Positioning method, device and equipment of bridge inspection vehicle and storage medium

Abstract

The invention provides a positioning method, device and equipment of a bridge inspection vehicle and a storage medium, and relates to the technical field of bridge detection, and the positioning method of the bridge inspection vehicle comprises the steps that a UWB signal of the bridge inspection vehicle is acquired based on a plurality of UWB base stations distributed at the two sides of a bridge, and the UWB signal carries arrival time data and arrival angle data; performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm; and calculating the arrival time data and the arrival angle data after error correction processing by using a positioning algorithm, and determining the positioning coordinates of the bridge inspection vehicle. The positioning precision of the bridge inspection vehicle can be remarkably improved, and the accuracy of bridge inspection work is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge detection, and in particular to a positioning method, device, equipment and storage medium for a bridge inspection vehicle. Background Art

[0002] With the extension of bridge service life and the increase of traffic volume, the safety monitoring and maintenance of bridge structures have become increasingly important. As a key inspection equipment, the positioning accuracy of bridge inspection vehicles is directly related to the effectiveness and accuracy of inspection work. However, the current positioning technology of bridge inspection vehicles faces many challenges in practical applications, especially in complex bridge structures and changing environmental conditions, the positioning accuracy is often difficult to achieve as expected.

[0003] At present, encoders or global positioning systems (GPS) are usually used to locate bridge inspection vehicles, but both methods have obvious limitations. Encoders are prone to cumulative errors when the bridge surface is uneven or the measuring wheel slips; and the positioning accuracy of GPS is significantly reduced when it is at the bottom of the bridge or blocked by obstacles. The problem of insufficient positioning accuracy of bridge inspection vehicles not only affects the efficiency of inspection work, but may also lead to missed or wrong detection of bridge safety hazards, seriously threatening the safe operation of bridges. Summary of the invention

[0004] The problem solved by the present invention is how to accurately position the bridge inspection vehicle.

[0005] In order to solve the above problems, the present invention provides a positioning method, device, equipment and storage medium for a bridge inspection vehicle.

[0006] In a first aspect, the present invention provides a positioning method for a bridge inspection vehicle, comprising:

[0007] Acquire the UWB signal of the bridge inspection vehicle based on multiple UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data;

[0008] Performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm;

[0009] The arrival time data and the arrival angle data after error correction are calculated using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

[0010] Optionally, the UWB signal further carries signal strength data corresponding to the arrival time data and the arrival angle data, and the performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm includes:

[0011] Screening out abnormal data from the arrival time data and the arrival angle data according to the signal strength data;

[0012] Using a weighted least square method to perform weighted correction processing on the arrival time data and the arrival angle data after abnormal data screening;

[0013] The extended Kalman filter algorithm is used to dynamically correct the arrival time data and the arrival angle data after weighted correction processing.

[0014] Optionally, the filtering out abnormal data from the arrival time data and the arrival angle data according to the signal strength data includes:

[0015] The signal strength data is judged based on a preset signal strength threshold, the signal strength data below the preset signal strength threshold is classified as target signal strength data, and the arrival time data and the arrival angle data corresponding to the target signal strength data are screened out.

[0016] Optionally, the using a positioning algorithm to calculate the arrival time data and the arrival angle data after error correction processing to determine the positioning coordinates of the bridge inspection vehicle includes:

[0017] Calculate distance detection data based on the arrival time data, where the distance detection data is used to describe the distance between the bridge inspection vehicle and the UWB base station;

[0018] Calculating at least three of the distance detection data using a multilateral distance measurement method to obtain a position coordinate area of ​​the bridge inspection vehicle;

[0019] Determine a signal propagation direction line of each of the UWB base stations based on the arrival angle data, wherein the signal propagation direction line is used to represent the azimuth angle of the bridge inspection vehicle measured by the UWB base station;

[0020] The position coordinate area and the signal propagation direction line are processed using the least squares method, with the goal of minimizing the geometric error, to obtain the positioning coordinates of the bridge inspection vehicle.

