CN115184969A - Multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery - Google Patents

Multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery Download PDF

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CN115184969A
CN115184969A CN202211106731.5A CN202211106731A CN115184969A CN 115184969 A CN115184969 A CN 115184969A CN 202211106731 A CN202211106731 A CN 202211106731A CN 115184969 A CN115184969 A CN 115184969A
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data
inclinometer
navigation
time
chip
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CN115184969B (en
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卢秀山
李国玉
崔浩楠
王胜利
时敬一
徐勇
于冰
冉春晴
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Qingdao Xiushan Mobile Surveying Co ltd
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Qingdao Xiushan Mobile Surveying Co ltd
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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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • 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
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G01S19/52—Determining velocity
    • 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
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a multi-sensor fusion positioning, attitude determination and speed measurement method for engineering machinery, which belongs to the technical field of navigation, is used for navigation and positioning of the engineering machinery, fully utilizes different measurement information to carry out combined navigation to realize positioning and attitude determination, takes the engineering machinery as a carrier, carries a system on chip on the carrier, carries out system initialization on a processor end, a programmable logic end, an interrupt system and all peripheral equipment of the system on chip, and starts formal work when a second pulse signal and time and date effective data output by a satellite receiver are analyzed; after receiving a first communication data frame of each inclinometer data, the system on chip performs time synchronization operation through local time and a timer value in a timer core; the satellite navigation information is compensated by strapdown inertial navigation and then is used for realizing measurement updating of integrated navigation together with the inclinometer information; and the processor transmits the original data, the combined navigation calculation result and the navigation information of each part of the carrier to a remote display screen.

Description

Multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery
Technical Field
The invention discloses a multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery, and belongs to the technical field of navigation.
Background
The intelligent control system is the key for realizing intelligent engineering machinery, can assist constructors to improve productivity, save time and reduce cost, can obviously reduce safety accidents, mainly comprises a navigation system and a control system, is mainly applied to aspects such as a bulldozer, a road roller, an excavator, a crane and the like in the field of engineering machinery control, obviously improves the intellectualization and automation level of the engineering machinery by adopting an intelligent control technology, and greatly prolongs the service life of the machinery. Taking an excavator as an example, a navigation system needs to obtain the position, the speed and the posture of an automobile body, the postures of a big arm and a small arm and the position and the posture of a bucket, and calculate the three-dimensional coordinates of the tooth tip of the bucket of the excavator in real time; and the control system performs refinement and continuous guide excavation according to the navigation information and a three-dimensional design drawing in the vehicle-mounted tablet personal computer. Because the navigation parameters of the shovel teeth are derived from the navigation parameters of the vehicle body through a mathematical model, high requirements are put on the precision and frequency of the navigation parameters of the vehicle body. The navigation applied to the engineering machinery at present in China basically depends on the double-antenna satellite orientation principle, and has the advantages of simple operation and convenient application, and has the defect of low information frequency and difficult application to the aspect of carrier automatic driving control.
Disclosure of Invention
The invention discloses a multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery, which aims to solve the problems of low positioning and attitude determining frequency and poor precision of the engineering machinery in the prior art.
A multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery comprises the following steps:
s1, taking engineering machinery as a carrier, carrying a system on chip on the carrier, carrying out system initialization on a processor end, a programmable logic end, an interrupt system and each peripheral of the system on chip, and starting formal work of the system on chip after analyzing a pulse-per-second signal and effective time and date data output by a satellite receiver;
s2, resolving a coordination world time from a time and date output statement of the satellite, initializing a local clock, continuously receiving a pulse per second signal, and performing 1 second adding operation on the local clock;
the S3.4G communication module receives differential data from a satellite signal base station and forwards the differential data to a satellite receiver board card for RTK mode resolving;
s4, the processor receives the double-antenna GNSS data transmitted from the programmable logic terminal, analyzes the first original data for storage, and analyzes the international universal navigation data protocol data and the second original data for real-time combined navigation calculation;
s5, the processor receives communication protocol bus data transmitted from the programmable logic terminal, stores the received data into different structural bodies according to the ID, and combines the data to obtain complete inclinometer data;
s6, after receiving a first communication protocol data frame of each inclinometer data, the system on chip performs time synchronization operation through local time and a timer value in a timer core;
s7, receiving the original data of the double-antenna satellite and the data of the inclinometer sensor after time synchronization by the processor end, and storing the data into an SD card through a multi-stage buffer queue;
s8, carrying out navigation information delay compensation in a short time by using a strapdown inertial navigation system and polynomial function extrapolation fitting on the double-antenna satellite navigation information;
s9, calculating the inclinometer and the compensated dual-antenna satellite navigation data by the processor end through a strapdown inertial navigation algorithm and robust adaptive Kalman filtering, and outputting the result in real time;
when the on-chip system receives the dual-antenna satellite data, the observed quantity is the position, the speed, the heading angle and the standard deviation of the dual-antenna receiver, and the pitch angle and the standard deviation of the dual-antenna receiver;
when the system on chip receives the data of the inclinometer, the observed quantity is a roll angle and a pitch angle output by the inclinometer;
s10, the processor transmits the original data, the combined navigation calculation result and the navigation information of each part of the carrier to a driving position display screen in a wired mode or a remote display screen through 5G, and simultaneously transmits the original data, the combined navigation calculation result and the navigation information of each part of the carrier to a control center of the engineering vehicle for subsequent construction operation.
