Construction platform attitude control system based on multi-sensor fusion

Abstract

The application discloses a construction platform posture control system based on multi-sensor fusion and relates to the technical field of construction platform posture control, solves the technical problem that the existing technology cannot control the operation posture of a construction platform according to inertia influence analysis, and specifically, a measurement error evaluation unit evaluates the measurement error of a construction platform, a multi-sensor fusion technology is used to control the posture of the construction platform by using multiple types of sensors, and multiple sensors at different angles construct a monitoring network to simultaneously monitor the construction platform; an inertia influence analysis unit analyzes the position of the real-time posture of the construction platform at each measurement moment, and after determining that the inertia influence is low, a posture real-time control unit monitors and controls the posture position of the current construction platform.

Description

Technical Field

[0001] This invention relates to the field of construction platform attitude control technology, specifically to a construction platform attitude control system based on multi-sensor fusion. Background Technology

[0002] Construction platform attitude control refers to the precise control of the position, angle, levelness, and other attitude parameters of the construction platform in various engineering constructions to ensure the safety, quality, and efficiency of construction; prevent accidents such as tilting or overturning of the platform due to attitude imbalance, and protect the safety of construction personnel and equipment; ensure that the construction platform is in a horizontal or specific design attitude, providing a stable working surface for construction and helping to ensure construction accuracy and quality.

[0003] The patent announcement CN113044721B discloses a gantry crane operation posture control system and method. This invention can monitor and control the operation posture of the gantry crane, ensuring operation safety and providing a basic platform for the intelligent upgrading of bulk cargo terminals.

[0004] However, in the existing technology, the attitude detection of the construction platform cannot be accurately controlled based on the assessment of measurement errors, and the operation attitude control of the construction platform cannot be carried out based on the analysis of inertial influence. It is also unable to identify efficient and inefficient attitudes, which reduces the operating efficiency of the construction platform.

[0005] To address the aforementioned technical shortcomings, a solution is proposed. Summary of the Invention

[0006] The purpose of this invention is to solve the problems mentioned above by proposing a construction platform attitude control system based on multi-sensor fusion.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] The construction platform attitude control system based on multi-sensor fusion is equipped with an attitude control platform, which is connected to a measurement error evaluation unit, an inertial influence analysis unit, an attitude real-time control unit, and an execution evaluation unit.

[0009] The measurement error assessment unit assesses the measurement error of the construction platform. It uses multi-sensor fusion technology to monitor and control the attitude of the construction platform using various types of sensors. Multiple sensors at different angles form a monitoring network to monitor the construction platform simultaneously.

[0010] The inertial influence analysis unit performs inertial influence analysis on the real-time attitude and position of the construction platform at each measurement time. After determining the low inertial influence, the attitude real-time control unit monitors and controls the current attitude and position of the construction platform in real time.

[0011] In a preferred embodiment of the present invention, the process of the measurement error evaluation unit is as follows:

[0012] Using any position within the construction platform as the attitude position point, based on the start time of the construction platform's operation period, the position of the initial attitude position point of the construction platform and the attitude position at the real-time monitoring time are collected, and the monitoring deviation position is obtained based on the position deviation.

[0013] Based on the monitoring network and taking the attitude position points as the monitoring objects, the point trajectory of the attitude position points is obtained by different angle sensors. The operating attitude of the construction platform at each moment is obtained based on the point trajectory. After determination, the attitude offset distance of the monitoring point trajectory of the corresponding different angle sensors is statistically analyzed at each moment. The attitude offset distance statistical deviation value between the corresponding sensors is obtained based on the different angle sensors.

[0014] If the deviation value of the attitude offset distance between the sensors corresponding to the same monitoring time of the construction platform is obtained, and the deviation value exceeds the threshold, the corresponding monitoring time is marked as a time of cumulative high deviation, and vice versa.

[0015] As a preferred embodiment of the present invention, the maximum peak value of the statistical deviation value corresponding to the cumulative high deviation moment in the current operating cycle during the current measurement process of the construction platform is collected, as well as the ratio of the number of times the corresponding sensor data is used to the total number of times all sensors are used.

[0016] If the maximum peak value of the statistical deviation value corresponding to the cumulative high deviation moment during the measurement process exceeds the maximum peak value threshold, and the ratio of the number of times the corresponding sensor data is used to the number of times all sensors are used exceeds the ratio threshold, then a high error signal is generated and sent to the attitude control platform.

[0017] If the maximum peak value of the statistical deviation value corresponding to the cumulative high deviation moment during the measurement process exceeds the maximum peak value threshold, or the ratio of the number of times the corresponding sensor data is used to the number of times all sensors are used exceeds the ratio threshold, then a mean error signal is generated and sent to the attitude control platform.