[0021] Optionally, the calculating the distance detection data based on the arrival time data includes:

[0022] The propagation time difference required for the UWB signal to reach the UWB base station is determined based on the time arrival data, and the distance detection data is calculated according to the propagation time difference and the signal propagation speed.

[0023] Optionally, the use of the multilateral distance measurement method to calculate at least three of the distance detection data to obtain the initial position coordinate range of the bridge inspection vehicle includes:

[0024] Based on at least three of the distance detection data, at least three circular positioning areas are constructed with each of the UWB base stations as the center and the distance detection data as the radius, the intersection of the circular positioning areas is calculated, and the position coordinate area of ​​the bridge inspection vehicle is determined according to the intersection of the circular positioning areas;

[0025] The position coordinate area is an area formed by lines connecting the intersection points of the circular positioning areas.

[0026] Optionally, the least square method is used to process the position coordinate area and the signal propagation direction line, with the goal of minimizing geometric errors, to obtain the positioning coordinates of the bridge inspection vehicle, including:

[0027] Setting any point in the position coordinate area as an initial position coordinate, calculating a geometric error between the initial position coordinate and the signal propagation direction line, wherein the geometric error is used to describe a distance difference between the initial position coordinate and the signal propagation direction line;

[0028] Iteratively adjusting the initial position coordinates by using a least squares algorithm, and recalculating a post-iteration geometric error between the initial position coordinates and the signal propagation direction line after the iteration, and determining whether the post-iteration geometric error is lower than a preset error threshold;

[0029] In response to the geometric error after iteration being lower than the preset error threshold, the iteration process is stopped to obtain the positioning coordinates of the bridge inspection vehicle.

[0030] In a second aspect, the present invention provides a positioning device for a bridge inspection vehicle, comprising:

[0031] A data acquisition module, used to acquire the UWB signal of the bridge inspection vehicle based on multiple UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data;

[0032] An error correction module, used for performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm;

[0033] The positioning module is used to calculate the arrival time data and the arrival angle data after error correction processing using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

[0034] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0035] The memory is used to store computer programs;

[0036] The processor is used to implement the positioning method of the bridge inspection vehicle as described in the first aspect when executing the computer program.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the positioning method of the bridge inspection vehicle as described in the first aspect is implemented.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows: by acquiring the UWB signal of the bridge inspection vehicle through multiple UWB base stations distributed on both sides of the bridge, the bridge inspection vehicle is positioned, which can avoid signal shielding and positioning errors caused by the complex environment of the bridge; and the two-dimensional data of arrival time data and arrival angle data can avoid the positioning error caused by a single data; by correcting the error through the correction algorithm, the error caused by factors such as the complex structure of the bridge, the signal multipath effect and the environmental interference can be reduced, and the accuracy of the positioning data can be improved; after the error is corrected, the positioning algorithm is used to calculate the corrected data to determine the precise coordinates of the bridge inspection vehicle, which can achieve accurate positioning of the bridge inspection vehicle. The present invention can significantly improve the positioning accuracy of the bridge inspection vehicle and improve the accuracy of the bridge inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic flow chart of a method for positioning a bridge inspection vehicle provided by an embodiment of the present invention;

[0040] Figure 2 A schematic flow chart of step S13 of a method for positioning a bridge inspection vehicle provided in one embodiment of the present invention;

[0041] Figure 3 A schematic structural diagram of a positioning device for a bridge inspection vehicle provided by one embodiment of the present invention;

[0042] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0044] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0045] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0046] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0047] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0048] Reference Figure 1 The present invention provides a positioning method for a bridge inspection vehicle, comprising:

[0049] S11. Acquire a UWB signal of a bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data.

[0050] Specifically, a UWB base station is a device that uses ultra-wideband technology for wireless communication, and a UWB signal is a radio signal corresponding to a UWB base station, which can be generated by a UWB signal configured on a bridge inspection vehicle. UWB base stations can be evenly symmetrically arranged or asymmetrically arranged at different locations on the bridge, or they can be arranged according to the characteristics of the bridge and the area that needs to be inspected to ensure full coverage and effective reception of UWB signals. Among them, the UWB signal received by each UWB base station includes time arrival data and arrival angle data. The arrival time data includes the time required for the UWB signal to reach the UWB from the transmission source of the bridge inspection vehicle, and the arrival angle data includes the incident angle of the UWB signal when it is transmitted from the bridge inspection vehicle to the UWB base station, so as to provide a data basis for the positioning of the bridge inspection vehicle.

