Intelligent software and hardware system for fusion calculation of attitude and height in air

Abstract

The invention discloses an intelligent software and hardware system for fusion calculation of an air attitude and height, and relates to the technical field of intelligent monitoring and control, the system comprises a hardware part and a software part, the hardware part comprises a high-precision sensor group, a microprocessor, an alarm device and an execution mechanism, the data of the high-precision sensor group are fused, and the data of the high-precision sensor group are acquired; according to the invention, a high-precision sensor group and an advanced attitude resolving algorithm are combined to realize real-time and high-precision resolving of the aerial attitude and absolute height of the equipment, the high-precision sensor group can capture accurate motion information of the equipment, and the advanced algorithm ensures effective fusion and accurate resolving of the information. Therefore, the stability and reliability of the system in various complex environments are improved, the ability of the system to deal with emergencies and carry out high-precision positioning is greatly enhanced, and the system can continuously optimize the resolving process through real-time monitoring and feedback adjustment of resolving results, so that the resolving efficiency is improved. And the accuracy and the stability of attitude and height data are further improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent monitoring and control technology, and in particular to an intelligent software and hardware system for integrating and calculating aerial attitude and altitude. Background Art

[0002] With the continuous development of modern industrial production, cranes are increasingly used in industrial production, and their safety and reliability have become key issues. Especially in the use of lifting hooks, safety accidents are prone to occur due to the complexity of hook posture and height control. Traditional monitoring methods often rely on manual inspections and simple sensor detection, which makes it difficult to accurately grasp the operating status of the hook in real time. At the same time, in aerial work equipment, precise control of posture and height is also an important prerequisite for ensuring operational safety.

[0003] Traditional aerial attitude and altitude measurement systems mostly use single sensors and simple sensor combinations, which makes it difficult to achieve high-precision attitude and altitude solutions in complex environments. For example, when relying solely on gyroscopes for attitude solutions, they are easily affected by cumulative errors, resulting in distorted attitude information after long-term operation. At the same time, traditional systems are often limited by the accuracy and stability of sensors in terms of altitude measurement, making it difficult to obtain accurate absolute altitude information. In addition, in terms of fault diagnosis and early warning, traditional systems mostly rely on manual inspections and regular maintenance, lack real-time and intelligence, and find it difficult to detect and eliminate potential faults in a timely manner, increasing the risk and cost of equipment operation.

[0004] Therefore, an intelligent hardware and software system was developed that integrates the calculation of aerial attitude and altitude. By integrating a high-precision sensor group and combining advanced algorithm formulas, high-precision attitude and altitude solutions were achieved. At the same time, the system has a built-in intelligent fault diagnosis and early warning module, which can monitor sensor data in real time, and through algorithm analysis and expert knowledge base verification, it can promptly detect potential faults and trigger early warning mechanisms, effectively improving the reliability and safety of the equipment. Summary of the invention

[0005] The purpose of the present invention is to make up for the shortcomings of the prior art and provide an intelligent hardware and software system that integrates the calculation of aerial attitude and altitude. The system integrates hardware and software, collects data in real time through a high-precision sensor group, combines with a microprocessor to perform attitude and altitude calculations, has a built-in fault diagnosis and early warning module, monitors sensor data and system status in real time, and promptly warns of potential faults. The system has a friendly user interface and provides operation control, parameter setting and historical data query functions.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent hardware and software system for integrating and calculating aerial attitude and altitude, the system comprising a hardware part and a software part:

[0007] The hardware part includes a high-precision sensor group, a microprocessor, an alarm device, a communication module and an actuator;

[0008] The software part includes a data acquisition and processing module, an attitude and altitude calculation module, a fault diagnosis and early warning module, and a user interaction interface.