[0018] If the maximum peak value of the statistical deviation corresponding to the cumulative high deviation moment during the measurement process exceeds the maximum peak value threshold, or the ratio of the number of times the corresponding sensor data is used to the total number of times all sensors are used exceeds the ratio threshold, and neither of the above two situations occurs, then a low error signal is generated and sent to the attitude control platform.

[0019] In a preferred embodiment of the present invention, the process of the inertial influence analysis unit is as follows:

[0020] The corresponding attitude position of the construction platform at the measurement time is obtained, and the position where the attitude position is floating and controllable is marked as the fixed position. The floating and controllable situation means that the position change speed or change span in the attitude position movement trajectory is lower than the corresponding set threshold until there is no position change.

[0021] The maximum trajectory distance value of the trajectory pendulum span at the location of the floating and controllable front attitude position point is collected. At the same time, the maximum drop span value of the trajectory pendulum floating frequency at the floating and controllable front and rear attitude position points is obtained. The maximum trajectory distance value of the trajectory pendulum span at the location of the floating and controllable front attitude position point and the maximum drop span value of the trajectory pendulum floating frequency at the floating and controllable front and rear attitude position points are compared with the maximum trajectory distance threshold and the maximum drop span threshold, respectively.

[0022] In a preferred embodiment of the present invention, if the maximum trajectory distance value of the trajectory pendulum span at the location of the floating controllable front attitude position point exceeds the maximum trajectory distance threshold, or the maximum drop span value of the floating frequency of the trajectory pendulum at the floating controllable front and rear attitude position points exceeds the maximum drop span threshold, a high inertial influence signal is generated.

[0023] If the maximum trajectory distance value of the trajectory pendulum span at the location of the floating controllable front attitude position point does not exceed the maximum trajectory distance threshold, and the maximum drop span value of the floating frequency of the trajectory pendulum at the floating controllable front and rear attitude position points does not exceed the maximum drop span threshold, then a low inertia influence signal is generated.

[0024] In a preferred embodiment of the present invention, the process of the attitude real-time control unit is as follows:

[0025] Within the monitoring network, the monitoring trajectories of the construction platform's attitude position points corresponding to the positions of each running trajectory point are analyzed in real time. The positions where the attitude position points within the monitoring trajectory are floating and controllable are collected and marked as floating positions. During the floating process, the monitoring trajectory points are infinitely delayed to obtain intersection points, and the floating angle is obtained based on the line connecting the intersection point to the monitoring trajectory.

[0026] In a preferred embodiment of the present invention, the floating positions at the peak of the floating angle in the monitoring trajectory corresponding to the attitude position points are collected, and the duration of continuous floating angle peak is obtained according to the recording time of the floating positions. At the same time, the total number of floating positions and the frequency of floating position stay in the non-floating controllable stage of the monitoring trajectory corresponding to the attitude position points are obtained, and the values ​​of the two data are summed to obtain the non-floating controllable parameters.

[0027] In a preferred embodiment of the present invention, if the duration of continuous operation at the peak of the floating angle exceeds the duration threshold, or if the non-floating controllable parameter exceeds the parameter threshold, it is inferred that the operating posture of the construction platform needs to be controlled in real time. The operating parameters of the current operating posture are reduced, the current operating posture is stored in the trajectory, and sent to the posture control platform. If the duration of continuous operation at the peak of the floating angle does not exceed the duration threshold, and the non-floating controllable parameter does not exceed the parameter threshold, the current operating posture is maintained and stored.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. In this invention, the measurement of the construction platform is evaluated for error. The error evaluation is used to infer whether the measurement accuracy of the current construction platform meets the requirements, so that the measurement accuracy of the construction platform can be used for real-time attitude control, ensuring the efficiency and accuracy of attitude setting, and ensuring the normal operation of the construction platform.

[0030] An inertial influence analysis is performed on the real-time attitude position of the construction platform at each measurement moment. Based on the inertial influence analysis, it is inferred whether the attitude changes caused by the inertia during the operation of the construction platform have any impact. In order to make accurate decisions based on the inertial influence of the construction platform, the current attitude operation safety of the construction platform meets the requirements, and the attitude changes will not be too large due to inertia, thus reducing the attitude control efficiency of the construction platform.

[0031] 2. In this invention, the attitude and position of the current construction platform are monitored and controlled in real time to ensure the efficiency of the current multi-angle sensor acquisition and avoid the high real-time operating intensity of the monitoring network constructed by the sensors; the execution evaluation unit monitors the execution of the construction platform in real time to ensure the execution stability of the construction platform. Attached Figure Description

[0032] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0033] Figure 1 This is a logic block diagram of the system of the present invention;

[0034] Figure 2 This is a block diagram showing the logical coordination of the terminal operation of the system of the present invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0037] Please see Figure 1-2 As shown, a construction platform attitude control system based on multi-sensor fusion is described. The control logic of this system is measurement, processing, decision-making, and execution, and a closed loop is formed with the measurement after execution. Measurement data is obtained based on the measurements of the construction platform, attitude control decisions are made through data processing, and the decisions are executed. After execution, measurement continues. In this application, the construction platform refers to large construction equipment such as cranes and excavators on the construction site.

