Inertial navigation data processing method, storage medium and electronic device

Abstract

The present invention discloses an inertial navigation data processing method, a storage medium and an electronic device, and relates to the field of data processing technology. The inertial navigation data processing method comprises: when a crane is in a non-working state, obtaining first inertial navigation data of a crane arm, and determining a first frequency signal representing the vibration of the crane arm based on the first inertial navigation data; obtaining a noise frequency threshold of the first frequency signal; when the crane is in a working state, obtaining second inertial navigation data of the crane arm, and determining a second frequency signal representing the vibration of the crane arm based on the second inertial navigation data; filtering the second frequency signal through the noise frequency threshold, and determining a first angle of the orientation of the crane arm represented by the second inertial navigation data based on the filtered second frequency signal. The scheme provided by the embodiment of the present invention can be used to correct the inertial navigation data.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to an inertial navigation data processing method, a storage medium and an electronic device. Background Art

[0002] Existing lines refer to existing lines that have been built in roads, railways, pipelines, cables or other transportation industries. When the existing lines are modified, they are called existing lines. In the process of modifying existing lines, cranes are used to transport building materials. During the crane lifting process, operators often focus on the objects being lifted and often ignore the position of the crane arm. During the movement of the objects being lifted, the crane arm may collide with nearby obstacles, causing economic losses or personal safety issues.

[0003] Therefore, in the related art, inertial navigation is used to detect whether the crane arm has a collision risk.

[0004] Inertial navigation, also known as inertial navigation, is based on the principle of integrating the acceleration in three directions measured in real time over time through three laser gyroscopes and three precision accelerometers to obtain the real-time position.

[0005] The inertial navigation system is installed on the crane. It can detect the direction of the crane arm and facilitate the control of the crane arm. Due to the errors in the accelerometer and laser gyroscope of the inertial navigation system, the errors are gradually accumulated during the continuous integration, resulting in a deviation between the inertial navigation angle and the actual angle. This deviation is the inertial navigation drift, which causes the angle represented by the inertial navigation data to be inaccurate. Therefore, the inertial navigation data needs to be corrected. Summary of the invention

[0006] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, one object of the present invention is to provide an inertial navigation data processing method, a storage medium and an electronic device to realize the correction of inertial navigation data.

[0007] According to a first aspect of an embodiment of the present invention, there is provided an inertial navigation data processing method, the method comprising:

[0008] When the crane is in a non-operating state, obtaining first inertial navigation data of a crane arm of the crane, and determining a first frequency signal representing vibration of the crane arm based on the first inertial navigation data;

[0009] Acquire a noise frequency threshold of the first frequency signal;

[0010] When the crane is in working state, obtaining second inertial navigation data of the crane arm, and determining a second frequency signal representing vibration of the crane arm based on the second inertial navigation data;

[0011] The second frequency signal is filtered by the noise frequency threshold, and a first angle of the orientation of the crane arm represented by the second inertial navigation data is determined based on the filtered second frequency signal.

[0012] According to a second aspect of an embodiment of the present invention, there is provided a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned inertial navigation data processing method is implemented.

[0013] According to a third aspect of an embodiment of the present invention, there is provided an electronic device comprising: a memory and a processor; a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned inertial navigation data processing method is implemented.

[0014] In the solution provided by an embodiment of the present invention, in a non-working state, a first frequency signal representing the vibration of the crane arm is obtained based on the first inertial navigation data, and a corresponding noise frequency threshold is obtained, so that the frequency range representing the vibration of the crane arm can be determined from the first frequency signal through the noise frequency threshold.

[0015] When the crane is in operation, the crane arm may rotate, resulting in an angle change in the inertial navigation data. At this time, by acquiring the second inertial navigation data, the second frequency signal generated by the crane arm in operation is obtained, and the first angle is determined accordingly, so that the change in the direction of the crane arm can be obtained. The noise of the second frequency signal in operation is filtered based on the noise frequency threshold, the true motion frequency is retained, and the stability and accuracy of the measurement are improved. This reduces the deviation of the inertial navigation data caused by the influence of noise in the inertial navigation data, and a more accurate angle can be obtained, thereby realizing the correction of the inertial navigation data.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of an inertial navigation data processing method provided by an embodiment of the present invention;

[0018] Figure 2 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0020] The inertial navigation data processing method, storage medium and electronic device according to the embodiments of the present invention are described below with reference to the accompanying drawings.

[0021] In one embodiment of the present invention, see Figure 1 , provides an inertial navigation data processing method, which includes the following steps S101-S104.

[0022] S101: When the crane is in a non-working state, first inertial navigation data of a crane arm of the crane is obtained, and a first frequency signal representing vibration of the crane arm is determined based on the first inertial navigation data.

[0023] In the embodiment of the present invention, the state in which the engine of the crane is not started and the crane as a whole is relatively static is called the non-working state. Otherwise, it is the working state.