Preferably, the system on chip is loaded with a combined navigation unit, a GNSS foundation enhancement unit, a multi-source data processing unit, a multi-source data storage unit and a carrier display control unit;
the combined navigation unit comprises a double-antenna GNSS, an inclinometer module, an inertia measurement unit and a processor end;
the GNSS ground-based augmentation unit comprises a GNSS differential signal base station, a 4G module and a 5G module;
the multi-source data processing unit comprises a Kalman filtering algorithm, a reduced instruction set machine end of the system on chip and a dual-core shared memory of the system on chip;
the multi-source data storage unit comprises a field programmable gate array end of the system on chip, a simplified instruction set machine end, an embedded file storage system and an SD card;
the carrier display control unit comprises a data transmission module, a 5G communication module and vehicle-mounted display terminal equipment.
Preferably, the programmable logic terminal of the system on chip constructs a serial communication core to form an IP core receiver for receiving characters, the timer distinguishes information of adjacent epochs, and the programmable logic terminal constructs a timer core to perform 5ms timing interruption.
Preferably, the dual-antenna GNSS data includes an international universal navigation data protocol and a receiver manufacturer custom protocol, and the two protocols are respectively used for storing original data and operating a real-time integrated navigation algorithm;
the integrated navigation adopts an anti-difference self-adaptive Kalman filtering algorithm, measurement updating of the integrated navigation is carried out on the arrival time of the first inclinometer data after the system receives serial port data of the satellite receiver, the integral inclinometer period delay from the second pulse signal to the satellite serial port data is calculated and compensated through a strapdown inertial navigation system, and the delay of less than one inclinometer period is subjected to fitting compensation through polynomial function extrapolation.
Preferably, the inclinometer module and the inertial measurement unit are integrated in one device, and the pitch angle, the roll angle, the three-axis angular velocity of the gyroscope and the three-axis acceleration of the accelerometer are output outwards at the same time;
the inclinometer module comprises a plurality of inclinometer sensors, signal transmission is carried out through a communication protocol bus, different inclinometers are distinguished through different ID numbers, each piece of communication protocol information at most comprises 8 bytes of data, and a receiving end of the processor carries out data splicing according to the ID numbers to obtain complete inclinometer information;
before the inclinometer sensor is used, multiple tests are carried out to judge the axial direction of the inertial measurement unit, error parameters are judged by a noise quantification method, and the installation posture is continuously adjusted according to output data during installation to ensure that the inclinometer sensor is parallel to the three axes of the carrier.
Preferably, the time synchronization operation includes: the method comprises the steps that a processor end of a system-on-chip is used for marking inclinometer data with a timestamp taking GNSS time as a reference, a second pulse signal from a satellite receiver, international universal navigation data protocol information and a timer core of a programmable logic end are used for initializing a local clock, the second pulse signal is used for carrying out second adding operation on the local clock and resetting a timer value, after each piece of inclinometer initial communication protocol data is received, counter data are read to determine time in seconds, and the time in seconds is subtracted from a time deviation in an inclinometer data manual and added with the local clock to obtain a real timestamp.
Preferably, the interrupt system performs interrupt configuration on the second pulse signal in time synchronization and the timer core at the processor end, and operates in an interrupt triggering manner, and the initial value of the timer core is configured according to the actual clock frequency of the programmable logic end, and the size of the initial value is 1 second.
Preferably, the GNSS ground-based augmentation unit receives a GNSS base station differential signal and forwards the GNSS base station differential signal to the satellite receiver for RTK solution, the GNSS base station differential signal adopts a 4G communication module, receives a binary data stream through a serial port, performs timing through a timer, judges a piece of complete differential information and then sends the differential information to the satellite receiver, and the satellite receiver outputs high-precision positioning and speed-fixing information after receiving effective base station differential information;
and the multi-source data processing unit fuses and solves the dual-antenna GNSS data, the IMU data and the inclinometer data through a Kalman filtering algorithm.
Preferably, the multi-source data storage unit stores the high-speed data streams of the multiple sensors and the intermediate data and the result data of the multi-source data processing unit through a multitasking mechanism and a multi-stage queue buffer mechanism;
the multi-task mechanism divides data receiving and data storage into different tasks for processing, and message transmission is carried out between the tasks through semaphores;
the multi-stage queue buffer mechanism receives and temporarily stores sensor data with high speed and small data quantity in a first-stage buffer circular queue, a system receiving task is read into a second-stage buffer circular queue when resources are sufficient, and second-stage buffer queue data with a certain scale are read into a storage buffer circular queue when the resources of the system storage task are sufficient, and finally data storage is completed;
the carrier display control unit displays navigation information of a vehicle body and partial parts of the current carrier on a display screen through digital modeling through wired or wireless 5G transmission, simulates the operated area and animation according to sensor data, and marks the area to be operated and transmits related parameters to the carrier control center by operators.
