A positioning method, device and equipment of a bridge inspection vehicle and a storage medium

Abstract

The application provides a positioning method, device and equipment of a bridge inspection vehicle and a storage medium, relates to the technical field of bridge detection, and the positioning method of the bridge inspection vehicle comprises the following steps: acquiring UWB signals of the bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, wherein the UWB signals carry time of arrival data and angle of arrival data; performing error correction processing on the time of arrival data and the angle of arrival data based on a correction algorithm; and calculating the time of arrival data and the angle of arrival data after the error correction processing by using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle. The application can significantly improve the positioning accuracy of the bridge inspection vehicle and improve the accuracy of the bridge inspection work.

Description

TECHNICAL FIELD

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

[0002] With the extension of the service life of the bridge and the increase of the traffic flow, the safety monitoring and maintenance of the bridge structure become increasingly important. The positioning accuracy of the bridge inspection vehicle, as a key inspection equipment, is directly related to the effectiveness and accuracy of the inspection work. However, the current positioning technology of the bridge inspection vehicle faces many challenges in practical application, especially in complex bridge structures and variable environmental conditions, and the positioning accuracy is often difficult to meet the expectations.

[0003] Currently, the positioning of the bridge inspection vehicle is usually carried out by using an encoder or a global positioning system (GPS). However, both of these two methods have obvious limitations. The encoder is prone to cumulative error in the case of uneven bridge surface or slipping of the measuring wheel. The positioning accuracy of the GPS is significantly reduced when the bridge is at the bottom or is blocked by obstacles. The problem of insufficient positioning accuracy of the bridge inspection vehicle not only affects the efficiency of the inspection work, but also may lead to missed or wrong detection of the bridge safety hazards, which seriously threatens the safe operation of the bridge. SUMMARY

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

[0005] To solve the above problems, the present application provides a positioning method, device, equipment and storage medium of a bridge inspection vehicle.

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

[0007] obtaining UWB signals of the bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, the UWB signals carrying time of arrival data and angle of arrival data;

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

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

[0010] Optionally, the UWB signals also carry signal strength data corresponding to the time of arrival data and the angle of arrival data, and the error correction processing on the time of arrival data and the angle of arrival data based on the correction algorithm comprises:

[0011] abnormal data screening the time of arrival data and the angle of arrival data according to the signal strength data;

[0012] weighted correction processing the time of arrival data and the angle of arrival data after abnormal data screening by using a weighted least square method;

[0013] dynamic correction of the time of arrival data and the angle of arrival data after weighted correction processing by using an extended Kalman filter algorithm.

[0014] Optionally, the abnormal data screening the time of arrival data and the angle of arrival data according to the signal strength data comprises:

[0015] judging the signal strength data based on a preset signal strength threshold, dividing the signal strength data lower than the preset signal strength threshold into target signal strength data, and screening the time of arrival data and the angle of arrival data corresponding to the target signal strength data.

[0016] Optionally, the calculation of the positioning coordinates of the bridge inspection vehicle by using a positioning algorithm after error correction processing of the time of arrival data and the angle of arrival data comprises:

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

[0018] calculating the position coordinate area of the bridge inspection vehicle by using a multilateration method on at least three distance detection data;

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

[0020] processing the position coordinate area and the signal propagation direction line by using a least square method to obtain the positioning coordinates of the bridge inspection vehicle with the minimum geometric error.

[0021] Optionally, the calculation of the distance detection data based on the time of arrival data comprises:

[0022] determining the propagation time difference required for the UWB signal to arrive at the UWB base station based on the time of arrival data, and calculating the distance detection data according to the propagation time difference and the signal propagation speed.

[0023] Optionally, the calculating of the at least three distance detection data by the multilateration method to obtain the initial position coordinate range of the bridge inspection vehicle includes:

[0024] Based on the at least three distance detection data, at least three circular positioning areas are constructed with each UWB base station as a center and the distance detection data as a radius, an 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 a line connecting the intersection points of the circular positioning areas.

[0026] Optionally, the processing of the position coordinate area and the signal propagation direction line by the least square method to minimize the geometric error to obtain the positioning coordinate of the bridge inspection vehicle includes:

[0027] An arbitrary point in the position coordinate area is set as an initial position coordinate, and a geometric error between the initial position coordinate and the signal propagation direction line is calculated, the geometric error being used to describe a distance difference between the initial position coordinate and the signal propagation direction line.

[0028] The initial position coordinate is iteratively adjusted by using the least square algorithm, and an iterated geometric error between the iteratively adjusted initial position coordinate and the signal propagation direction line is recalculated, and it is determined whether the iterated geometric error is lower than a preset error threshold.

