Well lid transaction monitoring method and device based on multi-data fusion filtering

Abstract

The invention provides a well lid transaction monitoring method and device based on multi-data fusion filtering. The method comprises the steps of obtaining an initial background angle value and a current acceleration and angular rate sample set of a to-be-monitored well lid; performing Kalman filtering processing on the sample set data; calculating a current inclination angle value; calculating an absolute value of a difference value between each current inclination angle value and the initial background angle value; judging whether the values are greater than a first threshold value; if all the inclination angle values are greater than the first threshold value, calculating root-mean-square errors of the current inclination angle values; judging whether the root-mean-square error of the current inclination angle values is smaller than a second threshold value or not; and if the root-mean-square error of the plurality of current inclination angle values is smaller than a second threshold value, determining that the to-be-monitored well lid is abnormal, and sending alarm information by the to-be-monitored well lid terminal. Based on the Kalman filtering algorithm, the method achieves the technical effects of effectively avoiding the vibration interference problem, achieving the real-time monitoring of the inclination angle of the well lid, improving the dynamic detection precision and accuracy of the abnormal movement of the well lid, and having high applicability.

Description

technical field [0001] The invention relates to the technical field of monitoring, in particular to a method and device for manhole cover abnormality monitoring based on multi-data fusion filtering. Background technique [0002] The detection method based on the acceleration sensor to calculate the inclination angle generally calculates the relative change between the current inclination angle of the manhole cover and the initial background angle, that is, detects the change in inclination angle to determine whether the manhole cover has changed. Due to factors such as the installation position of the manhole cover and the flatness of the edge of the manhole cover, when the vehicle is crushed or trampled, the internal acceleration sensor will have inaccurate detection, false positives, and missed positives due to vibration interference, and the accuracy rate is low. [0003] However, in the process of implementing the technical solutions in the embodiments of the present app...

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Problems solved by technology

[0005] The embodiment of the present invention provides a method and device for manhole cover abnormality monitoring based on multi-data fusion filtering, which is used to solve the problems caused by pedestrians trampling or vehicles running over during the process of detecting whether the manhole cover has abnormal movement through the calculation of the inclination angle by the acceleration sensor in the prior art. Factors such as pressure and other factors, coupled with the low flatness of its own edge, lead to vibration interference of the manhole cover, resulting in low accuracy of the detection results of the internal acceleration sensor, and there are technical problems of false positives and false negatives.

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