[0051] S12. Perform error correction processing on the arrival time data and the arrival angle data based on a correction algorithm.

[0052] Due to the complex structure of the bridge and the interference of environmental factors, the received arrival time data and arrival angle data usually have errors. The correction algorithm can eliminate or reduce errors and improve the accuracy of the data by analyzing and processing the data received by multiple UWB base stations. For example: Due to the influence of the complex structure of the bridge, the UWB signal may be reflected, diffracted and scattered before reaching the UWB base station, that is, the UWB signal will reach the UWB base station through multiple paths, resulting in signal distortion, signal delay and signal interference. Using the correction algorithm to perform error correction processing on the arrival time data and the arrival angle data can effectively eliminate or reduce the errors of the arrival time data and the arrival angle data, thereby improving the positioning accuracy of the bridge inspection vehicle.

[0053] S13. Calculate the arrival time data and the arrival angle data after error correction using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

[0054] S13 combines the arrival time data and the arrival angle data after error correction, and uses a positioning algorithm to achieve accurate positioning of the bridge inspection vehicle. The positioning algorithm may be a geometric positioning algorithm, such as multilateration and trilateration.

[0055] The beneficial effects of the present invention are: by acquiring the UWB signal of the bridge inspection vehicle through multiple UWB base stations distributed on both sides of the bridge, the bridge inspection vehicle can be positioned, which can avoid signal shielding and positioning errors caused by the complex environment of the bridge; and the two-dimensional data of arrival time data and arrival angle data can avoid the positioning error caused by a single data; by correcting the error through the correction algorithm, the error caused by factors such as the complex structure of the bridge, the signal multipath effect and the environmental interference can be reduced, and the accuracy of the positioning data can be improved; after the error is corrected, the positioning algorithm is used to calculate the corrected data to determine the precise coordinates of the bridge inspection vehicle, which can achieve accurate positioning of the bridge inspection vehicle. The present invention can significantly improve the positioning accuracy of the bridge inspection vehicle and improve the accuracy of the bridge inspection work.

[0056] Further, the UWB signal also carries signal strength data corresponding to the arrival time data and the arrival angle data, and the error correction processing of the arrival time data and the arrival angle data based on the correction algorithm includes:

[0057] The arrival time data and the arrival angle data are screened for abnormal data according to the signal strength data.

[0058] Specifically, the UWB signal not only carries arrival time data and arrival angle data, but also carries signal strength data corresponding to the arrival time data and arrival angle data. The signal strength data here is not limited to other data other than the arrival time data and arrival angle data, and can be data obtained by analyzing and processing the received UWB signal.

[0059] Due to environmental interference, obstacles and other factors, some signals may have abnormal strength. In order to ensure the accuracy of positioning data, the arrival time data and arrival angle data are screened according to the signal strength, which can improve the effectiveness of UWB signals and reduce error sources.

[0060] The weighted least square method is used to perform weighted correction processing on the arrival time data and the arrival angle data after the abnormal data is screened out.

[0061] Among them, the least square method is used to give higher weights to high-quality data, thereby improving the positioning accuracy of the bridge inspection vehicle. Because high-quality data may represent UWB signals of direct paths rather than UWB signals received through non-reflected or scattered paths, the effectiveness of UWB signals is further improved. The high-quality data here can include data with higher signal strength.

[0062] The extended Kalman filter algorithm is used to dynamically correct the arrival time data and the arrival angle data after weighted correction processing.

[0063] Specifically, the extended Kalman filter algorithm is a recursive algorithm that can gradually optimize the arrival time data and the arrival angle data in multiple measurements. The extended Kalman filter algorithm can use the state equation and the observation equation to predict and update the system state each time new data is received. In this embodiment, each time a UWB signal is received, the extended Kalman filter algorithm regards the arrival time data and the arrival angle data at the current moment as the state variables of the dynamic system, and corrects the arrival time data and the arrival angle data received in real time through the prediction and update steps.