Preferably, when the serial port data of the satellite receiver is received by the system on chip, the observation equation in the combined navigation is as follows:
Figure 504396DEST_PATH_IMAGE001
；
in the formula (I), the compound is shown in the specification,
Figure 752844DEST_PATH_IMAGE002
in order to observe the vector, the vector is,
Figure 568353DEST_PATH_IMAGE003
、
Figure 387405DEST_PATH_IMAGE004
and
Figure 946562DEST_PATH_IMAGE005
respectively the attitude, the speed and the position obtained by the system strapdown inertial navigation system,
Figure 580675DEST_PATH_IMAGE006
and
Figure 176872DEST_PATH_IMAGE007
respectively the velocity and the position obtained by the satellite receiver,
Figure 607853DEST_PATH_IMAGE008
is an attitude observation quantity and consists of a double-antenna course angle, a roll angle and a pitch angle of an inclinometer,
Figure 564177DEST_PATH_IMAGE009
in order to observe the matrix, the system,
Figure 397004DEST_PATH_IMAGE010
which is indicative of the measurement noise,
Figure 164103DEST_PATH_IMAGE011
、
Figure 82380DEST_PATH_IMAGE012
、
Figure 110904DEST_PATH_IMAGE013
respectively representing the measurement noise of attitude, velocity and position,
Figure 532658DEST_PATH_IMAGE014
in the form of a state vector, the state vector,
Figure 532975DEST_PATH_IMAGE015
；
Figure 797603DEST_PATH_IMAGE016
；
in the formula (I), the compound is shown in the specification,
Figure 502254DEST_PATH_IMAGE017
in the form of a third-order identity matrix,
Figure 653880DEST_PATH_IMAGE018
is a zero matrix of 3 rows and 12 columns,
Figure 152995DEST_PATH_IMAGE019
is a zero matrix with three rows and six columns,
Figure 904919DEST_PATH_IMAGE020
is a three-order zero matrix and is,
Figure 147681DEST_PATH_IMAGE021
representing the rotation of the navigation system relative to the inertial system,
Figure 419394DEST_PATH_IMAGE022
for the transformation matrix between the carrier system and the navigation system,
Figure 89410DEST_PATH_IMAGE023
relative inertia of carrier system for gyroscope outputThe angular velocity of the system of the nature,
Figure 125368DEST_PATH_IMAGE024
the lever arm value between the inertial measurement unit and the phase center of the main satellite antenna, CM represents the inclinometer,
Figure 781608DEST_PATH_IMAGE025
is the pitch angle output by the inclinometer,
Figure 298040DEST_PATH_IMAGE026
is the roll angle output by the inclinometer,
Figure 266521DEST_PATH_IMAGE027
the course angle is output by the double antennas;
when the system on chip only receives the inclinometer data, the observed quantity is the roll angle and the pitch angle output by the inclinometer, and the observation equation is as follows:
Figure 868403DEST_PATH_IMAGE028
；
in the formula (I), the compound is shown in the specification,
Figure 328335DEST_PATH_IMAGE029
，
Figure 699273DEST_PATH_IMAGE030
the pitch angle obtained for the strapdown inertial navigation system,
Figure 835725DEST_PATH_IMAGE031
the roll angle is obtained by the strapdown inertial navigation system.
Compared with the prior art, the invention has the beneficial effects that: the inclinometer and internal IMU original data are fully utilized to carry out combined navigation calculation, and an auxiliary operation navigation system which only depends on double-antenna orientation at present is replaced; the higher requirement is met through lower cost, and the navigation information of the engineering machinery vehicle body with high frequency and high precision is obtained; the system is used for carrying out independent time synchronization operation on various sensors on the engineering machinery vehicle, so that the time precision of data is higher, and an important basis is provided for subsequent calculation.
Drawings
FIG. 1 is a block diagram of a multi-sensor fusion system of the present invention;
FIG. 2 is an effect diagram of a dual antenna/inclinometer on an excavator;
FIG. 3 is a diagram of the effect of placement of hydraulic sensors on an excavator;
FIG. 4 is a schematic diagram of time compensation of GNSS serial port information;
the reference numerals include: 1. an inclinometer on the boom; 2. an inclinometer on the boom; 3. an inclinometer on the boom connecting rod; 4. excavator body inclinometer; 5. a main antenna; 6. a secondary antenna; 7. a boom large cavity pressure sensor; 8. a boom lumen pressure sensor; 9. a bucket rod large cavity pressure sensor; 10. a bucket rod small cavity pressure sensor; 11. a bucket large cavity pressure sensor; 12. and a bucket small cavity pressure sensor.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments below:
a multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery comprises the following steps:
s1, taking engineering machinery as a carrier, carrying a system on chip on the carrier, carrying out system initialization on a processor end, a programmable logic end, an interrupt system and each peripheral of the system on chip, and starting formal work of the system on chip after analyzing a pulse-per-second signal and effective time and date data output by a satellite receiver;
s2, analyzing a coordination world time from a time and date output statement of the satellite, initializing a local clock, continuously receiving a pulse per second signal, and performing an operation of adding 1 second to the local clock;
the S3.4G communication module receives differential data from a satellite signal base station and forwards the differential data to a satellite receiver board card for RTK mode resolving;
s4, the processor receives the double-antenna GNSS data transmitted from the programmable logic terminal, analyzes and stores the first original data, and analyzes and stores the international universal navigation data protocol data and the second original data for real-time combined navigation calculation;
s5, the processor receives communication protocol bus data transmitted from the programmable logic terminal, stores the received data into different structural bodies according to the ID, and combines the data to obtain complete inclinometer data;
s6, after receiving a first communication protocol data frame of each inclinometer data, the system on chip performs time synchronization operation through local time and a timer value in a timer core;
s7, receiving the original data of the double-antenna satellite and the data of the inclinometer sensor after time synchronization by the processor end, and storing the data into an SD card through a multi-stage buffer queue;
s8, carrying out navigation information delay compensation in a short time by using a strapdown inertial navigation system and polynomial function extrapolation fitting on the double-antenna satellite navigation information;
s9, calculating the inclinometer and the compensated dual-antenna satellite navigation data by the processor end through a strapdown inertial navigation algorithm and robust adaptive Kalman filtering, and outputting the result in real time;
when the on-chip system receives the dual-antenna satellite data, the observed quantity is the position, the speed, the course angle and the standard deviation of the dual-antenna satellite receiver, the pitch angle and the standard deviation of the dual-antenna satellite receiver;
when the system on chip receives the inclinometer data, the observed quantity is the roll angle and the pitch angle output by the inclinometer;
s10, the processor transmits the original data, the combined navigation calculation result and the navigation information of each part of the carrier to a driving position display screen in a wired mode or a remote display screen through 5G, and simultaneously transmits the original data, the combined navigation calculation result and the navigation information of each part of the carrier to a control center of the engineering vehicle for subsequent construction operation.
