Ship outfield coating personnel positioning method based on information fusion

Abstract

The invention discloses a ship outfield coating personnel positioning method based on information fusion, and the method comprises the following steps: (1) carrying out the map division of a ship outfield coating region based on a GIS technology, manually marking base station positioning points on the map according to the site conditions, laying UWB positioning base stations on the positioning points, carrying out the collection of Beidou data and UWB data, and carrying out the positioning of the Beidou data and UWB data; the data are preprocessed; (2) establishing a Beidou positioning observation equation and a UWB positioning observation equation, and fusing the Beidou positioning observation equation and the UWB positioning observation equation; and (3) solving the fusion observation equation by adopting federated Kalman filtering, establishing a least square error compensation model for a solving result, and performing error compensation on the solving result to obtain a positioning coordinate with higher precision. According to the invention, by adopting Beidou-UWB fusion positioning, coordinate transformation fusion and the least square method, positioning updating of the position information of the target is realized, and the problem of low target positioning precision in the ship outfield coating operation environment is effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of personnel positioning and monitoring, and in particular relates to a ship field painting personnel positioning method based on information fusion. Background Art

[0002] The painting of the ship's main section, dock (platform) and pier, also known as field painting, is an important stage in shipbuilding and repair. At present, due to the complex working environment of ship field painting, there are a large number of steel structures such as ship sub-sections and large cranes, which leads to weak positioning and monitoring signals, poor accuracy and even positioning vacuum areas for personnel in the dock field. Therefore, the relevant monitoring measures are not perfect. The existing personnel positioning and monitoring methods in the ship field painting area do not take into account the complexity of the on-site environment, and the positioning and monitoring means are single, which leads to weak positioning and monitoring signals, poor accuracy and even positioning vacuum areas for personnel in the dock field.

[0003] The prior art discloses an invention patent with application number CN117202096A and patent name Ship Personnel Positioning System. The system uses WIFI signals as personnel positioning data and is suitable for personnel positioning in the cabin, but is not suitable for the complex environment outside the ship.

[0004] The prior art also discloses an invention patent with application number CN113556377A and name: Ship Outdoor Painting Environment Monitoring System. The system aims to control the unorganized emission of atmospheric pollution, equipment management, operator monitoring and other control needs of ship outdoor painting operations, and constructs a ship outdoor painting environment monitoring system. However, there is no research on improving the accuracy of personnel positioning information. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a ship outdoor painting personnel positioning method based on information fusion, which has a reasonable design, effectively improves the positioning accuracy, and eliminates the positioning blind spots, in view of the shortcomings of the existing technology. This method effectively solves the problem of low target positioning accuracy in the ship outdoor painting operation environment.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A method for positioning ship field painting personnel based on information fusion, the characteristic point of which is that the method comprises the following steps:

[0008] (1) Based on GIS technology, the ship field painting area map is divided, and the base station positioning points are manually marked on the map according to the on-site conditions. UWB positioning base stations are deployed at the positioning points to collect Beidou data and UWB data, and the collected data is pre-processed to convert the local coordinates of the UWB positioning system into absolute coordinates to make them consistent with the coordinate system of the Beidou system. Both use my country's standard geodetic coordinate system CGCS2000;

[0009] (2) Establish Beidou positioning observation equations and UWB positioning observation equations, perform error correction on tropospheric error, ionospheric error, and clock error, and fuse Beidou and UWB positioning observation equations to obtain fused observation equations;

[0010] (3) The federated Kalman filter is used to solve the fusion observation equation, and a least squares error compensation model is established based on the solution. The error of the solution is compensated to obtain higher-precision positioning coordinates, thereby realizing the positioning of ship field painting personnel.