[0009] Furthermore, the hardware part comprises:

[0010] High-precision sensor group: composed of a gyroscope, an accelerometer, a magnetometer, an altitude sensor, and a high-precision barometric chip. The gyroscope is used to measure the angular velocity of the device around its three main axes. The accelerometer is used to measure the acceleration of the device in the three main axis directions. The magnetometer is used to measure the strength and direction of the geomagnetic field around the device. The altitude sensor: uses an ultrasonic / laser ranging sensor to measure the height of the device relative to a reference point. The high-precision barometric chip: can measure the atmospheric pressure of the surrounding environment in real time;

[0011] Microprocessor: As the central processing unit of the system, it is responsible for receiving data from the sensor group, executing the attitude and altitude solution algorithm, running the fault diagnosis program, and controlling the actuator;

[0012] Alarm device: When a fault or abnormal situation is detected, an audible and visual alarm signal will be issued to alert the operator;

[0013] Communication module: responsible for data transmission between components within the system, as well as communication between the system and external devices;

[0014] Actuator: Based on the instructions from the microprocessor, the actuator is responsible for adjusting the physical state of the device.

[0015] Furthermore, the software part comprises:

[0016] Data acquisition and processing module: Use the sensor group to collect the device's posture and height data in real time, and pre-process the data through algorithm formulas;

[0017] Attitude and altitude calculation module: It uses algorithm formulas to integrate the data of gyroscopes, accelerometers and magnetometers to achieve high-precision attitude calculation, and combines the altitude sensor data to calculate the current absolute altitude;

[0018] Fault diagnosis and early warning module: real-time monitoring of sensor data, system communication status and key parameters of solution results, diagnosing potential faults through built-in algorithms, triggering early warning mechanisms when found, and providing detailed fault location information;

[0019] Control execution module: presents system information to users in an intuitive way, provides operation control, parameter setting, historical data query functions, and comes with help documents.

[0020] Furthermore, the attitude and altitude solution module collects raw data from the gyroscope, accelerometer, magnetometer and altitude sensor hardware devices in real time, pre-processes the raw data, constructs a direction vector using the accelerometer and magnetometer data and estimates the initial attitude using a geometric method, and uses the extended Kalman filter algorithm to fuse the gyroscope data and the direction vector data to continuously update the attitude, obtains measurement values ​​from the altitude sensor and performs calibration corrections, calculates the absolute altitude based on the attitude solution results, outputs the attitude and absolute altitude information, and optimizes the entire solution process by real-time monitoring results, automatically adjusting parameters, and recording and analyzing abnormal data.

[0021] Furthermore, the attitude and altitude calculation module uses a geometric method to calculate the initial pitch angle, roll angle and yaw angle, assuming that the acceleration components on the three axes measured by the accelerometer are: x 、a y 、a z , the gravity vector constructed by accelerometer data is expressed in the device coordinate system as: g device =(a x ,a y ,a z ) T , assuming that the magnetic field intensity components on the three axes measured by the magnetometer are: m x 、m y 、m z , assuming that the geomagnetic field in the navigation coordinate system is expressed as: m nav =(m navx ,m navy ,m navz ) T , the representation of the geomagnetic field vector constructed by magnetometer data in the device coordinate system is: m device =(m x ,m y ,m z ) T The pitch angle is the rotation angle of the device around the horizontal axis relative to the horizontal plane. The calculation formula of the pitch angle θ is: θ = -arcsin(a y / g), the roll angle is the rotation angle of the device around the longitudinal axis relative to the horizontal plane. The calculation formula of the roll angle φ is: The yaw angle is the rotation angle of the device around the vertical axis relative to the true north direction. The projection of the geomagnetic field vector on the horizontal plane is calculated as: m device_horizontal =(m x ,m y ,0) T, the projection of the gravity vector on the horizontal plane is: g device_h orizontal =(0,a y ,a z ) T , calculate their cross product, the formula is: c = m device_h orizontal ×g device_h orizontal , calculate the yaw angle ψ, the calculation formula of the yaw angle is: Among them, c x and c y They are the x-axis and y-axis components of the cross product vector c respectively. The yaw angle usually ranges from 0 to 2π, indicating the rotation angle of the device relative to the north direction.