[0029] In response to the iterated geometric error being lower than the preset error threshold, the iteration process is stopped, and the positioning coordinate of the bridge inspection vehicle is obtained.

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

[0031] A data acquisition module is configured to acquire UWB signals of the bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, the UWB signals carrying time of arrival data and angle of arrival data.

[0032] An error correction module is configured to perform error correction processing on the time of arrival data and the angle of arrival data based on a correction algorithm.

[0033] A positioning module is configured to calculate the time of arrival data and the angle of arrival data after the error correction processing by using a positioning algorithm to determine the positioning coordinate of the bridge inspection vehicle.

[0034] In a third aspect, the present application provides an electronic device comprising a memory and a processor.

[0035] The memory is configured to store a computer program.

[0036] The processor is configured to implement the positioning method of the bridge inspection vehicle according to the first aspect when executing the computer program.

[0037] In a fourth aspect, the present application provides a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the positioning method of the bridge inspection vehicle according to the first aspect is implemented.

[0038] Compared with the prior art, the present application has the following beneficial effects: by acquiring the UWB signals of the bridge inspection vehicle through the multiple UWB base stations distributed on both sides of the bridge, the positioning of the bridge inspection vehicle can be performed, and the problems of signal shielding and positioning errors caused by the complex environment of the bridge can be avoided; the two-dimensional data of the time of arrival data and the angle of arrival data can avoid the positioning errors caused by single data; by correcting the errors through the correction algorithm, the errors caused by the complex structure of the bridge, the signal multipath effect and environmental interference can be reduced, and the accuracy of the positioning data can be improved; after the errors are corrected, the positioning algorithm is used to calculate the corrected data to determine the accurate coordinates of the bridge inspection vehicle, and the accurate positioning of the bridge inspection vehicle can be realized. The present application can significantly improve the positioning accuracy of the bridge inspection vehicle and improve the accuracy of the bridge inspection work. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A flowchart of a positioning method of a bridge inspection vehicle provided by an embodiment of the present application is shown in the figure;

[0040] Figure 2 A flowchart of the step S13 of the positioning method of the bridge inspection vehicle provided by an embodiment of the present application is shown in the figure;

[0041] Figure 3 A structural diagram of a positioning device of a bridge inspection vehicle provided by an embodiment of the present application is shown in the figure;

[0042] Figure 4 A structural diagram of an electronic device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application 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 make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are only for illustrative purposes, and should not be used to limit the protection scope of the present application.

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

[0045] The term "comprising" and variations thereof as used herein are open-ended, that is "including but not limited to"; the term "based on" is "based, at least in part, on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optional" means "optional in at least some embodiments". Related definitions are given throughout the detailed description. It is to be noted that the concepts mentioned in the present application are merely illustrative and not restrictive, and those skilled in the art should understand that "one" "multiple" modification is illustrative and not restrictive, and unless otherwise explicitly stated in the context, it should be understood as "one or more".

[0046] It should be noted that the modification of "one" "multiple" mentioned in the present application is illustrative and not restrictive, and those skilled in the art should understand that unless otherwise explicitly stated in the context, it should be understood as "one or more".

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

[0048] With reference to Figure 1 The present application provides a positioning method of a bridge inspection vehicle, comprising:

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

[0050] Specifically, the UWB base station is a device that uses ultra-wideband technology for wireless communication, and the UWB signal is a radio signal corresponding to the UWB base station, which can be generated by the UWB signal configured on the bridge inspection vehicle. The UWB base station can be arranged uniformly and symmetrically at different positions of the bridge or asymmetrically, or can be arranged according to the characteristics of the bridge and the area to be detected, to ensure comprehensive coverage and effective reception of the UWB signal. The UWB signal received by each UWB base station includes time of arrival data and angle of arrival data, the time of arrival data includes the time required for the UWB signal to arrive at the UWB from the bridge inspection vehicle emission source, and the angle of arrival data includes the incident angle of the UWB signal from the bridge inspection vehicle emission to the UWB base station, to provide a data basis for the positioning of the bridge inspection vehicle.

[0051] S12, error correction processing is performed 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, and the correction algorithm can eliminate or reduce errors by analyzing and processing the received data of multiple UWB base stations, thereby improving the accuracy of the data. 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 reaches the UWB base station through multiple paths, thereby causing signal distortion, signal delay and signal interference, etc. The error correction processing of the arrival time data and the arrival angle data based on the correction algorithm 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, the arrival time data and the arrival angle data after error correction processing are calculated by using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

[0054] S13 can realize accurate positioning of the bridge inspection vehicle by combining the arrival time data and the arrival angle data after error correction processing and using a positioning algorithm. The positioning algorithm can be a geometric positioning algorithm, such as a multi-lateral measurement method and a three-lateral measurement method.