[0011] The technical problem to be solved by the present invention can also be achieved by the following technical solution. In step (1), a map of the ship's outdoor painting area is first established by GIS technology, and the location of the UWB positioning base station is determined on the map according to the actual situation on site, and the UWB positioning base station is installed and deployed, and bound to the map coordinate information; the positioning tag receives and collects the satellite coordinates, pseudorange, clock correction and other information carried by the Beidou signal, and each UWB base station receives and collects the UWB positioning signal sent by the positioning tag, and the above-mentioned received Beidou data and UWB data are collected and sent to the data processing terminal to form a positioning data set, and the collected data is processed, the coordinates of the UWB positioning system and the Beidou positioning system are converted and kept consistent, and the longitude and latitude coordinates O in the WGS-84 coordinate system are converted. G (L, B, H) is converted into the geodetic coordinate system O E (X,Y,Z), the transformation relationship is:

[0012]

[0013] In the formula, is the radius of curvature of the ellipsoidal surface,

[0014] is the first eccentricity of the ellipsoid, a and b are the major and minor semi-axes of the ellipsoid.

[0015] The technical problem to be solved by the present invention can also be achieved by the following technical solution. In step (2), the UWB base station is regarded as a virtual Beidou satellite. When the Beidou signal is blocked and the observation amount is insufficient, the positioning observation amount is supplemented. By fusing the Beidou positioning observation equation and the UWB positioning observation equation, the tropospheric error, ionospheric error and clock error in the positioning process are fully considered and compensated and corrected, and a fused positioning observation equation is established.

[0016] The Beidou positioning observation equation is as follows:

[0017]

[0018] Each equation in the formula corresponds to the pseudorange measurement value of an observable satellite;

[0019] In the above nonlinear equations, the position coordinates (x(n), y(n), z(n)) of each satellite can be calculated according to the ephemeris forwarded by each satellite, and the receiver measurement can obtain the corrected pseudorange ρ (n) Therefore, it is necessary to calculate the position coordinates (x, y, z) of the positioning point and the clock error δt u ;

[0020] When the positioning point is in a complex environment with shielding, the number of satellites will decrease rapidly. When the number of observed satellites does not meet 4, the above observation equation has no solution. At this time, the UWB positioning base station is introduced as a pseudo-satellite to enhance the Beidou positioning system. The UWB positioning observation equation is:

[0021] ρ (j) =r (j) +c·δt u -c·δt (j) +ε (j)

[0022] Among them, ρ (j) represents the pseudorange of the jth UWB pseudosatellite; δt (j) represents the clock error of the jth UWB pseudo-satellite, and the corrected UWB observation equation is:

[0023]

[0024] Similarly, we can get the observation equation of the UWB pseudo-satellite assisted positioning system as:

[0025]

[0026] The BeiDou data and UWB pseudo-satellite data are fused to establish the BeiDou + UWB fusion observation equation, and the equation is solved simultaneously to obtain a high-precision positioning result; the equation is as follows:

[0027]

[0028] I in the formula (n) represents the ionospheric error, T (n) represents the tropospheric error, ε (n) Represents the measurement noise of the receiver and other noise.

[0029] The technical problem to be solved by the present invention can also be achieved by the following technical solution. In step (3), the process of solving the fusion observation model by using the extended Kalman filter algorithm is as follows:

[0030] Assuming that the estimated state of the system at the current observation epoch is very close to the actual state, the nonlinear function is then expanded by Taylor series at the estimated state, thereby completing the linearization of the nonlinear function and calculating the position coordinates of the positioning point;

[0031] For discrete time nonlinear systems and nonlinear measurement equations, the following two formulas can be used to express them, namely:

[0032] x k =f(x k-1 ,u k-1 ,w k-1 )

[0033] y k =h(x k , v k )

[0034] Assume that the optimal estimated state at the k-1th observation epoch is The mean square error matrix is

[0035] P k-1 , at the kth observation epoch, the prior estimated state for:

[0036]

[0037] Among them, u k-1 is the input quantity of the system, and the unknown process noise w k-1 Set to 0, the posterior estimated state x k for

[0038]

[0039] In the formula, A k-1 is the Jacobian matrix of the state equation for x in The partial derivative at

[0040] For the Beidou + UWB combined positioning system, the state quantity is the user's three-dimensional position coordinates and the receiver clock error. The Jacobian matrix of the state equation is linear, and it is set as the unit matrix here. The calculation formula can be used to obtain the expression in the extended Kalman expression, namely

[0041]

[0042] Similarly, the observation equation after linearization is

[0043]

[0044] C k is the Jacobian matrix of the observation equation for x in The partial derivative at .