[0022] Furthermore, the attitude and altitude solution module performs specific steps of attitude update based on extended Kalman filtering:

[0023] (1) Define the state vector containing the device attitude and auxiliary state, establish the state transfer equation based on the gyroscope angular velocity data, define the observation vector containing gravity and geomagnetic field and establish the observation equation;

[0024] (2) Setting the initial value of the state vector and initializing the covariance matrix that reflects the uncertainty of the initial state and the characteristics of the observation noise;

[0025] (3) Using the gyroscope angular velocity data, the state vector prediction is calculated according to the state transfer equation and the state covariance matrix is ​​updated to reflect the increase in uncertainty;

[0026] (4) Using the accelerometer and magnetometer data to construct the observation vector, calculate the Kalman gain and update the state vector prediction value based on it in combination with the observation equation, and update the state covariance matrix at the same time;

[0027] (5) Repeat the prediction and observation update steps, performing an update each time new sensor data is received and adjusting relevant parameters as needed during the iteration.

[0028] Furthermore, the attitude and altitude calculation module calculates the absolute altitude based on the attitude calculation result. Assuming the pitch angle is θ, the roll angle is φ, and the yaw angle is ψ, the calibrated barometer altitude is The position where the height sensor is installed on the equipment has a certain offset from the center of gravity of the equipment. The offset vectors along the three axes of the equipment coordinate system are (d x ,d y ,d z ), when only the pitch angle is considered, the height adjustment amount is d y sinθ, when only the roll angle is considered, the height adjustment amount is d x sinφ, when only the yaw angle is considered to be ψ, the height adjustment amount is d zsinψ, taking into account the influence of the three angles, the actual absolute height adjustment formula is:

[0029] Furthermore, the fault diagnosis and early warning module monitors the raw data of various sensors, the system communication status and the output parameters of the solution module in real time, pre-processes and extracts features of the monitoring data to improve data quality and obtain features for diagnosis, uses algorithm formulas to deeply analyze features, and verifies and confirms potential fault modes in combination with the historical case library and expert knowledge base. At the same time, it dynamically adjusts parameters and model structures during diagnosis, and immediately triggers various types of early warnings when potential faults are found, provides detailed positioning information, adjusts the warning level according to the severity of the fault, records the results of the fault diagnosis and early warning process, and generates a report.

[0030] Furthermore, the fault diagnosis and early warning module uses algorithm formulas, combines historical case libraries and expert knowledge bases to confirm the specific steps of potential fault modes:

[0031] (1) Extract various operating data of the equipment and perform preprocessing operations on them;

[0032] (2) Use algorithm formulas to deeply analyze the preprocessed features and identify hidden information in the data;

[0033] (3) Build a historical fault case library, match the potential fault modes identified by the intelligent algorithm with it, and provide preliminary evidence for fault verification through similarity analysis;

[0034] (4) Integrate expert knowledge to build an expert knowledge base, verify the results of intelligent algorithms and historical case libraries, evaluate the credibility of faults, and provide recommended solutions;

[0035] (5) Comprehensively evaluate potential failure modes by integrating various results, automatically generate failure warning reports and provide decision support;

[0036] (6) Collect fault handling feedback data for continuous optimization of intelligent algorithms, historical case libraries, and expert knowledge bases.

[0037] Furthermore, the fault diagnosis and early warning module deeply analyzes the preprocessed features and identifies the hidden patterns in the data. For time point t, the local weighted moving average calculation formula is: M(t) = Among them, ω(i,t) is a dynamic weight function, which indicates the importance of time point i relative to time point t. The calculation formula of the dynamic weight function is: Among them, d is an adjustment parameter used to control the speed at which the weight decays over time and distance. The trend function T(t) is defined as: Among them, Δt is a small time step, and T(t) represents the rate of change of the local weighted moving average within the time interval Δt, that is, the hidden trend of the data.

[0038] Compared with the existing technology, this intelligent hardware and software system that integrates the calculation of aerial posture and altitude has the following beneficial effects:

[0039] 1. The present invention realizes real-time, high-precision solution of the device's aerial posture and absolute height by fusing the data of the high-precision sensor group and combining it with the advanced posture solution algorithm. The high-precision sensor group can capture the precise motion information of the device, and the advanced algorithm ensures the effective fusion and accurate solution of this information, which not only improves the stability and reliability of the system in various complex environments, but also greatly enhances its ability to respond to emergencies and perform high-precision positioning. Through real-time monitoring and feedback adjustment of the solution results, the system of the present invention can continuously optimize the solution process and further improve the accuracy and stability of the posture and height data.