[0064] Furthermore, the extended Kalman filter algorithm predicts the arrival time data and arrival angle data of the current moment using the system model based on the arrival time data and arrival angle data of the previous moment, and then compares the arrival time data and arrival angle data actually measured with the predicted value, calculates the residual, and corrects the predicted value through the Kalman gain to obtain more accurate arrival time data and arrival angle data of the current moment. This embodiment can reduce the influence of signal noise on the accuracy of arrival time data and arrival angle data, and provide more stable and accurate arrival time data and arrival angle data.

[0065] In one embodiment, filtering out abnormal data from the arrival time data and the arrival angle data according to the signal strength data includes:

[0066] The signal strength data is judged based on a preset signal strength threshold, the signal strength data below the preset signal strength threshold is classified as target signal strength data, and the arrival time data and the arrival angle data corresponding to the target signal strength data are screened out.

[0067] It needs to be explained that if the signal strength data corresponding to the arrival time data and arrival angle data is lower than the preset signal strength threshold, it means that the signal has received relatively serious interference or may be in non-line-of-sight conditions. In this case, the arrival time data and arrival angle data corresponding to this signal will be screened out, and the screened data will no longer participate in subsequent positioning calculations, so as to prevent low-quality data from having an adverse effect on the positioning accuracy of the bridge inspection vehicle.

[0068] Reference Figure 2 , the method of calculating the arrival time data and the arrival angle data after error correction by using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle includes:

[0069] S131. Calculate distance detection data based on the arrival time data, where the distance detection data is used to describe the distance between the bridge inspection vehicle and the UWB base station.

[0070] S132. Calculate at least three distance detection data using a multilateral distance measurement method to obtain a position coordinate area of ​​the bridge inspection vehicle.

[0071] S133. Determine a signal propagation direction line of each of the UWB base stations based on the arrival angle data, wherein the signal propagation direction line is used to represent the azimuth angle of the bridge inspection vehicle measured by the UWB base station.

[0072] Among them, each signal propagation direction line represents the orientation information of the bridge inspection vehicle relative to the corresponding UWB base station. By drawing the signal propagation direction line in two-dimensional or three-dimensional space, the system can further determine the position of the bridge inspection vehicle.

[0073] S134. Process the position coordinate area and the signal propagation direction line using the least square method, with the goal of minimizing geometric errors, to obtain the positioning coordinates of the bridge inspection vehicle.

[0074] This embodiment utilizes geometric positioning algorithm, multilateral ranging method, arrival angle data analysis and least square method to achieve high-precision positioning of the bridge inspection vehicle in a complex bridge environment.

[0075] In one embodiment, the calculating the distance detection data based on the arrival time data includes:

[0076] The propagation time difference required for the UWB signal to reach the UWB base station is determined based on the time arrival data, and the distance detection data is calculated according to the propagation time difference and the signal propagation speed.

[0077] Determining the distance detection data through time arrival data can provide a data basis for the positioning of subsequent bridge inspection vehicles.

[0078] Furthermore, the at least three distance detection data are calculated using the multilateral distance measurement method to obtain the initial position coordinate range of the bridge inspection vehicle, including:

[0079] Based on at least three of the distance detection data, at least three circular positioning areas are constructed with each of the UWB base stations as the center and the distance detection data as the radius, the intersection of the circular positioning areas is calculated, and the position coordinate area of ​​the bridge inspection vehicle is determined according to the intersection of the circular positioning areas;

[0080] The position coordinate area is an area formed by lines connecting the intersection points of the circular positioning areas.

[0081] It should be explained that the intersection of the circular positioning area represents the possible position of the bridge inspection vehicle. By connecting the intersection of the circular positioning area, a closed area is formed, which represents the minimum area range of the bridge inspection vehicle. The determination of the position coordinate area provides a preliminary range for the positioning of the bridge inspection vehicle, and the subsequent positioning steps further reduce the positioning error on this basis, thereby achieving accurate positioning of the bridge inspection vehicle.