[0045] When processing the BeiDou + UWB fusion observation equation, the measurement residual is set to b k , then:

[0046]

[0047] Kalman gain K k for

[0048]

[0049] The posterior mean square error of the extended Kalman function is

[0050] P k =(IK k C k ) k - ;

[0051] In view of the complex environment where there are a large number of steel structures in the ship's outdoor painting area, the least squares method is used to fit the positioning error and establish an error compensation model. The fitting equation is:

[0052]

[0053] In the formula, e i is the distance measurement error, d i is the distance measurement result, a m Polynomial coefficients;

[0054] If there are n ranging errors, the above equation can be expressed as:

[0055]

[0056] Obtain the distance measurement value after compensation:

[0057] dλ =d t -(a0+a1d t +a2d t2 +…+a m d t m ).

[0058] Compared with the prior art, the present invention establishes a Beidou-UWB fusion positioning system, adopts multi-source heterogeneous information fusion technology to coordinate transform and fuse the position information output by the Beidou positioning system and the UWB positioning system, fully considers the influence of the steel structure environment on UWB positioning, establishes a least squares distance measurement compensation model to fit the distance measurement error, realizes the positioning update of the target's position information, effectively solves the problem of low target positioning accuracy in the ship's outdoor painting operation environment, realizes the precise positioning of ship's outdoor painting personnel, effectively reduces the occurrence of high-altitude falls, accidental injuries to the human body and other accidents in the process of ship's outdoor painting operations, and ensures the health and life safety of painting workers. The invention focuses on the monitoring of the ship's outdoor painting environment, mainly monitoring atmospheric pollutants and personnel information, and there is no research on improving the accuracy of personnel positioning information. The present invention fully considers the influence of the ship's outdoor steel structure environment on the signal, adopts positioning compensation and information fusion to realize the positioning of painting personnel, and effectively improves the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 This is a schematic diagram of Beidou positioning target points;

[0060] Figure 2 It is the extended Kalman filter recursive algorithm. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0062] The present invention discloses a method for positioning ship outdoor painting personnel based on information fusion, aiming at the complex environment of ship outdoor painting operations and the presence of a large number of steel structures such as ship sections and large cranes, which leads to weak positioning monitoring signals, poor accuracy and even positioning vacuum areas for dock outdoor personnel positioning. A method for positioning ship outdoor painting personnel based on information fusion is designed.

[0063] Reference Figure 1 and Figure 2 The present invention provides a method for positioning ship field painting personnel based on information fusion, the method comprising the following steps:

[0064] (1) First, the ship field painting area map is divided based on GIS technology, and the base station positioning points are manually marked on the map according to the on-site conditions. The UWB positioning base station is deployed at the positioning point to collect Beidou data and UWB data, and the collected data is processed. The coordinates of the UWB positioning system and the Beidou positioning system are transformed and kept consistent, and the longitude and latitude coordinates O in the WGS-84 coordinate system are converted to the WGS-84 coordinate system. G (L, B, H) is converted into the geodetic coordinate system O E (X,Y,Z), the transformation relationship is:

[0065]

[0066] In the formula, is the radius of curvature of the ellipsoidal surface,

[0067] is the first eccentricity of the ellipsoid, a and b are the major and minor semi-axes of the ellipsoid.