[0055] The advantages of the present application are: by obtaining the UWB signal of the bridge inspection vehicle from the multiple UWB base stations distributed on both sides of the bridge, the positioning of the bridge inspection vehicle can be realized, which can avoid the problems of signal shielding and positioning errors caused by the complex environment of the bridge; the two-dimensional data of the arrival time data and the arrival angle data can avoid the positioning errors caused by single data; by correcting the errors through the correction algorithm, the errors caused by the complex structure of the bridge, the signal multi-path effect and environmental interference can be reduced, and the accuracy of the positioning data can be improved; after error correction, the corrected data is calculated by using the positioning algorithm to determine the accurate coordinates of the bridge inspection vehicle, which can realize accurate positioning of the bridge inspection vehicle. The present application 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 comprises:

[0057] According to the signal strength data, the arrival time data and the arrival angle data are screened out.

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

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

[0060] The time of arrival data and the angle of arrival data screened by the abnormal data are weighted and corrected by using the weighted least squares method.

[0061] Among them, the high-quality data is given a higher weight by the least squares method, so as to improve 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-reflective or scattering paths, thereby further improving the effectiveness of the UWB signal. The high-quality data here can include data with higher signal strength.

[0062] The time of arrival data and the angle of arrival data after the weighted correction are dynamically corrected by using the extended Kalman filtering algorithm.

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

[0064] Further, the extended Kalman filtering algorithm predicts the time of arrival data and the angle of arrival data at the current time according to the time of arrival data and the angle of arrival data at the previous time, and then compares the actually measured time of arrival data and the angle of arrival data with the predicted value, calculates the residual error, and corrects the predicted value through the Kalman gain to obtain the time of arrival data and the angle of arrival data at the current time. This embodiment can reduce the influence of signal noise on the accuracy of the time of arrival data and the angle of arrival data, and provide more stable and accurate time of arrival data and angle of arrival data.

[0065] In an embodiment, the outlier data screening of the time of arrival data and the angle of arrival data according to the signal strength data comprises:

[0066] The signal strength data is judged based on a preset signal strength threshold, the signal strength data lower than the preset signal strength threshold is divided into target signal strength data, and the time of arrival data and the angle of arrival data corresponding to the target signal strength data are screened.

[0067] It needs to be explained that if the signal strength data corresponding to the time of arrival data and the angle of arrival data is lower than the preset signal strength threshold, it means that this signal has received serious interference or may be in a non-line-of-sight condition, and the time of arrival data and the angle of arrival data corresponding to this signal are screened, and the screened data will no longer participate in subsequent positioning calculation, so as to avoid the adverse effect of low-quality data on the positioning accuracy of the bridge inspection vehicle.

[0068] Referring to Figure 2 , the positioning algorithm is used to calculate the time of arrival data and the angle of arrival data after error correction processing, and the positioning coordinates of the bridge inspection vehicle are determined, comprising:

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

[0070] S132, at least three distance detection data are calculated by using a multilateration method, and a position coordinate area of the bridge inspection vehicle is obtained.

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

[0072] Each signal propagation direction line represents the azimuth information of the bridge inspection vehicle relative to the corresponding UWB base station, and by drawing the signal propagation direction line in a two-dimensional or three-dimensional space, the system can further determine the position of the bridge inspection vehicle.

[0073] S134, the position coordinate area and the signal propagation direction line are processed by using a least square method, and the positioning coordinates of the bridge inspection vehicle are obtained by minimizing the geometric error.

[0074] The embodiment can realize high-precision positioning of the bridge inspection vehicle in a complex bridge environment by using a geometric positioning algorithm, a multilateration method, angle of arrival data analysis and a least square method.

[0075] In an embodiment, the calculating distance detection data based on the time of arrival data comprises:

[0076] determining a propagation time difference required for the UWB signal to arrive at the UWB base station based on the time of arrival data, and calculating the distance detection data according to the propagation time difference and a signal propagation speed.

[0077] The determination of the distance detection data based on the time of arrival data can provide a data basis for subsequent positioning of the bridge inspection vehicle.

[0078] Further, the calculating the initial position coordinate range of the bridge inspection vehicle by using the multilateration method on at least three distance detection data comprises:

[0079] Based on at least three distance detection data, at least three circular positioning areas are constructed with each UWB base station 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 the intersection of the circular positioning areas.