[0038] The attitude control platform monitors each stage of the system's control logic and includes a measurement error assessment unit, an inertial influence analysis unit, a real-time attitude control unit, and an execution assessment unit to assist in the execution of the control logic, thereby improving the execution efficiency of each stage.

[0039] When the construction platform is in operation and measuring, the measurement error assessment unit performs error assessment on the measurement of the construction platform. Through error assessment, it infers whether the measurement accuracy of the current construction platform meets the requirements, so that the measurement accuracy of the construction platform can be used for real-time attitude control, ensuring the efficiency and accuracy of attitude setting, and ensuring the normal operation of the construction platform.

[0040] The construction platform's attitude is monitored and controlled by a variety of sensors using multi-sensor fusion technology. Multiple sensors at different angles are synchronized via satellite technology to form a monitoring network, allowing for simultaneous monitoring of the construction platform. During the operation of the construction platform, the platform's actions are real-time, but the signal transmission and command execution of different types of sensors within the monitoring network differ, resulting in a time lag.

[0041] Using any position within the construction platform as the attitude position point, based on the start time of the construction platform's operation period, the position of the initial attitude position point of the construction platform and the attitude position at the real-time monitoring time are collected, and the monitoring deviation position is obtained based on the position deviation.

[0042] Based on the monitoring network and taking the attitude position points as the monitoring objects, the point trajectories of different angle sensors at the positions of the attitude position points are obtained, and the operating attitude of the construction platform at each moment is obtained based on the point trajectories. After determination, the attitude offset distance of the monitoring point trajectories of different angle sensors at each moment is calculated, and the attitude offset distance statistical deviation value between the corresponding sensors is obtained based on the different angle sensors.

[0043] If the deviation value of the attitude offset distance between the sensors corresponding to the same monitoring time of the construction platform is obtained, and the deviation value exceeds the threshold, the corresponding monitoring time is marked as a time of cumulative high deviation; otherwise, it is marked as a time of cumulative low deviation.

[0044] During the current measurement process of the construction platform, the maximum peak value of the statistical deviation corresponding to the cumulative high deviation moment within the current operating cycle, and the ratio of the number of times the corresponding sensor data was used to the total number of times all sensors were used;

[0045] If, during the measurement process, the maximum peak value of the statistical deviation corresponding to the moment of cumulative high deviation exceeds the maximum peak value threshold, and the ratio of the number of times the corresponding sensor data is used to the total number of times all sensors are used exceeds the ratio threshold, then if both of these situations occur simultaneously, it is inferred that there is a high error risk in the monitoring network during the current measurement process. A high error signal is generated and sent to the attitude control platform. After receiving the high error signal, the attitude control platform updates the monitoring network for monitoring deviation and synchronizes the position of the real-time construction platform at the start of monitoring. After the current measurement is completed, the position of the construction platform is verified to avoid excessive cumulative deviation distance in the real-time attitude trajectory measurement during attitude change, which could cause measurement imbalance in the monitoring network.

[0046] If, during the measurement process, the maximum peak value of the statistical deviation corresponding to the time of high cumulative deviation exceeds the maximum peak value threshold, or the ratio of the number of times the corresponding sensor data is used to the total number of times all sensors are used exceeds the ratio threshold, then it is inferred that there is a risk of error in the monitoring network during the current measurement process. An error signal is generated and sent to the attitude control platform. After receiving the error risk, the attitude control platform controls the corresponding statistical deviation values ​​between sensors at each monitoring time during the real-time measurement process to reduce the increase range of the deviation value. At the same time, during the process of deviation value growth, priority is given to ensuring that the increase range of the deviation value of high-demand frequency sensors does not exceed the corresponding range red line value.

[0047] If the maximum peak value of the statistical deviation value corresponding to the cumulative high deviation moment during the measurement process exceeds the maximum peak value threshold, and the ratio of the number of times the corresponding sensor data is used to the number of times all sensors are used exceeds the ratio threshold, and neither of the above two situations occurs, it is inferred that there is a low error risk in the monitoring network during the current measurement process. A low error signal is generated and sent to the attitude control platform. After receiving the low error signal, the attitude control platform sends the real-time measurement point trajectory to the attitude control platform as well.