[0068] (2) Establish Beidou positioning observation equations and UWB positioning observation equations, perform error correction on tropospheric errors, ionospheric errors, and clock errors, and fuse Beidou and UWB positioning observation equations to obtain fused observation equations. In other words, treat the UWB base station as a virtual Beidou satellite, and make up for the insufficient observation amount when the Beidou signal is blocked. By fusing the Beidou positioning observation equations and the UWB positioning observation equations, the tropospheric errors, ionospheric errors, and clock errors in the positioning process are fully considered and compensated and corrected, and a fused positioning observation equation is established.

[0069] The specific process is:

[0070] Establish Beidou positioning observation equation and UWB positioning observation equation. Beidou positioning observation equation is as follows:

[0071]

[0072] Each equation in the formula corresponds to the pseudo-range measurement value of an observable satellite. In the above nonlinear equations, the position coordinates (x (n) ,y (n) ,z (n) ), the receiver can measure the corrected pseudorange ρ (n) , so it is necessary to calculate the position coordinates (x, y, z) of the positioning point and the clock error δt u .

[0073] When the positioning point is in a complex environment with shielding, the number of satellites will decrease rapidly. When the number of observed satellites is less than 4, the above observation equation has no solution. Therefore, the UWB positioning base station is introduced as a pseudo-satellite to enhance the Beidou positioning system. The UWB positioning observation equation is:

[0074] ρ (j) =r (j) +c·δt u -c·δt (j) +ε (j)

[0075] Among them, ρ (j) represents the pseudorange of the jth UWB pseudosatellite; δt (j) represents the clock error of the jth UWB pseudo-satellite, and the corrected UWB observation equation is:

[0076]

[0077] Similarly, we can get the observation equation of the UWB pseudo-satellite assisted positioning system as:

[0078]

[0079] The Beidou data and UWB pseudo-satellite data are fused to establish the Beidou + UWB fusion observation equation, and the equation is solved simultaneously to obtain high-precision positioning results. The equation is as follows:

[0080]

[0081] I in the formula (n) represents the ionospheric error, T (n) represents the tropospheric error, ε (n) Represents the measurement noise of the receiver and other noise.

[0082] (3) The extended Kalman filter algorithm is used to solve the fusion observation model, and a least squares error compensation model is established based on the solution results. The error compensation of the solution results is performed to obtain higher-precision positioning coordinates and realize the positioning of ship field painting personnel.

[0083] Assuming that the estimated state of the system at the current observation epoch is very close to the actual state, the nonlinear function is then expanded by Taylor series at the estimated state to complete the linearization of the nonlinear function and calculate the position coordinates of the positioning point.

[0084] For discrete time nonlinear systems and nonlinear measurement equations, the following two formulas can be used to express them, namely:

[0085] x k =f(x k-1 ,uk-1 , w k-1 )

[0086] y k =h(x k , v k )

[0087] Assume that the optimal estimated state at the k-1th observation epoch is The mean square error matrix is

[0088] P k-1 , at the kth observation epoch, the prior estimated state for:

[0089]

[0090] Among them, u k-1 is the input quantity of the system, and the unknown process noise w k-1 Set to 0, the posterior estimated state x k for

[0091]

[0092] In the formula, A k-1 is the Jacobian matrix of the state equation for x in The partial derivative at

[0093] For the Beidou + UWB combined positioning system, the state quantity is the user's three-dimensional position coordinates and the receiver clock error. The Jacobian matrix of the state equation is linear, and it is set as the unit matrix here. The calculation formula can be used to obtain the expression in the extended Kalman expression, namely

[0094]

[0095] Similarly, the observation equation after linearization is

[0096]

[0097] Ck is the Jacobian matrix of the observation equation for x in The partial derivative at .

[0098] When processing the BeiDou + UWB fusion observation equation, the measurement residual is set to b k , then:

[0099]

[0100] Kalman gain K k for

[0101]

[0102] The posterior mean square error of the extended Kalman function is

[0103] P k =(IK k C k ) k - .