[0081] It should be explained that the intersection of the circular positioning areas represents the possible position of the bridge inspection vehicle, and by connecting the intersection of the circular positioning areas, a closed area is formed, which represents the minimum 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 realizing the accurate positioning of the bridge inspection vehicle.

[0082] In an embodiment, the processing the position coordinate area and the signal propagation direction line by using the least squares method to minimize the geometric error to obtain the positioning coordinate of the bridge inspection vehicle comprises:

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

[0084] Using the least squares algorithm to iteratively adjust the initial position coordinate, and recalculating the iterative geometric error between the iteratively adjusted initial position coordinate and the signal propagation direction line, and determining whether the iterative geometric error is lower than a preset error threshold.

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

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

[0087] With reference to Figure 3 The application provides a positioning device 30 for a bridge inspection vehicle, comprising:

[0088] A data acquisition module 31 is configured to acquire UWB signals of the bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, wherein the UWB signals carry time of arrival data and angle of arrival data.

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

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

[0091] The data acquisition module 31 acquires the UWB signals of the bridge inspection vehicle based on the plurality of UWB base stations distributed on both sides of the bridge, so as to position the bridge inspection vehicle, which can avoid signal shielding and positioning errors caused by the complex environment of the bridge; the time of arrival data and the angle of arrival data in two dimensions can avoid positioning errors caused by single data; the error correction module 32 corrects errors by using the correction algorithm, which can reduce errors caused by the complex structure of the bridge, signal multipath effect, environmental interference and other factors, and improve the accuracy of the positioning data; after the error correction, the positioning module 33 calculates the corrected data by using the positioning algorithm, determines the accurate coordinates of the bridge inspection vehicle, and realizes accurate positioning of the bridge inspection vehicle. The application can significantly improve the positioning accuracy of the bridge inspection vehicle and improve the accuracy of the bridge inspection work.

[0092] With reference to Figure 4 The application provides an electronic device 40 comprising a memory 41 and a processor 42.

[0093] The memory 41 is configured to store a computer program.

[0094] The processor 42 is configured to realize the positioning method of the bridge inspection vehicle when the computer program is executed.

[0095] Or, an electronic device 40, comprising a memory 41 and a processor 42 coupled to the memory 41;The memory 41 is configured to store a computer program;The processor 42 is configured to execute the following operations when executing the computer program:

[0096] Based on the UWB signal of the bridge inspection vehicle obtained by the plurality of UWB base stations distributed on both sides of the bridge, the UWB signal carries the arrival time data and the arrival angle data;

[0097] Based on the correction algorithm, the arrival time data and the arrival angle data are subjected to error correction processing;

[0098] The arrival time data and the arrival angle data subjected to error correction processing are calculated by using a positioning algorithm, and the positioning coordinates of the bridge inspection vehicle are determined.

[0099] The application provides a computer readable storage medium, and the storage medium stores a computer program.

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

[0101] Or, an electronic device 40, comprising a memory 41 and a processor 42 coupled to the memory 41;The memory 41 is configured to store a computer program;The processor 42 is configured to execute the following operations when executing the computer program:

[0102] Based on the UWB signal of the bridge inspection vehicle obtained by the plurality of UWB base stations distributed on both sides of the bridge, the UWB signal carries the arrival time data and the arrival angle data;

[0103] Based on the correction algorithm, the arrival time data and the arrival angle data are subjected to error correction processing;

[0104] The arrival time data and the arrival angle data subjected to error correction processing are calculated by using a positioning algorithm, and the positioning coordinates of the bridge inspection vehicle are determined.

[0105] An electronic device 40, which can be a server or a client of the present application, will now be described, which is an example of a hardware device that can be applied to aspects of the present application. The electronic device 40 is intended to represent various forms of digital electronic computer devices such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 40 can also represent various forms of mobile devices such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0106] The electronic device 40 includes a computing unit that can perform various appropriate actions and processes in accordance with 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 device operation can also be stored. The computing unit, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0107] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware by 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 above-mentioned embodiments. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), or a random access memory (RAM), etc. In this application, the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application. In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

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

Claims

1. A positioning method for a bridge inspection vehicle, characterized in that, The method comprises the following steps: acquiring UWB signals of a bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, the UWB signals carrying time of arrival data and angle of arrival data; wherein the UWB signals also carry signal strength data corresponding to the time of arrival data and the angle of arrival data; performing error correction processing on the time of arrival data and the angle of arrival data based on a correction algorithm, comprising: performing abnormal data screening on the time of arrival data and the angle of arrival data according to the signal strength data; performing weighted correction processing on the time of arrival data and the angle of arrival data that have passed the abnormal data screening by using a weighted least squares method; performing dynamic correction on the time of arrival data and the angle of arrival data that have passed the weighted correction processing by using an extended Kalman filter algorithm; calculating the time of arrival data and the angle of arrival data that have passed the error correction processing by using a positioning algorithm to determine the positioning coordinates of the bridge inspection vehicle.