[0040] 2. The present invention realizes comprehensive monitoring and intelligent analysis of various sensor data, communication status and solution results inside the system through the built-in fault diagnosis and early warning module. The module can capture abnormal situations in the data in real time, deeply analyze the hidden patterns of the data by using algorithm formulas, and accurately identify and diagnose potential fault modes by combining historical case libraries and expert knowledge bases. Once a potential fault is found, the system will immediately trigger early warning signals in various ways, and provide detailed fault location information and early warning levels adjusted according to the severity of the urgency, providing operators with timely and accurate fault handling guidance.

[0041] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 It is a flowchart of an intelligent software system that integrates the calculation of aerial attitude and altitude;

[0044] Figure 2 This is a structural diagram of an intelligent hardware system that integrates the calculation of aerial posture and altitude. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Embodiment 1:

[0047] This embodiment provides an intelligent hardware and software system for integrating the calculation of aerial attitude and altitude, integrating high-precision sensors, microprocessors, alarm devices and actuators. The system collects data in real time through gyroscopes, accelerometers, magnetometers and altitude sensors, and uses the extended Kalman filter algorithm to perform high-precision calculation of attitude and altitude. The software part includes data collection and processing, attitude and altitude calculation, fault diagnosis and warning, and user interaction interface modules to achieve comprehensive monitoring and management of the equipment. The system can monitor the equipment status in real time, warn of potential faults in a timely manner, and optimize the calculation process by automatically adjusting parameters and recording and analyzing abnormal data.

[0048] The software part includes data acquisition and processing module, attitude and altitude solution module, fault diagnosis and early warning module and user interaction interface.

[0049] The data acquisition and processing module selects gyroscopes, accelerometers, magnetometers, and altitude sensors according to needs and connects them to the main controller through the corresponding interfaces. It writes code and configures hardware for initialization settings. It uses the main controller timer to trigger data acquisition at a preset frequency, reads the raw data of each sensor, and then performs denoising. It eliminates sensor deviations based on calibration parameters, synchronizes data, packages preprocessed data, and transmits it to the data processing center through the communication interface. It monitors the sensor status and data quality in real time during the entire process, and saves the collected raw data and preprocessed data in log files.

[0050] The attitude and altitude calculation module establishes connections with the gyroscope, accelerometer, magnetometer and altitude sensor hardware devices, collects raw data in real time, and preprocesses the collected raw data to improve data quality, providing a reliable basis for subsequent attitude and altitude calculations. The accelerometer data is used to construct the representation of the gravity vector in the device coordinate system, and the magnetometer data is used to construct the representation of the geomagnetic field vector in the device coordinate system.

[0051] Use geometric methods to calculate the initial pitch angle, roll angle and yaw angle. Assume that the acceleration components on the three axes measured by the accelerometer are: x 、ay 、a z , the gravity vector constructed by accelerometer data is expressed in the device coordinate system as: g device =(a x ,a y ,a z ) T , assuming that the magnetic field intensity components on the three axes measured by the magnetometer are: m x 、m y 、m z Assume that the geomagnetic field in the navigation coordinate system is expressed as: m nav =(m navx ,m navy ,m navz ) T , the representation of the geomagnetic field vector constructed by magnetometer data in the device coordinate system is: m device =(m x ,m y ,m z ) T The pitch angle is the rotation angle of the device around the horizontal axis relative to the horizontal plane. The calculation formula of the pitch angle θ is: θ = -arcsin(a y / g), when the front end of the device is tilted upward, the pitch angle is positive, and when it is tilted downward, it is negative. The roll angle is the rotation angle of the device around the longitudinal axis relative to the horizontal plane. The calculation formula of the roll angle φ is: When the device is tilted to the left, the roll angle is positive, and when it is tilted to the right, it is negative. The yaw angle is the rotation angle of the device around the vertical axis relative to the true north direction. The projection of the geomagnetic field vector on the horizontal plane is calculated as: m device_horizontal =(m x ,m y ,0) T , the projection of the gravity vector on the horizontal plane is: g device_horizontal =(0,a y ,a z ) T , the formula for calculating their cross product is: c = m device_horizontal ×g device_horizontal , determine the direction of the cross product according to the right-hand rule, and calculate the yaw angle ψ. The calculation formula for the yaw angle is: Among them, c x and c y They are the x-axis and y-axis components of the cross product vector c respectively. The yaw angle usually ranges from 0 to 2π, indicating the rotation angle of the device relative to the north direction.