[0104] In view of the complex environment of a large number of steel structures in the ship's outdoor painting area, the least squares method is used to fit the positioning error and establish an error compensation model. The fitting equation is:

[0105]

[0106] In the formula, e i is the distance measurement error, d i is the distance measurement result, a m Polynomial coefficients.

[0107] If there are n ranging errors, the above equation can be expressed as:

[0108]

[0109] Obtain the distance measurement value after compensation:

[0110] d λ =d t -(a0+a1d t +a2d t 2 +…+a m d t m ), the error compensation of the solution result is carried out to obtain higher-precision positioning coordinates, so as to achieve accurate positioning of the ship's outdoor painting personnel.

[0111] Modern shipbuilding adopts an integrated construction mode of hull and superstructure coating. As one of the three pillars of shipbuilding, coating occupies an important position in shipbuilding and repair. General section coating, dock (platform) coating, and wharf coating are also commonly known as field coating. The working environment of ship field coating is harsh. The paint mist and dust generated during the operation, and the organic waste volatilized by the solidification of paint can cause harm to the human body. There is a risk of personnel falling in the high-altitude working environment, threatening the safety of construction workers.

[0112] The present invention adopts the Beidou + UWB positioning fusion method to conduct real-time positioning monitoring of painting employees, understand personnel dynamic information, manage on-site construction personnel, and promptly discover and respond to emergencies to avoid unexpected situations of employees; it realizes full-range personnel positioning coverage of the ship's outdoor painting area, eliminates positioning monitoring blind spots, and fully considers the complex environment of a large number of steel structures at the outdoor painting site, establishes a least squares error compensation model to reduce the impact of the complex on-site environment on positioning accuracy, and realizes accurate positioning of ship outdoor painting personnel, effectively reducing the occurrence of accidents such as high-altitude falls and accidental injuries to the human body during ship outdoor painting operations, and ensuring the health and life safety of painting workers.

[0113] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for positioning ship field painting personnel based on information fusion, characterized in that: The Method The following steps are included: (1) Based on GIS technology, the ship field painting area map is divided, and the base station positioning points are manually marked on the map according to the on-site conditions. UWB positioning base stations are deployed at the positioning points to collect Beidou data and UWB data, and the collected data is pre-processed to convert the local coordinates of the UWB positioning system into absolute coordinates to make them consistent with the coordinate system of the Beidou system. Both use my country's standard geodetic coordinate system CGCS2000; (2) Establish Beidou positioning observation equations and UWB positioning observation equations, perform error correction on tropospheric error, ionospheric error, and clock error, and fuse Beidou and UWB positioning observation equations to obtain fused observation equations; (3) The federated Kalman filter is used to solve the fusion observation equation, and a least squares error compensation model is established based on the solution. The error of the solution is compensated to obtain higher-precision positioning coordinates, thereby realizing the positioning of ship field painting personnel.

2. According to the information fusion-based positioning method for ship field painting personnel according to claim 1, it is characterized in that: In step (1), a map of the ship's exterior painting area is first established using GIS technology, and the location of the UWB positioning base station is determined on the map according to the actual situation on site, the UWB positioning base station is installed and deployed, and is bound to the map coordinate information; the positioning tag receives and collects the satellite coordinates, pseudorange, clock correction and other information carried by the Beidou signal, and each UWB base station receives and collects the UWB positioning signal sent by the positioning tag, and the above-mentioned received Beidou data and UWB data are collected and sent to the data processing terminal to form a positioning data set, and the collected data is processed, the coordinates of the UWB positioning system and the Beidou positioning system are converted and kept consistent, and the longitude and latitude coordinates in the WGS-84 coordinate system are converted to the WGS-84 coordinate system. G (L, B, H) is converted into the geodetic coordinate system O E (X,Y,Z), the transformation relationship is: In the formula, is the radius of curvature of the ellipsoidal surface, is the first eccentricity of the ellipsoid, a and b are the major and minor semi-axes of the ellipsoid.