2. The method of claim 1, wherein, The abnormal data screening on the time of arrival data and the angle of arrival data according to the signal strength data comprises: judging the signal strength data based on a preset signal strength threshold, dividing the signal strength data lower than the preset signal strength threshold into target signal strength data, and performing screening processing on the time of arrival data and the angle of arrival data corresponding to the target signal strength data.

3. The method of claim 1, wherein, The calculation of the positioning coordinates of the bridge inspection vehicle by using a positioning algorithm on the time of arrival data and the angle of arrival data that have passed the error correction processing comprises: calculating distance detection data based on the time of arrival data, the distance detection data being used to describe the distance between the bridge inspection vehicle and the UWB base station; calculating the position coordinate area of the bridge inspection vehicle by using a multilateration method on at least three distance detection data; determining the signal propagation direction line of each UWB base station based on the angle of arrival data, the signal propagation direction line being used to represent the azimuth angle of the bridge inspection vehicle measured by the UWB base station; processing the position coordinate area and the signal propagation direction line by using a least squares method to obtain the positioning coordinates of the bridge inspection vehicle with the goal of minimizing geometric error.

4. The method of positioning a bridge inspection vehicle according to claim 3, wherein, The calculation of the distance detection data based on the time of arrival data comprises: determining the propagation time difference required for the UWB signal to arrive at the UWB base station based on the time of arrival data, and calculating the distance detection data according to the propagation time difference and the signal propagation speed.

5. The method of claim 3, wherein, The calculation of the initial position coordinate range of the bridge inspection vehicle by using a multilateration method on at least three distance detection data comprises: constructing at least three circular positioning areas with each UWB base station as the center and the distance detection data as the radius based on at least three distance detection data, calculating the intersection of the circular positioning areas, and determining the position coordinate area of the bridge inspection vehicle according to the intersection of the circular positioning areas; The position coordinate region is a region formed by a line of intersection points of the circular positioning regions.

6. The method of claim 3, wherein, The position coordinate region and the signal propagation direction line are processed by using a least square method to minimize geometric error, so as to obtain the positioning coordinate of the bridge inspection vehicle. An arbitrary point in the position coordinate region is set as an initial position coordinate, and geometric error between the initial position coordinate and the signal propagation direction line is calculated, the geometric error being used to describe a distance difference between the initial position coordinate and the signal propagation direction line; The initial position coordinate is iteratively adjusted by using a least square algorithm, and the iteratively adjusted geometric error between the iteratively adjusted initial position coordinate and the signal propagation direction line is recalculated, and it is determined whether the iteratively adjusted geometric error is lower than a preset error threshold; In response to the iteratively adjusted geometric error being lower than the preset error threshold, an iteration process is stopped, and the positioning coordinate of the bridge inspection vehicle is obtained.

7. A positioning device for a bridge inspection vehicle, characterized in that The data acquisition module is configured to acquire UWB signals of the bridge inspection vehicle based on a plurality of UWB base stations distributed on both sides of the bridge, the UWB signals carrying time of arrival data and angle of arrival data; wherein the UWB signals further carry signal strength data corresponding to the time of arrival data and the angle of arrival data. The error correction module is configured to perform error correction processing on the time of arrival data and the angle of arrival data based on a correction algorithm, including: performing abnormal data screening on the time of arrival data and the angle of arrival data according to the signal strength data; performing weighted correction processing on the time of arrival data and the angle of arrival data that have passed the abnormal data screening by using a weighted least square method; and performing dynamic correction on the time of arrival data and the angle of arrival data that have passed the weighted correction processing by using an extended Kalman filtering algorithm. The positioning module is configured to calculate the time of arrival data and the angle of arrival data that have passed the error correction processing by using a positioning algorithm, and determine the positioning coordinate of the bridge inspection vehicle. The memory and the processor are included; 8. An electronic device, comprising: The memory is configured to store a computer program; The processor is configured to implement the positioning method of the bridge inspection vehicle according to any one of claims 1 to 6 when executing the computer program. The storage medium has the computer program stored thereon, and the positioning method of the bridge inspection vehicle according to any one of claims 1 to 6 is implemented when the computer program is executed by the processor.

9. A computer-readable storage medium, characterized in that, ​

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