[0052] The extended Kalman filter algorithm is used to fuse gyroscope data and direction vector data for continuous attitude update. The specific steps are to define a state vector containing device attitude and auxiliary state, establish a state transfer equation based on gyroscope angular velocity data, define an observation vector containing gravity and geomagnetic field vector observations and establish an observation equation, set the initial value of the state vector and initialize the covariance matrix that reflects the uncertainty of the initial state and the observation noise characteristics, calculate the state vector prediction value according to the state transfer equation with the help of gyroscope angular velocity data, and update the state covariance matrix to reflect the increase in uncertainty, construct the observation vector using accelerometer and magnetometer data, calculate the Kalman gain and update the state vector prediction value based on it in combination with the observation equation, and update the state covariance matrix at the same time, repeat the prediction and observation update steps, perform an update each time new sensor data is received, and adjust relevant parameters as needed during iteration.

[0053] The measured value is obtained from the altitude sensor, which represents the height of the device relative to a reference point, and is calibrated and corrected, taking into account the offset between the position where the altitude sensor is installed and the center of gravity of the device, as well as the effects of the pitch angle, roll angle, and yaw angle on the altitude measurement. Assuming the pitch angle is θ, the roll angle is φ, and the yaw angle is ψ, the calibrated barometer altitude is The position where the height sensor is installed on the equipment has a certain offset from the center of gravity of the equipment. The offset vectors along the three axes of the equipment coordinate system are (d x ,d y ,d z ), when only the pitch angle is considered, the height adjustment amount is d y sinθ, when only the roll angle is considered, the height adjustment amount is d x sinφ, when only the yaw angle is considered to be ψ, the height adjustment amount is d z sinψ, taking into account the influence of the three angles, the actual absolute height adjustment formula is: The altitude is calibrated and corrected based on the calculation results.

[0054] The calculated attitude (pitch angle, roll angle, yaw angle) and absolute height information are output to the user interaction interface. By real-time monitoring of the solution results, automatic adjustment of parameters, and recording and analysis of abnormal data, the entire solution process can be optimized.

[0055] The fault diagnosis and early warning module monitors the raw data of various sensors, the system communication status and the output parameters of the solution module in real time through the system interface. These data are transmitted to the data processing unit in real time to remove noise data, abnormal values ​​and missing values ​​to ensure the integrity and accuracy of the data, and use data compression and transformation to extract feature information useful for fault diagnosis from the raw data.

[0056] By deeply analyzing the preprocessed features and identifying hidden patterns in the data, for time point t, the local weighted moving average calculation formula is: Among them, ω(i,t) is a dynamic weight function, which indicates the importance of time point i relative to time point t. The calculation formula of the dynamic weight function is: Among them, d is an adjustment parameter used to control the speed at which the weight decays over time and distance. The trend function T(t) is defined as: Among them, Δt is a smaller time step. This formula represents the rate of change of the local weighted moving average within the time interval Δt, that is, the hidden trend of the data. If the value of T(t) is large and positive, it means that the data shows an upward trend in the current time window. If it is negative, it indicates a downward trend. If it is close to zero, it indicates a relatively stable trend.

[0057] Build a historical fault case library and match the potential fault modes identified by the intelligent algorithm with it, provide preliminary evidence for fault verification through similarity analysis, integrate expert knowledge to build an expert knowledge base, verify the results of the intelligent algorithm and historical case library, evaluate the credibility of the fault, and provide recommended solutions, comprehensively evaluate the potential failure modes based on various results, automatically generate fault warning reports and provide decision support, collect fault handling feedback data for continuous optimization of the intelligent algorithm, historical case library and expert knowledge base.