3. According to a method for positioning ship field painting personnel based on information fusion according to claim 1, it is characterized in that: In step (2), the UWB base station is regarded as a virtual Beidou satellite. When the Beidou signal is blocked and the observation quantity is insufficient, the positioning observation quantity is supplemented. By fusing the Beidou positioning observation equation and the UWB positioning observation equation, the tropospheric error, ionospheric error and clock error in the positioning process are fully considered and compensated and corrected, and a fusion positioning observation equation is established. The Beidou positioning observation equation is as follows: Each equation in the formula corresponds to the pseudorange measurement value of an observable satellite; In the above nonlinear equations, the position coordinates (x(n), y(n), z(n)) of each satellite can be calculated according to the ephemeris forwarded by each satellite, and the receiver measurement can obtain the corrected pseudorange ρ (n) Therefore, it is necessary to calculate the position coordinates (x, y, z) of the positioning point and the clock error δt u ; When the positioning point is in a complex environment with shielding, the number of satellites will decrease rapidly. When the number of observed satellites does not meet 4, the above observation equation has no solution. At this time, the UWB positioning base station is introduced as a pseudo-satellite to enhance the Beidou positioning system. The UWB positioning observation equation is: r (j) =r (j) +c·δt u -c·δt (j) e (j) Among them, ρ (j) represents the pseudorange of the jth UWB pseudosatellite; δt (j) represents the clock error of the jth UWB pseudo-satellite, and the corrected UWB observation equation is: Similarly, we can get the observation equation of the UWB pseudo-satellite assisted positioning system as: The BeiDou data and UWB pseudo-satellite data are fused to establish the BeiDou + UWB fusion observation equation, and the equation is solved simultaneously to obtain a high-precision positioning result; the equation is as follows: I in the formula (n) represents the ionospheric error, T (n) represents the tropospheric error, ε (n) Represents the measurement noise of the receiver and other noise.

4. According to a method for positioning ship field painting personnel based on information fusion according to claim 1, it is characterized in that: In step (3), the process of solving the fusion observation model using the extended Kalman filter algorithm is as follows: Assuming that the estimated state of the system at the current observation epoch is very close to the actual state, the nonlinear function is then expanded by Taylor series at the estimated state to complete the linearization of the nonlinear function and calculate the position coordinates of the positioning point. The discrete-time nonlinear system and the nonlinear measurement equation are expressed by the following two formulas, namely: x k =f(x k-1 ,u k-1 ,w k-1 ) y k =h(x k ,v k ) Assume that the optimal estimated state at the k-1th observation epoch is The mean square error matrix is ​​P k-1 , at the kth observation epoch, the prior estimated state for: Among them, u k-1 is the input quantity of the system, and the unknown process noise w k-1 Set to 0, the posterior estimated state x k for In the formula, A k-1 is the Jacobian matrix of the state equation for x in The partial derivative at ; For the Beidou + UWB combined positioning system, the state quantities are the user's three-dimensional position coordinates and the receiver clock error. The Jacobian matrix of the state equation is linear, and it is set as the unit matrix here; the priori estimated mean square error in the Kalman filter The calculation formula can be used to obtain the expression in the extended Kalman expression, namely Similarly, the observation equation after linearization is Ck is the Jacobian matrix of the observation equation for x in The partial derivative at . When processing the BeiDou + UWB fusion observation equation, the measurement residual is set to b k , then: Kalman gain K k for The posterior mean square error of the extended Kalman function is ； In view of the complex environment where there are a large number of steel structures in the ship's outdoor painting area, the least squares method is used to fit the positioning error and establish an error compensation model. The fitting equation is: In the formula, e i is the distance measurement error, d i is the distance measurement result, a m Polynomial coefficients; If there are n ranging errors, the above equation can be expressed as: Obtain the compensated distance value: the λ =d t -(a0+a1d t +a2d t 2 +…+a m the t m )。。

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