[0082] In one embodiment, the least square method is used to process the position coordinate area and the signal propagation direction line, with the goal of minimizing geometric errors, to obtain the positioning coordinates of the bridge inspection vehicle, including:

[0083] Setting any point in the position coordinate area as an initial position coordinate, calculating a geometric error between the initial position coordinate and the signal propagation direction line, wherein the geometric error is used to describe a distance difference between the initial position coordinate and the signal propagation direction line;

[0084] The initial position coordinates are iteratively adjusted using a least squares algorithm, and a post-iteration geometric error between the initial position coordinates and the signal propagation direction line after the iteration is recalculated to determine whether the post-iteration geometric error is lower than a preset error threshold.

[0085] In response to the geometric error after iteration being lower than the preset error threshold, the iteration process is stopped to obtain the positioning coordinates of the bridge inspection vehicle.

[0086] This embodiment can minimize the positioning error of the bridge inspection vehicle in a complex environment in a step-by-step optimization manner, thereby achieving high-precision positioning of the bridge inspection vehicle.

[0087] Reference Figure 3 The present invention provides a positioning device 30 for a bridge inspection vehicle, comprising:

[0088] A data acquisition module 31 is used to acquire the UWB signal of the bridge inspection vehicle based on multiple UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data;

[0089] An error correction module 32, configured to perform error correction processing on the arrival time data and the arrival angle data based on a correction algorithm;

[0090] The positioning module 33 is used to calculate the arrival time data and the arrival angle data after error correction using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

[0091] The beneficial effects of the present invention are as follows: the data acquisition module 31 obtains the UWB signal of the bridge inspection vehicle by acquiring multiple UWB base stations distributed on both sides of the bridge, so as to locate the bridge inspection vehicle, thereby avoiding signal shielding and positioning errors caused by the complex environment of the bridge; and the data of the two dimensions of arrival time data and arrival angle data can avoid the positioning error caused by a single data; the error correction module 32 corrects the error through a correction algorithm, thereby reducing the error caused by factors such as the complex structure of the bridge, the signal multipath effect, and environmental interference, and improving the accuracy of the positioning data; after the error is corrected, the positioning module 33 uses a positioning algorithm to calculate the corrected data, determines the precise coordinates of the bridge inspection vehicle, and can achieve accurate positioning of the bridge inspection vehicle. The present invention can significantly improve the positioning accuracy of the bridge inspection vehicle and improve the accuracy of the bridge inspection work.

[0092] Reference Figure 4 , the present invention provides an electronic device 40, including a memory 41 and a processor 42;

[0093] The memory 41 is used to store computer programs;

[0094] The processor 42 is used to implement the positioning method of the bridge inspection vehicle when executing the computer program.

[0095] In other words, an electronic device 40 includes a memory 41 and a processor 42 coupled to the memory 41; the memory 41 is configured to store a computer program; and the processor 42 is configured to perform the following operations when executing the computer program:

[0096] Acquire the UWB signal of the bridge inspection vehicle based on multiple UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data;

[0097] Performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm;

[0098] The arrival time data and the arrival angle data after error correction are calculated using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

[0099] The present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the positioning method of the bridge inspection vehicle is implemented.

[0100] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0101] In other words, an electronic device 40 includes a memory 41 and a processor 42 coupled to the memory 41; the memory 41 is configured to store a computer program; and the processor 42 is configured to perform the following operations when executing the computer program:

[0102] Acquire the UWB signal of the bridge inspection vehicle based on multiple UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data;

[0103] Performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm;

[0104] The arrival time data and the arrival angle data after error correction are calculated using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

[0105] An electronic device 40 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 40 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 40 can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0106] The electronic device 40 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0107] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0108] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A positioning method for a bridge inspection vehicle, characterized in that: include: Acquire the UWB signal of the bridge inspection vehicle based on multiple UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data; Performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm; The arrival time data and the arrival angle data after error correction are calculated using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

2. The method for positioning a bridge inspection vehicle according to claim 1, characterized in that: The UWB signal also carries signal strength data corresponding to the arrival time data and the arrival angle data, and the error correction processing of the arrival time data and the arrival angle data based on the correction algorithm includes: Screening out abnormal data from the arrival time data and the arrival angle data according to the signal strength data; Using a weighted least square method to perform weighted correction processing on the arrival time data and the arrival angle data after abnormal data screening; The extended Kalman filter algorithm is used to dynamically correct the arrival time data and the arrival angle data after weighted correction processing.