The system on chip is loaded with a combined navigation unit, a GNSS foundation enhancement unit, a multi-source data processing unit, a multi-source data storage unit and a carrier display control unit;
the combined navigation unit comprises a double-antenna GNSS, an inclinometer module, an inertia measurement unit and a processor end;
the GNSS ground-based augmentation unit comprises a GNSS differential signal base station, a 4G module and a 5G module;
the multi-source data processing unit comprises a Kalman filtering algorithm, a reduced instruction set machine end of the system on chip and a dual-core shared memory of the system on chip;
the multi-source data storage unit comprises a field programmable gate array end of the system on chip, a simplified instruction set machine end, an embedded file storage system and an SD card;
the carrier display control unit comprises a data transmission module, a 5G communication module and vehicle-mounted display terminal equipment.
The programmable logic terminal of the system on chip constructs a serial communication core to form an IP core receiver for receiving characters, a timer distinguishes information of adjacent epochs, and the programmable logic terminal constructs a timer core to perform 5ms timing interruption.
The dual-antenna GNSS data comprises an international universal navigation data protocol and a receiver manufacturer self-defined protocol, and the two protocols are respectively used for storing original data and operating a real-time combined navigation algorithm;
the integrated navigation adopts an anti-difference self-adaptive Kalman filtering algorithm, measurement updating of the integrated navigation is carried out on the arrival time of the first inclinometer data after the system receives serial port data of the satellite receiver, the integral inclinometer period delay from the second pulse signal to the satellite serial port data is calculated and compensated through a strapdown inertial navigation system, and the delay of less than one inclinometer period is subjected to fitting compensation through polynomial function extrapolation.
The inclinometer module and the inertia measurement unit are integrated in one device, and simultaneously output a pitch angle, a roll angle, a gyroscope triaxial angular velocity and an accelerometer triaxial acceleration outwards;
the inclinometer module comprises a plurality of inclinometer sensors, signal transmission is carried out through a communication protocol bus, different inclinometers are distinguished through different ID numbers, each piece of communication protocol information at most comprises 8 bytes of data, and a receiving end of the processor carries out data splicing according to the ID numbers to obtain complete inclinometer information;
before the inclinometer sensor is used, multiple tests are carried out to judge the axial direction of the inertial measurement unit, error parameters are judged by a noise quantification method, and the installation posture is continuously adjusted according to output data during installation to ensure that the inclinometer sensor is parallel to the three axes of the carrier.
The time synchronization operation includes: the method comprises the steps of marking inclinometer data with a timestamp taking GNSS time as a reference by utilizing a processor end of a system on chip, initializing a local clock by utilizing a second pulse signal from a satellite receiver, international universal navigation data protocol information and a timer core of a programmable logic end, adding seconds to the local clock through the second pulse signal and resetting a timer value, reading counter data to determine time in seconds after each piece of inclinometer initial communication protocol data is received, and adding the time in seconds after time deviation in an inclinometer data manual is subtracted and the time in seconds and the local clock to obtain a real timestamp.
The interrupt system carries out interrupt configuration on a second pulse signal and a timer core in time synchronization at a processor end, works in an interrupt triggering mode, and an initial value of the timer core is configured according to the actual clock frequency of a programmable logic end and is 1 second in size.
The GNSS foundation enhancement unit receives a GNSS base station differential signal and forwards the GNSS base station differential signal to the satellite receiver for RTK resolving, the GNSS base station differential signal adopts a 4G communication module, binary data stream is received through a serial port, timing is carried out through a timer, a piece of complete differential information is judged and then sent to the satellite receiver, and the satellite receiver outputs high-precision positioning and speed-fixing information after receiving effective base station differential information;
and the multi-source data processing unit fuses and solves the dual-antenna GNSS data, the IMU data and the inclinometer data through a Kalman filtering algorithm.