[0058] Once a potential failure mode is discovered, the early warning mechanism is immediately triggered. The early warning methods may include sound and light alarms, SMS notifications, and email reminders to ensure that operators can receive information in a timely manner and provide detailed fault location information, including the time, location, impact range and possible causes of the failure. This helps operators quickly locate the problem and take corresponding solutions. The early warning level is automatically adjusted according to the severity and urgency of the failure to ensure that important failures are handled first. The detailed results of the fault diagnosis and early warning process are recorded, including monitoring data, analysis process, early warning trigger time, fault location information and processing results, and a fault diagnosis and early warning report is automatically generated to provide an important reference for subsequent fault handling and system optimization.

[0059] User interface: Design an intuitive graphical user interface to display the key information of the device's posture and height in real time and realize multi-dimensional visualization; provide an operation instruction sending interface and a safe operation verification mechanism to achieve precise control of the device; develop a parameter setting interface and set up preset values ​​and recommended configurations to adjust algorithm parameters; establish a historical data recording mechanism and provide a variety of query tools and data analysis tools; compile detailed help documents and build-in instant help functions to fully meet users' needs for system operation, monitoring, analysis and learning.

[0060] Embodiment 2:

[0061] The hardware components of an intelligent hardware and software system for integrating and calculating aerial attitude and altitude in this embodiment are as follows:

[0062] High-precision sensor set:

[0063] Gyroscope: Used to measure the angular velocity of a device around its three main axes, usually the X-axis, Y-axis, and Z-axis, providing key data for the device's rotational motion.

[0064] Accelerometer: used to measure the acceleration of the device in the three main axis directions. This data is crucial for calculating the dynamic posture of the device.

[0065] Magnetometer: Used to measure the strength and direction of the Earth's magnetic field around the device, helping to determine the absolute direction of the device, especially in an environment without GPS signal.

[0066] Height sensor: Uses ultrasonic / laser ranging technology to accurately measure the height of the device relative to a reference point, such as the ground and specific landmarks.

[0067] High-precision air pressure chip: capable of measuring the atmospheric pressure of the surrounding environment in real time.

[0068] Microprocessor: As the central processing unit of the system, it is responsible for receiving data from the sensor group, executing complex attitude and altitude resolution algorithms, running fault diagnosis programs, and controlling actuators as needed.

[0069] Once the alarm device detects a system failure, such as abnormal posture and height deviation, it will immediately send out an audible and visual alarm signal to alert the operator so that timely measures can be taken.

[0070] Communication module: responsible for data transmission between components within the system, as well as communication between the system and external equipment remote monitoring center and user terminals. Common communication methods include wired, such as RS-485, CAN bus and wireless, such as Bluetooth, 4G. Bluetooth transmits data to the user's LCD monitoring display, and 4G transmits data to the data platform. Monitoring and alarm information are displayed on mini-programs, APPs and Saas platforms.

[0071] Actuator: Based on the instructions from the microprocessor, the actuator is responsible for adjusting the physical state of the device.

[0072] Embodiment three:

[0073] Working principle of an intelligent hardware and software system that integrates the calculation of aerial attitude and altitude:

[0074] Data collection and processing: The high-precision sensor group collects the attitude (pitch angle, roll angle, heading angle) and altitude data of the hook or drone in real time, and pre-processes the data through algorithm formulas to remove noise and interference.

[0075] Attitude and altitude calculation: The algorithm formula is used to integrate the data of the gyroscope, accelerometer and magnetometer to achieve high-precision attitude calculation, and the current absolute altitude is calculated by combining the altitude sensor data.

[0076] Fault diagnosis and early warning: Introduce intelligent fault diagnosis module to monitor sensor data, system communication status and solution results in real time. Once the sensor data deviation is too large, communication is interrupted, or the posture and height are abnormal, the early warning mechanism is immediately triggered, an alarm is issued through the alarm device, and the fault location information is displayed on the user interface.

[0077] Control execution: Based on the fault diagnosis results, the system can automatically adjust the control strategy, or control the actuators, such as the motor driver, through user instructions to adjust the hook posture or the UAV flight status to ensure operation safety.