3. The method for positioning a bridge inspection vehicle according to claim 2, characterized in that: The filtering out abnormal data from the arrival time data and the arrival angle data according to the signal strength data comprises: The signal strength data is judged based on a preset signal strength threshold, the signal strength data below the preset signal strength threshold is classified as target signal strength data, and the arrival time data and the arrival angle data corresponding to the target signal strength data are screened out.

4. The method for positioning a bridge inspection vehicle according to claim 1, characterized in that: The method of calculating the arrival time data and the arrival angle data after error correction by using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle includes: Calculate distance detection data based on the arrival time data, where the distance detection data is used to describe the distance between the bridge inspection vehicle and the UWB base station; Calculating at least three of the distance detection data using a multilateral distance measurement method to obtain a position coordinate area of ​​the bridge inspection vehicle; Determine a signal propagation direction line of each of the UWB base stations based on the arrival angle data, wherein the signal propagation direction line is used to represent the azimuth angle of the bridge inspection vehicle measured by the UWB base station; The position coordinate area and the signal propagation direction line are processed using the least squares method, with the goal of minimizing the geometric error, to obtain the positioning coordinates of the bridge inspection vehicle.

5. The method for positioning a bridge inspection vehicle according to claim 4, characterized in that: The distance detection data calculated based on the arrival time data comprises: The propagation time difference required for the UWB signal to reach the UWB base station is determined based on the time arrival data, and the distance detection data is calculated according to the propagation time difference and the signal propagation speed.

6. The method for positioning a bridge inspection vehicle according to claim 4, characterized in that: The use of the multilateral distance measurement method to calculate at least three of the distance detection data to obtain the initial position coordinate range of the bridge inspection vehicle includes: Based on at least three of the distance detection data, at least three circular positioning areas are constructed with each of the UWB base stations as the center and the distance detection data as the radius, the intersection of the circular positioning areas is calculated, and the position coordinate area of ​​the bridge inspection vehicle is determined according to the intersection of the circular positioning areas; The position coordinate area is an area formed by lines connecting the intersection points of the circular positioning areas.

7. The method for positioning a bridge inspection vehicle according to claim 4, characterized in that: The least square method is used to process the position coordinate area and the signal propagation direction line, with the goal of minimizing the geometric error, to obtain the positioning coordinates of the bridge inspection vehicle, including: Setting any point in the position coordinate area as an initial position coordinate, calculating a geometric error between the initial position coordinate and the signal propagation direction line, wherein the geometric error is used to describe a distance difference between the initial position coordinate and the signal propagation direction line; Iteratively adjusting the initial position coordinates by using a least squares algorithm, and recalculating a post-iteration geometric error between the initial position coordinates and the signal propagation direction line after the iteration, and determining whether the post-iteration geometric error is lower than a preset error threshold; In response to the geometric error after iteration being lower than the preset error threshold, the iteration process is stopped to obtain the positioning coordinates of the bridge inspection vehicle.

8. A positioning device for a bridge inspection vehicle, characterized in that: include: A data acquisition module, used to acquire the UWB signal of the bridge inspection vehicle based on multiple UWB base stations distributed on both sides of the bridge, wherein the UWB signal carries arrival time data and arrival angle data; An error correction module, used for performing error correction processing on the arrival time data and the arrival angle data based on a correction algorithm; The positioning module is used to calculate the arrival time data and the arrival angle data after error correction processing using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is used to implement the positioning method of the bridge inspection vehicle as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the positioning method of the bridge inspection vehicle as claimed in any one of claims 1 to 7 is implemented.

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