The multi-source data storage unit stores high-speed data streams of a plurality of sensors and intermediate data and result data of the multi-source data processing unit through a multitask mechanism and a multi-stage queue buffer mechanism;
the multi-task mechanism divides data receiving and data storage into different tasks for processing, and message transmission is carried out between the tasks through semaphores;
the multi-stage queue buffer mechanism receives and temporarily stores sensor data with high speed and small data quantity in a first-stage buffer circular queue, a system receiving task is read into a second-stage buffer circular queue when resources are sufficient, and second-stage buffer queue data with a certain scale are read into a storage buffer circular queue when the resources of the system storage task are sufficient, and finally data storage is completed;
the carrier display control unit displays navigation information of a vehicle body and partial parts of the current carrier on a display screen through digital modeling through wired or wireless 5G transmission, simulates the operated area and animation according to sensor data, and marks the area to be operated and transmits related parameters to the carrier control center by operators.
When the on-chip system receives serial port data of the satellite receiver, the observation equation in the integrated navigation is as follows:
Figure 659325DEST_PATH_IMAGE032
；
in the formula (I), the compound is shown in the specification,
Figure 657368DEST_PATH_IMAGE033
in order to observe the vector, the vector is,
Figure 882813DEST_PATH_IMAGE034
、
Figure 190166DEST_PATH_IMAGE004
and
Figure 766641DEST_PATH_IMAGE005
respectively the attitude, the speed and the position obtained by the system strapdown inertial navigation system,
Figure 365113DEST_PATH_IMAGE006
and
Figure 648326DEST_PATH_IMAGE007
respectively the velocity and the position obtained by the satellite receiver,
Figure 188898DEST_PATH_IMAGE035
is an attitude observation quantity and consists of a double-antenna course angle, a roll angle and a pitch angle of an inclinometer,
Figure 862456DEST_PATH_IMAGE036
in order to observe the matrix, the system,
Figure 592515DEST_PATH_IMAGE037
which is indicative of the measurement noise,
Figure 666255DEST_PATH_IMAGE038
、
Figure 190777DEST_PATH_IMAGE039
、
Figure 351631DEST_PATH_IMAGE040
respectively representing the measurement noise of attitude, velocity and position,
Figure 619801DEST_PATH_IMAGE041
in the form of a state vector, the state vector,
Figure 798979DEST_PATH_IMAGE042
；
Figure 759982DEST_PATH_IMAGE043
；
in the formula (I), the compound is shown in the specification,
Figure 939290DEST_PATH_IMAGE044
in the form of a third-order identity matrix,
Figure 135785DEST_PATH_IMAGE045
is a zero matrix of 3 rows and 12 columns,
Figure 310414DEST_PATH_IMAGE019
the method is a zero matrix with three rows and six columns,
Figure 52106DEST_PATH_IMAGE020
is a three-order zero matrix and is,
Figure 312186DEST_PATH_IMAGE021
representing the rotation of the navigation system relative to the inertial system,
Figure 46792DEST_PATH_IMAGE046
for the transformation matrix between the carrier system and the navigation system,
Figure 810349DEST_PATH_IMAGE023
the angular velocity of the carrier system that is the gyroscope output relative to the inertial system,
Figure 722941DEST_PATH_IMAGE047
the lever arm value between the inertial measurement unit and the phase center of the main satellite antenna, CM represents the inclinometer,
Figure 470317DEST_PATH_IMAGE048
is the pitch angle output by the inclinometer,
Figure 11545DEST_PATH_IMAGE049
is the roll angle output by the inclinometer,
Figure 567291DEST_PATH_IMAGE050
the course angle is output by the double antennas;
when the system on chip only receives the inclinometer data, the observed quantity is the roll angle and the pitch angle output by the inclinometer, and the observation equation is as follows:
Figure 40998DEST_PATH_IMAGE051
；
in the formula (I), the compound is shown in the specification,
Figure 134724DEST_PATH_IMAGE052
，
Figure 86500DEST_PATH_IMAGE053
the pitch angle obtained for the strapdown inertial navigation system,
Figure 965594DEST_PATH_IMAGE031
the roll angle is obtained by the strapdown inertial navigation system.
The structure diagram of the multi-sensor fusion system of the invention is shown in fig. 1, wherein the English meaning is: AXI _ CAN represents a CAN protocol communication core of a sailing company, PL represents a programmable logic part in a ZYNQ system, AXI4_ UART represents a serial communication core of the sailing company, AXI4-Lite IP represents a data transmission bus protocol, freetos represents a real-time operating system core, fatfs represents a file system, INS represents an inertial navigation system, PS represents a processor part in the ZYNQ system, and UART represents a serial port.
The system of fig. 1 is installed on a construction machine, an embodiment of which is specifically an excavator, and as shown in fig. 2, an inclinometer is installed on a movable arm, a boom connecting rod and a vehicle body of the excavator, that is, the inclinometer includes: the excavator comprises an inclinometer 1 on a movable arm, an inclinometer 2 on an extending arm, an inclinometer 3 on an extending arm connecting rod, an excavator body inclinometer 4, and a main antenna 5 and an auxiliary antenna 6.