[0078] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An intelligent hardware and software system for integrating and calculating aerial attitude and altitude, characterized in that: The system consists of hardware and software parts: The hardware part includes a high-precision sensor group, a microprocessor, an alarm device, a communication module and an actuator; The software part includes a data acquisition and processing module, an attitude and altitude calculation module, a fault diagnosis and early warning module, and a user interaction interface.

2. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 1, characterized in that: The hardware part comprises: High-precision sensor group: composed of a gyroscope, an accelerometer, a magnetometer, an altitude sensor, and a high-precision barometric chip. The gyroscope is used to measure the angular velocity of the device around its three main axes. The accelerometer is used to measure the acceleration of the device in the three main axis directions. The magnetometer is used to measure the strength and direction of the geomagnetic field around the device. The altitude sensor: uses an ultrasonic / laser ranging sensor to measure the height of the device relative to a reference point. The high-precision barometric chip: can measure the atmospheric pressure of the surrounding environment in real time; Microprocessor: As the central processing unit of the system, it is responsible for receiving data from the sensor group, executing the attitude and altitude solution algorithm, running the fault diagnosis program, and controlling the actuator; Alarm device: When a fault or abnormal situation is detected, an audible and visual alarm signal will be issued to alert the operator; Communication module: responsible for data transmission between components within the system, as well as communication between the system and external devices; Actuator: Based on the instructions from the microprocessor, the actuator is responsible for adjusting the physical state of the device.

3. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 1, characterized in that: The software part comprises: Data acquisition and processing module: Use the sensor group to collect the device's posture and height data in real time, and pre-process the data through algorithm formulas; Attitude and altitude calculation module: It uses algorithm formulas to integrate the data of gyroscopes, accelerometers and magnetometers to achieve high-precision attitude calculation, and combines the altitude sensor data to calculate the current absolute altitude; Fault diagnosis and early warning module: real-time monitoring of sensor data, system communication status and key parameters of solution results, diagnosing potential faults through built-in algorithms, triggering early warning mechanisms when found, and providing detailed fault location information; Control execution module: presents system information to users in an intuitive way, provides operation control, parameter setting, historical data query functions, and comes with help documents.

4. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 3 is characterized in that: The attitude and altitude solution module collects raw data from the gyroscope, accelerometer, magnetometer and altitude sensor hardware devices in real time, pre-processes the raw data, constructs a direction vector using the accelerometer and magnetometer data and estimates the initial attitude using a geometric method, and uses the extended Kalman filter algorithm to fuse the gyroscope data and the direction vector data to continuously update the attitude, obtains measurement values ​​from the altitude sensor and performs calibration corrections, calculates the absolute altitude based on the attitude solution results, outputs the attitude and absolute altitude information, and optimizes the entire solution process by real-time monitoring results, automatically adjusting parameters, and recording and analyzing abnormal data.

5. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 4 is characterized in that: The attitude and altitude calculation module uses a geometric method to calculate the initial pitch angle, roll angle and yaw angle. Assume that the acceleration components on the three axes measured by the accelerometer are: x 、a y 、a z , the gravity vector constructed by accelerometer data is expressed in the device coordinate system as: g device =(a x ,a y ,a z ) T , assuming that the magnetic field intensity components on the three axes measured by the magnetometer are: m x 、m y 、m z , assuming that the geomagnetic field in the navigation coordinate system is expressed as: m nav =(m navx ,m navy ,m navz ) T , the representation of the geomagnetic field vector constructed by magnetometer data in the device coordinate system is: m device =(m x ,m y ,m z ) T The pitch angle is the rotation angle of the device around the horizontal axis relative to the horizontal plane. The calculation formula of the pitch angle θ is: θ = -arcsin(a y / g), the roll angle is the rotation angle of the device around the longitudinal axis relative to the horizontal plane. The calculation formula of the roll angle φ is: The yaw angle is the rotation angle of the device around the vertical axis relative to the true north direction. The projection of the geomagnetic field vector on the horizontal plane is calculated as: m device_horizontal =(m x ,m y ,0) T , the projection of the gravity vector on the horizontal plane is: g device_horizontal =(0,a y ,a z ) T , calculate their cross product, the formula is: c = m device_horizontal ×g device_horizontal , calculate the yaw angle ψ, the calculation formula of the yaw angle is: Among them, c x and c y They are the x-axis and y-axis components of the cross product vector c respectively. The yaw angle usually ranges from 0 to 2π, indicating the rotation angle of the device relative to the north direction.

6. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 4, characterized in that: The specific steps of the attitude and altitude calculation module for attitude update based on extended Kalman filtering are as follows: (1) Define the state vector containing the device attitude and auxiliary state, establish the state transfer equation based on the gyroscope angular velocity data, define the observation vector containing gravity and geomagnetic field and establish the observation equation; (2) Setting the initial value of the state vector and initializing the covariance matrix that reflects the uncertainty of the initial state and the characteristics of the observation noise; (3) Using the gyroscope angular velocity data, the state vector prediction is calculated according to the state transfer equation and the state covariance matrix is ​​updated to reflect the increase in uncertainty; (4) Using the accelerometer and magnetometer data to construct the observation vector, calculate the Kalman gain and update the state vector prediction value based on it in combination with the observation equation, and update the state covariance matrix at the same time; (5) Repeat the prediction and observation update steps, performing an update each time new sensor data is received and adjusting relevant parameters as needed during the iteration.

7. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 4, characterized in that: The attitude and altitude calculation module calculates the absolute altitude based on the attitude calculation result. Assuming the pitch angle is θ, the roll angle is φ, and the yaw angle is ψ, the calibrated barometer altitude is The position where the height sensor is installed on the equipment has a certain offset from the center of gravity of the equipment. The offset vectors along the three axes of the equipment coordinate system are (d x ,d y ,d z ), when only the pitch angle is considered, the height adjustment amount is d y sinθ, when only the roll angle is considered, the height adjustment amount is d x sinφ, when only the yaw angle is considered to be ψ, the height adjustment amount is d z sinψ, taking into account the influence of the three angles, the actual absolute height adjustment formula is:

8. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 1, characterized in that: The fault diagnosis and early warning module monitors the raw data of various sensors, the system communication status and the output parameters of the solution module in real time, preprocesses and extracts features of the monitoring data to improve data quality and obtain features for diagnosis, uses algorithm formulas to deeply analyze features, and verifies and confirms potential fault modes in combination with the historical case library and expert knowledge base. At the same time, it dynamically adjusts parameters and model structures during diagnosis, immediately triggers various types of early warnings when potential faults are found, provides detailed positioning information, adjusts the warning level according to the severity and urgency, records the results of the fault diagnosis and early warning process, and generates a report.

9. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 8, characterized in that: The specific steps of the fault diagnosis and early warning module using algorithm formulas, combined with the historical case library and expert knowledge base to confirm potential fault modes are as follows: (1) Extract various operating data of the equipment and perform preprocessing operations on them; (2) Use algorithm formulas to deeply analyze the preprocessed features and identify hidden information in the data; (3) Build a historical fault case library, match the potential fault modes identified by the intelligent algorithm with it, and provide preliminary evidence for fault verification through similarity analysis; (4) Integrate expert knowledge to build an expert knowledge base, verify the results of intelligent algorithms and historical case libraries, evaluate the credibility of faults, and provide recommended solutions; (5) Comprehensively evaluate potential failure modes by integrating various results, automatically generate failure warning reports and provide decision support; (6) Collect fault handling feedback data for continuous optimization of intelligent algorithms, historical case libraries, and expert knowledge bases.

10. The intelligent hardware and software system for integrating and calculating aerial attitude and altitude according to claim 8, characterized in that: The fault diagnosis and early warning module deeply analyzes the preprocessed features and identifies the hidden patterns in the data. For time point t, the local weighted moving average calculation formula is: Among them, ω(i,t) is a dynamic weight function, which indicates the importance of time point i relative to time point t. The calculation formula of the dynamic weight function is: Among them, d is an adjustment parameter used to control the speed at which the weight decays over time and distance. The trend function T(t) is defined as: Among them, Δt is a small time step, and T(t) represents the rate of change of the local weighted moving average within the time interval Δt, that is, the hidden trend of the data.

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