judging the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value, if the GNSS-RTK positioning differential value corresponding to a certain period is larger than or equal to the preset value, selecting a GNSS-RTK positioning coordinate corresponding to the GNSS-RTK positioning differential value, otherwise, selecting a UWB positioning coordinate corresponding to the GNSS-RTK positioning differential value in the period, and generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the UWB positioning coordinate; and 4, calculating the coordinates of the vibrating point location according to the positioning coordinate set, and determining a vibrating area according to the coordinates of the vibrating point location.
When the vibrating equipment is in a vibrating state, respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment through a GNSS-RTK technology and a UWB technology, wherein, when acquiring the GNSS-RTK positioning coordinates, acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate, the GNSS-RTK positioning differential value being used for representing the positioning precision, if the GNSS-RTK positioning differential value is larger than or equal to a preset value, the positioning accuracy of the GNSS-RTK positioning coordinate is high, at the moment, the GNSS-RTK positioning coordinate is used, if the GNSS-RTK positioning differential value is smaller than the preset value, it means that the positioning accuracy of the GNSS-RTK positioning coordinates is low, at this time UWB coordinates are selected, and determining the coordinates of the vibrating point positions by means of GNSS-RTK and UWB fusion positioning, further determining a vibrating area, and realizing detection of the area with leakage vibration or under vibration of the bin surface.
Examples
The vibration detection method based on GNSS-RTK and UWB fusion positioning, as shown in FIG. 1, includes the following steps:
step 1, acquiring the operation state of the vibrating equipment in real time, wherein the operation state at least comprises the following steps: a vibrated state and an un-vibrated state;
firstly, a vibration state detection device is required to be installed on the vibrating device, the vibration state detection device can be a current sensor, a vibration gear switch or a hydraulic sensor, and the vibration state detection device is used for detecting the operation state N of the vibrating device in real time and generating a detection signal, wherein the operation state N is in a non-vibrating state when N is equal to 0, and the operation state N is in a vibrating state when N is equal to 1.
Step 2, when the vibrating equipment is in a vibrating state, respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate;
then, positioning equipment is required to be installed on the vibrating equipment, the positioning equipment comprises GNSS-RTK positioning equipment and UWB positioning equipment, the last operation state is recorded to be Ni-1, the current operation state is Ni, and when the vibrating equipment is detected to be in the vibrating state, namely the operation state Ni-1 is equal to 0 and Ni is equal to 1, the GNSS-RTK positioning equipment acquires GNSS-RTK positioning coordinates and corresponding GNSS-RTK positioning differential values Dif and UWB positioning coordinates of the UWB positioning equipment. Wherein the preset period may be 1 second.
Step 3, judging the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value, if the GNSS-RTK positioning differential value corresponding to a certain period is larger than or equal to the preset value, selecting a GNSS-RTK positioning coordinate corresponding to the GNSS-RTK positioning differential value, otherwise, selecting a UWB positioning coordinate corresponding to the GNSS-RTK positioning differential value in the period, and generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the UWB positioning coordinate;
specifically, each period corresponds to one GNSS-RTK positioning coordinate, one GNSS-RTK positioning differential value and one UWB positioning coordinate, and the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value is judged. The GNSS-RTK positioning differential value Dif comprises 0, 1, 2, 3, 4 and 5, the larger the value of the GNSS-RTK positioning differential value Dif is, the higher the positioning accuracy is, when the GNSS-RTK positioning differential value Dif corresponding to a certain period is greater than or equal to a preset value, if Dif is greater than or equal to 4, namely Dif is 5 or Dif is 4, the GNSS-RTK positioning coordinate corresponding to the period is high in positioning accuracy, at the moment, the GNSS-RTK positioning coordinate corresponding to the period is selected, and the selected GNSS-RTK positioning coordinate is counted into a positioning coordinate set NP; when the GNSS-RTK positioning difference value Dif corresponding to a certain period is smaller than a preset value, such as Dif < 4, i.e. Dif! 5 or Dif! And when the positioning coordinate set NP is 4, the GNSS-RTK positioning coordinate corresponding to the period is low in positioning precision, the UWB positioning coordinate corresponding to the period is selected, the selected UWB positioning coordinate is counted into a positioning coordinate set NP, and the positioning coordinate set NP comprises the positioning coordinate corresponding to each period.