As shown in fig. 3, the sensor is installed in a big cavity of a movable arm, a small cavity of the movable arm, a big cavity of an arm, a small cavity of the arm, a big cavity of a bucket and a small cavity of the bucket of the excavator, namely, the sensor comprises: a movable arm large cavity pressure sensor 7, a movable arm small cavity pressure sensor 8, an arm large cavity pressure sensor 9, an arm small cavity pressure sensor 10, a bucket large cavity pressure sensor 11 and a bucket small cavity pressure sensor 12.
After the inclinometer and the sensor are installed, the method can be used for carrying out combined navigation calculation on the main antenna 5, the auxiliary antenna 6 and the excavator body inclinometer 4, positioning and attitude determination on an excavator body, then the real-time position of the shovel tooth of the excavator can be calculated through the angle information output by the inclinometer 1 on the movable arm, the inclinometer 2 on the boom, the inclinometer 3 on the boom connecting rod and the position calibration of the total station, and the excavator control center carries out intelligent construction operation according to the high-frequency and high-precision shovel tooth position information.
In the process of carrying out real-time combined navigation, the delay error of serial port data of the satellite receiver is compensated by adopting the characteristic of high precision in a short time of strapdown inertial navigation. The arrival time of serial port data and a second pulse signal of the satellite receiver is often inconsistent with the time calculated by strapdown inertial navigation, and the system carries out measurement updating with satellite information at the arrival time of the first inclinometer data after the serial port data of the satellite receiver is received. The delay of the whole inclinometer period from the pulse per second signal to the satellite serial port data is compensated through strapdown inertial navigation calculation, and the delay of less than one inclinometer period is compensated through polynomial fitting extrapolation.
As shown in fig. 4, the time of arrival of the inclinometer IMU signal, the 1PPS signal and the GNSS data in the system is not necessarily coincident, and in most cases is not coincident.
Figure 344623DEST_PATH_IMAGE054
The time difference between the 1PPS signal and the GNSS data is 1, the delay cannot be ignored in a real-time navigation system, and the system realizes high-precision delay compensation of the GNSS data by utilizing the short-time high-precision characteristic of an INS system and data extrapolation fitting. When the 1PPS signal arrives, the second counter is cleared, and the value of the counter is not taken out (IMU 3 in FIG. 4) until the next inclinometer data arrives (IMU 3 in FIG. 4)
Figure 925646DEST_PATH_IMAGE055
) Using the formula
Figure 681112DEST_PATH_IMAGE056
Can obtain
Figure 414713DEST_PATH_IMAGE057
，
Figure 964643DEST_PATH_IMAGE058
Is the time of the IMU. When the GNSS data arrives, the system also records the time and deduces the time of arrival of the next inclinometer data (IMUi +1 in fig. 4) based on the time, thereby obtaining the time difference between IMU3 and IMUi +1 and the inclinometer cycle number
Figure 32962DEST_PATH_IMAGE059
. In the Kalman filtering algorithm of the system, GNSS measurement is carried outThe next inclinometer data time (IMUi +1 time in FIG. 4) after the GNSS data arrives is newly set, so the GNSS data delay compensation time is
Figure 326540DEST_PATH_IMAGE060
. Navigation information is in
Figure 914648DEST_PATH_IMAGE061
The variation quantity can be approximated by using the short-time high-precision characteristic of inertial navigation, and the specific formula is as follows:
Figure 901058DEST_PATH_IMAGE062
；
in the formula
Figure 256341DEST_PATH_IMAGE063
Representing cycles of inclinometer
Figure 228976DEST_PATH_IMAGE061
The navigation information in (2) is stored in the storage unit,
Figure 796223DEST_PATH_IMAGE064
to represent
Figure 78169DEST_PATH_IMAGE065
The navigation information of the time of day,
Figure 996446DEST_PATH_IMAGE066
represent
Figure 507193DEST_PATH_IMAGE067
The navigation information of the time of day,
Figure 194527DEST_PATH_IMAGE068
is composed of
Figure 647374DEST_PATH_IMAGE069
The navigation information in the time of day,
Figure 521789DEST_PATH_IMAGE070
represents all navigation information within the GNSS data delay compensation time,
Figure 101806DEST_PATH_IMAGE071
for the navigation information in the GNSS serial data,
Figure 643645DEST_PATH_IMAGE072
navigation information for use in participating in the kalman filter measurement update.
Figure 267394DEST_PATH_IMAGE073
The solution of (2) also needs to be realized by making a difference, and the specific formula is as follows
Figure 894684DEST_PATH_IMAGE074
；
In the formula (I), the compound is shown in the specification,
Figure 747234DEST_PATH_IMAGE075
for the position information at the time of the first pulse per second (1 PPS) signal in FIG. 4, a second order keeper is used to achieve high accuracy extrapolation with coefficients of the extrapolation polynomial
Figure 333460DEST_PATH_IMAGE076
、
Figure 3476DEST_PATH_IMAGE077
And
Figure 993429DEST_PATH_IMAGE078
，
Figure 774303DEST_PATH_IMAGE058
is the inclinometer data period.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.