[0024] The first inertial navigation data can be obtained from a pre-installed inertial navigation device. The inertial navigation device is installed on the crane arm and the crane arm can be positioned.

[0025] The inertial navigation device calculates the current position from its own motion trajectory. By measuring the acceleration of the carrier in the inertial reference system, integrating the acceleration over time and transforming it into the navigation coordinate system, the angular velocity can be obtained. The angular velocity at multiple moments forms a sequence of angular velocity change values.

[0026] Specifically, the first frequency signal may be acquired in the following manner.

[0027] The angular velocity change value of the crane arm represented by the first inertial navigation data is obtained; the angular velocity change value is Fourier transformed to obtain spectrum data, and a first frequency signal is obtained from the spectrum data.

[0028] S102: Obtain a noise frequency threshold of a first frequency signal.

[0029] The noise frequency threshold indicates the frequency range of the noise. The noise frequency threshold can be set as follows:

[0030] A sub-signal smaller than a preset target frequency threshold is intercepted from the first frequency signal; if the sum of the jitter angles represented by the sub-signals is zero, the target frequency threshold is the noise frequency threshold.

[0031] For example, the target frequency threshold can be set to the maximum frequency in the first frequency signal, and then the partial frequency signal less than the target frequency threshold, i.e., the sub-signal, is calculated. It is determined whether the integral corresponding to the sub-signal is 0, which is equivalent to the sum of the jitter angles being 0; if not, the target frequency threshold is continuously reduced from the maximum value until the calculated sum of the jitter angles is 0, thereby obtaining the noise frequency threshold.

[0032] Since the crane arm vibrates in the non-working state, but the actual direction remains unchanged, the frequency at which the sum of the jitter angles is 0 is the frequency of its vibration, and the part where the sum is not 0 means that there is noise.

[0033] Alternatively, the noise frequency threshold and the like may be manually measured and preset.

[0034] S103: When the crane is in operation, second inertial navigation data of the crane arm is obtained, and a second frequency signal representing vibration of the crane arm is determined based on the second inertial navigation data.

[0035] The acquisition of the second inertial navigation data and the second frequency signal is similar to the acquisition of the first inertial navigation data and the first frequency signal in step S101, and the difference is only the replacement of the name concept, which will not be described in detail here.

[0036] S104: Filter the second frequency signal through a noise frequency threshold, and determine a first angle of the orientation of the crane arm represented by the second inertial navigation data based on the filtered second frequency signal.

[0037] Specifically, the frequencies higher than the noise frequency threshold are filtered, and the parts not higher than the noise frequency threshold are retained as the second frequency signal after filtering.

[0038] By integrating the frequency signal, the angle it represents can be calculated, which is the above-mentioned first angle.

[0039] In the solution provided by an embodiment of the present invention, in a non-working state, a first frequency signal representing the vibration of the crane arm is obtained based on the first inertial navigation data, and a corresponding noise frequency threshold is obtained, so that the frequency range representing the vibration of the crane arm can be determined from the first frequency signal through the noise frequency threshold.

[0040] When the crane is in operation, the crane arm may rotate, resulting in an angle change in the inertial navigation data. At this time, by acquiring the second inertial navigation data, the second frequency signal generated by the crane arm in operation is obtained, and the first angle is determined accordingly, so that the change in the direction of the crane arm can be obtained. The noise of the second frequency signal in operation is filtered based on the noise frequency threshold, the true motion frequency is retained, and the stability and accuracy of the measurement are improved. This reduces the deviation of the inertial navigation data caused by the influence of noise in the inertial navigation data, and a more accurate angle can be obtained, thereby realizing the correction of the inertial navigation data.

[0041] In one embodiment of the present invention, after executing step S104, a second angle representing the orientation of the crane arm may be obtained based on real-time kinematic RTK technology; and the orientation represented by the first angle may be corrected based on the second angle.

[0042] For example, two GNSS (Global Navigation Satellite System) antennas can be set at the front and rear ends of the crane arm. Real-time kinematic (RTK) technology can obtain the positions of the two antennas based on the differential service pair. The direction represented by the positions of the two antennas relative to the preset navigation coordinate system is the second angle.

[0043] In this case, correction can be made based on the second angle. For example, the second angle of RTK is obtained every 1 second. Since the crane arm rotation is continuous, the first angle calculated within the current 1 second should be between the second angle measured at the beginning of the current second and the second angle of the next second. If there is a first angle that exceeds this range, it can be corrected back to the range limited by the above two second angles, etc. The second angle obtained by RTK is used as a reference to correct the first angle, reducing the situation where the actual crane arm offset is filtered out.

[0044] Correction with reference to the RTK angle can further improve the accuracy of the determined angle, and when the communication frequency of the RTK measurement is low, the motion information of the crane arm can be supplemented by the first angle, which can improve the real-time performance.