And 4, calculating the coordinates of the vibrating point location according to the positioning coordinate set, and determining a vibrating area according to the coordinates of the vibrating point location.
Specifically, after a positioning coordinate of a preset duration is obtained, fitting the positioning coordinate in the positioning coordinate set NP to obtain a vibration point location coordinate P, specifically, it may be determined whether the number of GNSS-RTK positioning coordinates in the positioning coordinate set NP is greater than zero, if so, fitting the GNSS-RTK positioning coordinate in the positioning coordinate set NP to obtain a vibration point location coordinate, otherwise, fitting the UWB positioning coordinate in the positioning coordinate set NP to obtain a vibration point location coordinate. And after the vibration point position coordinate P is obtained through calculation, the vibration point position coordinate P is counted into an area vibration point position analysis set, a vibration area is determined, a vibration quality map can be drawn according to the vibration point position coordinate, leakage vibration or insufficient vibration existing in the area is marked and sent to on-site construction supervision, and remedial measures such as countervibration and the like are reminded to be carried out in time.
Based on the above technical solution, an embodiment of the present invention further provides a vibration detection system based on GNSS-RTK and UWB fusion positioning, as shown in fig. 2, including:
the acquisition unit is used for acquiring the operation state of the vibrating equipment in real time, and the operation state at least comprises the following steps: a vibrated state and an un-vibrated state;
the positioning unit is used for respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period when the vibrating equipment is in a vibrating state, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate;
the judging unit is used for judging the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value, if the GNSS-RTK positioning differential value corresponding to a certain period is larger than or equal to the preset value, selecting a GNSS-RTK positioning coordinate corresponding to the GNSS-RTK positioning differential value, otherwise, selecting a UWB positioning coordinate corresponding to the GNSS-RTK positioning differential value in the period, and generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the UWB positioning coordinate;
and the calculation unit is used for calculating the vibration point location coordinates according to the positioning coordinate set and determining the vibration area according to the vibration point location coordinates.
Optionally, the obtaining unit is a current sensor, a vibration gear switch or a hydraulic sensor.
Optionally, the preset value is 4.
Optionally, the computing unit is further configured to: and judging whether the number of the GNSS-RTK positioning coordinates in the positioning coordinate set is greater than zero, if so, fitting the GNSS-RTK positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate, and otherwise, fitting the UWB positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate.
Optionally, the method further includes: and the drawing unit is used for drawing a vibration mass diagram, marking the coordinates of the vibration point in the vibration mass diagram, and determining a vibration area, a leakage vibration area and an under vibration area according to the vibration mass diagram.
It can be understood that, since the vibration detection system based on the GNSS-RTK and UWB fusion positioning according to the embodiment of the present invention is a system for implementing the vibration detection method based on the GNSS-RTK and UWB fusion positioning according to the embodiment, for the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is simpler, and for the relevant points, refer to the partial description of the method. Because the vibration detection method based on the GNSS-RTK and UWB fusion positioning can avoid the phenomenon of vibration leakage misjudgment, the system for realizing the vibration detection method based on the GNSS-RTK and UWB fusion positioning can also avoid the phenomenon of vibration leakage misjudgment.