Claims (10)

1. A multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery is characterized by comprising the following steps:
s1, taking engineering machinery as a carrier, carrying a system on chip on the carrier, carrying out system initialization on a processor end, a programmable logic end, an interrupt system and each peripheral of the system on chip, and starting formal work of the system on chip after analyzing a pulse-per-second signal and effective time and date data output by a satellite receiver;
s2, analyzing a coordination world time from a time and date output statement of the satellite, initializing a local clock, continuously receiving a pulse per second signal, and performing an operation of adding 1 second to the local clock;
S3.4G a communication module receives differential data from a satellite signal base station and forwards the differential data to a satellite receiver board card for RTK mode solution;
s4, the processor receives the double-antenna GNSS data transmitted from the programmable logic terminal, analyzes and stores the first original data, and analyzes and stores the international universal navigation data protocol data and the second original data for real-time combined navigation calculation;
s5, the processor receives communication protocol bus data transmitted from the programmable logic terminal, stores the received data into different structural bodies according to the ID, and combines the data to obtain complete inclinometer data;
s6, after receiving a first communication protocol data frame of each inclinometer data, the system on chip performs time synchronization operation through local time and a timer value in a timer core;
s7, receiving the original data of the double-antenna satellite and the time-synchronized inclinometer sensor data by a processor end, and storing the data into an SD card through a multi-stage buffer queue;
s8, carrying out navigation information delay compensation in a short time by using a strapdown inertial navigation system and polynomial function extrapolation fitting on the double-antenna satellite navigation information;
s9, calculating the inclinometer and the compensated dual-antenna satellite navigation data by the processor end through a strapdown inertial navigation algorithm and robust adaptive Kalman filtering, and outputting the result in real time;
when the on-chip system receives the dual-antenna satellite data, the observed quantity is the position, the speed, the heading angle and the standard deviation of the dual-antenna receiver, and the pitch angle and the standard deviation of the dual-antenna receiver;
when the system on chip receives the inclinometer data, the observed quantity is the roll angle and the pitch angle output by the inclinometer;
s10, the processor transmits the original data, the combined navigation calculation result and the navigation information of each part of the carrier to a driving position display screen in a wired mode or a remote display screen through 5G, and simultaneously transmits the original data, the combined navigation calculation result and the navigation information of each part of the carrier to a control center of the engineering vehicle for subsequent construction operation.
2. The method for positioning, determining and measuring the speed of engineering machinery through fusion of multiple sensors according to claim 1, wherein a combined navigation unit, a GNSS foundation enhancement unit, a multi-source data processing unit, a multi-source data storage unit and a carrier display control unit are carried in the system on chip;
the combined navigation unit comprises a double-antenna GNSS, an inclinometer module, an inertia measurement unit and a processor end;
the GNSS ground-based augmentation unit comprises a GNSS differential signal base station, a 4G module and a 5G module;
the multi-source data processing unit comprises a Kalman filtering algorithm, a reduced instruction set machine end of the system on chip and a dual-core shared memory of the system on chip;
the multi-source data storage unit comprises a field programmable gate array end of the system on chip, a simplified instruction set machine end, an embedded file storage system and an SD card;
the carrier display control unit comprises a data transmission module, a 5G communication module and vehicle-mounted display terminal equipment.
3. The method as claimed in claim 2, wherein the programmable logic terminal of the system-on-chip constructs a serial communication core to form an IP core receiver for receiving characters, the timer performs information differentiation of adjacent epochs, and the programmable logic terminal constructs a timer core to perform 5ms timing interruption.
4. The method of claim 3, wherein the dual-antenna GNSS data comprises an international universal navigation data protocol and a receiver manufacturer-defined protocol, and the two protocols are respectively used for storing raw data and running a real-time integrated navigation algorithm;
the integrated navigation adopts an anti-difference self-adaptive Kalman filtering algorithm, measurement updating of the integrated navigation is carried out on the arrival time of the first inclinometer data after the system receives serial port data of the satellite receiver, the integral inclinometer period delay from the second pulse signal to the satellite serial port data is calculated and compensated through a strapdown inertial navigation system, and the delay of less than one inclinometer period is subjected to fitting compensation through polynomial function extrapolation.
5. The multi-sensor fusion positioning, attitude determining and speed measuring method for the engineering machinery as claimed in claim 4, wherein the inclinometer module and the inertial measurement unit are integrated into one device, and the pitch angle, the roll angle, the angular velocity of three axes of the gyroscope and the acceleration of three axes of the accelerometer are output outwards at the same time;
the inclinometer module comprises a plurality of inclinometer sensors, signal transmission is carried out through a communication protocol bus, different inclinometers are distinguished through different ID numbers, each piece of communication protocol information at most comprises 8 bytes of data, and a receiving end of the processor carries out data splicing according to the ID numbers to obtain complete inclinometer information;
before the inclinometer sensor is used, multiple tests are carried out to judge the axial direction of the inertial measurement unit, error parameters are judged by a noise quantification method, and the installation attitude is continuously adjusted according to output data during installation to ensure that the inclinometer sensor is parallel to the three axes of the carrier.
6. The method for positioning, determining the attitude and measuring the speed of the engineering machine according to the claim 5, wherein the time synchronization operation comprises: the method comprises the steps of marking inclinometer data with a timestamp taking GNSS time as a reference by utilizing a processor end of a system on chip, initializing a local clock by utilizing a second pulse signal from a satellite receiver, international universal navigation data protocol information and a timer core of a programmable logic end, adding seconds to the local clock through the second pulse signal and resetting a timer value, reading counter data to determine time in seconds after each piece of inclinometer initial communication protocol data is received, and adding the time in seconds after time deviation in an inclinometer data manual is subtracted and the time in seconds and the local clock to obtain a real timestamp.