[0045] In one embodiment of the present invention, it is determined that the crane is in working state in the following manner:

[0046] If the angular velocity represented by the second inertial navigation data is greater than the angular velocity threshold corresponding to the angular velocity represented by the first inertial navigation data, it is determined that the crane is in a working state.

[0047] In the working state, the crane engine will produce more severe vibration. Compared with the first inertial navigation data in the non-working state, the vibration represented by the second inertial navigation data has a larger angular velocity, so it can be distinguished by the angular velocity threshold.

[0048] Specifically, the angular velocity threshold is determined based on the following method: obtaining an angular velocity change value represented by the first inertial navigation data within a preset time period; determining a maximum value and a minimum value in the angular velocity change value; and calculating a difference between the maximum value and the minimum value as the angular velocity threshold.

[0049] For example, the preset time period is 10s, that is, the maximum and minimum values ​​of the angular velocity change within 10 seconds are obtained. The angular velocity change can be represented by a waveform of the angular velocity, where the highest point of the waveform is the maximum value and the lowest point is the minimum value.

[0050] In one embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned inertial navigation data processing methods is implemented.

[0051] In one embodiment of the present invention, an electronic device is provided, comprising: a memory and a processor; a computer program is stored in the memory, and when the computer program is executed by the processor, any of the above-mentioned inertial navigation data processing methods is implemented.

[0052] Figure 2 It is a structural block diagram of an electronic device according to an embodiment of the present invention.

[0053] like Figure 2 As shown, the electronic device 200 includes: a processor 201 and a memory 203. The processor 201 and the memory 203 are connected, such as through a bus 202. Optionally, the electronic device 200 may also include a transceiver 204. It should be noted that in actual applications, the transceiver 204 is not limited to one, and the structure of the electronic device 200 does not constitute a limitation on the embodiments of the present invention.

[0054] The processor 201 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. The processor 201 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0055] The bus 202 may include a path to transmit information between the above components. The bus 202 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 202 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0056] The memory 203 is used to store a computer program corresponding to the inertial navigation data processing method of the above embodiment of the present invention, and the computer program is controlled and executed by the processor 201. The processor 201 is used to execute the computer program stored in the memory 203 to implement the contents shown in the above method embodiment.

[0057] Among them, the electronic device 200 includes but is not limited to: mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 2 The electronic device 200 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0058] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0059] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0061] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0063] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0065] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for processing inertial navigation data, characterized in that: The method comprises: When the crane is in a non-operating state, obtaining first inertial navigation data of a crane arm of the crane, and determining a first frequency signal representing vibration of the crane arm based on the first inertial navigation data; Acquire a noise frequency threshold of the first frequency signal; When the crane is in working state, obtaining second inertial navigation data of the crane arm, and determining a second frequency signal representing vibration of the crane arm based on the second inertial navigation data; filtering the second frequency signal by the noise frequency threshold, and determining a first angle of the orientation of the crane arm represented by the second inertial navigation data based on the filtered second frequency signal; The noise frequency threshold is determined based on the following method: A sub-signal whose frequency is less than a preset target frequency threshold is intercepted from the first frequency signal; if the sum of the jitter angles represented by the sub-signal is zero, the target frequency threshold is the noise frequency threshold.

2. The method according to claim 1, characterized in that After determining the angle of the crane arm represented by the second inertial navigation data based on the filtered second frequency signal, the method further includes: Obtaining a second angle representing the orientation of the crane arm based on real-time kinematic (RTK) technology; The orientation represented by the first angle is corrected based on the second angle.

3. The method according to claim 1, characterized in that The crane is judged to be in working condition in the following manner: If the angular velocity represented by the second inertial navigation data is greater than an angular velocity threshold corresponding to the angular velocity represented by the first inertial navigation data, it is determined that the crane is in a working state.

4. The method according to claim 3, characterized in that The angular velocity threshold is determined based on the following method: Obtaining an angular velocity change value within a preset time period represented by the first inertial navigation data; Determine the maximum and minimum values ​​of the angular velocity change values; The difference between the maximum value and the minimum value is calculated as the angular velocity threshold.

5. The method according to claim 1, characterized in that Determining a first frequency signal representing the vibration of the crane arm based on the first inertial navigation data includes: Acquire an angular velocity change value of the crane arm represented by the first inertial navigation data; Performing Fourier transform on the angular velocity change value to obtain frequency spectrum data, and obtaining a first frequency signal from the frequency spectrum data.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the inertial navigation data processing method according to any one of claims 1 to 5 is implemented.

7. An electronic device, characterized in that: include: Memory, processor; The memory stores a computer program, and when the computer program is executed by the processor, the inertial navigation data processing method according to any one of claims 1 to 5 is implemented.

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