Claims (10)
1. The vibration detection method based on GNSS-RTK and UWB fusion positioning is characterized by comprising the following steps:
step 1, acquiring the operation state of the vibrating equipment in real time, wherein the operation state at least comprises the following steps: a vibrated state and an un-vibrated state;
step 2, when the vibrating equipment is in a vibrating state, respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate;
step 3, judging the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value, if the GNSS-RTK positioning differential value corresponding to a certain period is larger than or equal to the preset value, selecting a GNSS-RTK positioning coordinate corresponding to the GNSS-RTK positioning differential value, otherwise, selecting a UWB positioning coordinate corresponding to the GNSS-RTK positioning differential value in the period, and generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the UWB positioning coordinate;
and 4, calculating the coordinates of the vibrating point location according to the positioning coordinate set, and determining a vibrating area according to the coordinates of the vibrating point location.
2. The method for detecting vibration based on GNSS-RTK and UWB fusion positioning according to claim 1, wherein in step 1, the acquiring the operation status of the vibrating device comprises:
and acquiring the operating state of the vibrating equipment through a current sensor, a vibrating gear switch or a hydraulic sensor.
3. The method for detecting vibration based on GNSS-RTK and UWB fusion positioning according to claim 1, wherein in step 3, the preset value is 4.
4. The method for detecting vibration based on GNSS-RTK and UWB fusion positioning according to claim 1, wherein in step 4, the calculating the coordinates of the vibration point location from the set of positioning coordinates includes:
and judging whether the number of the GNSS-RTK positioning coordinates in the positioning coordinate set is greater than zero, if so, fitting the GNSS-RTK positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate, and otherwise, fitting the UWB positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate.
5. The method for detecting vibration based on GNSS-RTK and UWB fusion positioning according to claim 1, wherein said step 4 further comprises:
and drawing a vibration mass diagram, marking the coordinates of the vibration point in the vibration mass diagram, and determining a vibration area, a vibration leakage area and an under-vibration area according to the vibration mass diagram.
6. Vibration detection system based on GNSS-RTK and UWB fusion location, characterized by includes:
the acquisition unit is used for acquiring the operation state of the vibrating equipment in real time, and the operation state at least comprises the following steps: a vibrated state and an un-vibrated state;
the positioning unit is used for respectively acquiring a GNSS-RTK positioning coordinate and a UWB positioning coordinate of the vibrating equipment according to a preset period when the vibrating equipment is in a vibrating state, and acquiring a GNSS-RTK positioning differential value corresponding to each GNSS-RTK positioning coordinate;
the judging unit is used for judging the magnitude of the GNSS-RTK positioning differential value corresponding to each period and a preset value, if the GNSS-RTK positioning differential value corresponding to a certain period is larger than or equal to the preset value, selecting a GNSS-RTK positioning coordinate corresponding to the GNSS-RTK positioning differential value, otherwise, selecting a UWB positioning coordinate corresponding to the GNSS-RTK positioning differential value in the period, and generating a positioning coordinate set of the vibrating equipment according to the selected GNSS-RTK positioning coordinate and the UWB positioning coordinate;
and the calculation unit is used for calculating the vibration point location coordinates according to the positioning coordinate set and determining the vibration area according to the vibration point location coordinates.
7. The GNSS-RTK and UWB fusion location based vibration detection system of claim 6, wherein the acquisition unit is a current sensor, a vibration position switch, or a hydraulic sensor.
8. The GNSS-RTK and UWB fusion location based tamper detection system of claim 6, wherein the preset value is 4.
9. The GNSS-RTK and UWB fusion positioning based tamper detection system of claim 6, wherein the computing unit is further configured to:
and judging whether the number of the GNSS-RTK positioning coordinates in the positioning coordinate set is greater than zero, if so, fitting the GNSS-RTK positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate, and otherwise, fitting the UWB positioning coordinates in the positioning coordinate set to obtain a vibration point location coordinate.
10. The GNSS-RTK and UWB fusion positioning based tamper detection system of claim 6, further comprising:
and the drawing unit is used for drawing a vibration mass diagram, marking the coordinates of the vibration point in the vibration mass diagram, and determining a vibration area, a leakage vibration area and an under vibration area according to the vibration mass diagram.
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