7. The method according to claim 6, wherein the interrupt system performs interrupt configuration on the second pulse signal and the timer core in time synchronization at the processor end, and operates by triggering an interrupt, and the initial value of the timer core is configured according to the actual clock frequency of the programmable logic end, and is 1 second in size.
8. The multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery as claimed in claim 7, wherein the GNSS ground-based augmentation unit receives GNSS base station differential signals and forwards the signals to a satellite receiver for RTK solution, the GNSS base station differential signals adopt a 4G communication module, receive binary data streams through a serial port, perform timing through a timer at the same time, determine a piece of complete differential information and send the information to the satellite receiver, and the satellite receiver outputs high-precision positioning and speed determining information after receiving effective base station differential information;
and the multi-source data processing unit fuses and solves the dual-antenna GNSS data, the IMU data and the inclinometer data through a Kalman filtering algorithm.
9. The multi-sensor fusion positioning, attitude determining and speed measuring method for engineering machinery as claimed in claim 8, wherein the multi-source data storage unit stores high-speed data streams of multiple sensors and intermediate data and result data of the multi-source data processing unit through a multi-task mechanism and a multi-stage queue buffer mechanism;
the multi-task mechanism divides data receiving and data storage into different tasks for processing, and message transmission is carried out between the tasks through semaphores;
the multi-stage queue buffer mechanism receives and temporarily stores the sensor data with high speed and small data quantity in a first-stage buffer circular queue, a system receiving task reads the sensor data into a second-stage buffer circular queue when the resources are sufficient, and reads the data of the second-stage buffer queue with a certain scale into a storage buffer circular queue when the resources of the system storage task are sufficient, and finally, the data storage is finished;
the carrier display control unit displays navigation information of a vehicle body and partial parts of the current carrier on a display screen through digital modeling through wired or wireless 5G transmission, simulates the operated area and animation according to sensor data, and marks the area to be operated and transmits related parameters to the carrier control center by operators.
10. The method of claim 9, wherein when the serial port data of the satellite receiver is received by the soc, the observation equation in the integrated navigation is as follows:
Figure 249996DEST_PATH_IMAGE001
；
in the formula (I), the compound is shown in the specification,
Figure 698295DEST_PATH_IMAGE002
in order to observe the vector, the vector is,
Figure 884557DEST_PATH_IMAGE003
、
Figure 810925DEST_PATH_IMAGE004
and
Figure 281089DEST_PATH_IMAGE005
respectively the attitude, the speed and the position obtained by the system strapdown inertial navigation system,
Figure 634710DEST_PATH_IMAGE006
and
Figure 308268DEST_PATH_IMAGE007
respectively the velocity and the position obtained by the satellite receiver,
Figure 38327DEST_PATH_IMAGE008
is an attitude observation quantity and consists of a double-antenna course angle, a roll angle and a pitch angle of an inclinometer,
Figure 365927DEST_PATH_IMAGE009
in order to observe the matrix, the system,
Figure 890450DEST_PATH_IMAGE010
which is indicative of the measurement noise,
Figure 379200DEST_PATH_IMAGE011
、
Figure 522736DEST_PATH_IMAGE012
、
Figure 577280DEST_PATH_IMAGE013
respectively representing the measurement noise of attitude, velocity and position,
Figure 662917DEST_PATH_IMAGE014
in the form of a state vector, the state vector,
Figure 107804DEST_PATH_IMAGE015
；
Figure 914086DEST_PATH_IMAGE016
；
in the formula (I), the compound is shown in the specification,
Figure 291978DEST_PATH_IMAGE017
in the form of a third-order identity matrix,
Figure 282937DEST_PATH_IMAGE018
is a zero matrix of 3 rows and 12 columns,
Figure 543017DEST_PATH_IMAGE019
the method is a zero matrix with three rows and six columns,
Figure 28356DEST_PATH_IMAGE020
is a three-order zero matrix and is,
Figure 57492DEST_PATH_IMAGE021
representing the rotation of the navigation system relative to the inertial system,
Figure 484931DEST_PATH_IMAGE022
for the transformation matrix between the carrier system and the navigation system,
Figure 966728DEST_PATH_IMAGE023
the angular velocity of the carrier system that is the gyroscope output relative to the inertial system,
Figure 255758DEST_PATH_IMAGE024
the lever arm value between the inertial measurement unit and the phase center of the main satellite antenna, CM represents the inclinometer,
Figure 139400DEST_PATH_IMAGE025
is the pitch angle output by the inclinometer,
Figure 728952DEST_PATH_IMAGE026
is the roll angle output by the inclinometer,
Figure 963624DEST_PATH_IMAGE027
the course angle is output by the double antennas;
when the system on chip only receives the inclinometer data, the observed quantity is the roll angle and the pitch angle output by the inclinometer, and the observation equation is as follows:
Figure 790766DEST_PATH_IMAGE028
；
in the formula (I), the compound is shown in the specification,
Figure 794494DEST_PATH_IMAGE029
，
Figure 563735DEST_PATH_IMAGE030
the pitch angle obtained for the strapdown inertial navigation system,
Figure 20124DEST_PATH_IMAGE031
the roll angle is obtained by the strapdown inertial navigation system.
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