[0048] After the attitude control platform determines that the measurement error is low, it performs measurement data processing. During measurement data processing, the attitude control platform generates an inertial influence analysis signal and sends the inertial influence analysis signal to the inertial influence analysis unit.

[0049] After receiving the inertial influence analysis signal, the inertial influence analysis unit performs inertial influence analysis on the real-time attitude position of the construction platform at each measurement time. Based on the inertial influence analysis, it infers whether the attitude change caused by the running inertia during the operation of the construction platform has an impact, so as to make accurate decisions based on the inertial influence of the construction platform, ensuring that the current attitude operation safety of the construction platform meets the requirements, and that there will be no excessive attitude change due to inertia, which would reduce the attitude control efficiency of the construction platform.

[0050] The corresponding attitude position of the construction platform at the measurement time is obtained, and the position where the attitude position is floating and controllable is marked as the fixed position. The floating and controllable situation means that the position change speed or change span in the attitude position movement trajectory is lower than the corresponding set threshold until there is no position change.

[0051] The maximum trajectory distance value of the trajectory pendulum span at the location of the controllable floating front attitude position point is collected. Simultaneously, the maximum decrease span value of the trajectory pendulum floating frequency at the controllable floating front attitude position points is obtained. The maximum trajectory distance value of the trajectory pendulum span at the location of the controllable floating front attitude position point and the maximum decrease span value of the trajectory pendulum floating frequency at the location of the controllable floating front attitude position point are compared with the maximum trajectory distance threshold and the maximum decrease span threshold, respectively.

[0052] If the maximum trajectory distance value of the trajectory pendulum span at the location of the floating controllable front attitude position point exceeds the maximum trajectory distance threshold, or the maximum drop span value of the floating frequency of the trajectory pendulum at the floating controllable front and rear attitude position points exceeds the maximum drop span threshold, it is inferred that the inertial influence analysis of the construction platform is abnormal, a high inertial influence signal is generated and sent to the attitude control platform, and the attitude control platform adjusts the operating parameters, such as operating speed and operating power, according to the operating posture of the construction platform.

[0053] If the maximum trajectory distance of the pendulum span at the location of the controllable floating attitude position does not exceed the maximum trajectory distance threshold, and the maximum descent span of the pendulum floating frequency at the controllable floating attitude position does not exceed the maximum descent span threshold, then it is inferred that the inertial influence analysis of the construction platform is normal, a low inertial influence signal is generated and sent to the attitude control platform; after receiving the low inertial influence signal, the attitude control platform monitors the operating parameters of the current operating attitude of the construction platform to prevent the operating parameters from fluctuating;

[0054] The attitude control platform generates real-time attitude control signals and sends them to the real-time attitude control unit.

[0055] After receiving the real-time attitude control signal, the attitude control unit monitors and controls the current attitude position of the construction platform in real time to ensure the efficiency of the current multi-angle sensor acquisition and avoid the high real-time operating intensity of the monitoring network constructed by the sensors.

[0056] Within the monitoring network, the monitoring trajectory of the attitude position points of the construction platform corresponding to the positions of each running trajectory points is analyzed in real time. The positions where the attitude position points within the monitoring trajectory are floating and controllable forward movement are collected and marked as floating positions.

[0057] During the floating position, the monitoring trajectory points are delayed infinitely to obtain the intersection point, and the floating angle is obtained by connecting the intersection point to the monitoring trajectory. This data collection method is a manually set method, and the angle that reflects the floating position is obtained by manually collecting data and constructing the connection.

[0058] The floating positions at the peak of the floating angle in the monitoring trajectory corresponding to the attitude position points are collected, and the duration of continuous floating angle peak is obtained based on the recording time of the floating positions. At the same time, the total number of floating positions and the frequency of floating position dwell in the non-floating controllable phase of the monitoring trajectory corresponding to the attitude position points are obtained. The non-floating controllable parameters are obtained by summing the values ​​of the two data. The unit effect of the two data is not considered in the numerical calculation, and the unit effect is not considered when comparing the sums of the same type of values.

[0059] If the duration of continuous floating angle peak exceeds the duration threshold, or if the non-floating controllable parameter exceeds the parameter threshold, it is inferred that the operating attitude of the construction platform needs to be controlled in real time. The operating parameters of the current operating attitude are reduced, the current operating attitude is stored in the trajectory, and sent to the attitude control platform so that the attitude can be controlled in advance during subsequent operation of the construction platform, reducing the impact of the attitude fluctuation of the construction platform during the non-floating controllable stage. If the duration of continuous floating angle peak does not exceed the duration threshold, and the non-floating controllable parameter does not exceed the parameter threshold, it is inferred that the operating attitude of the construction platform does not need to be controlled in real time, that is, the current operating attitude is maintained and stored.

[0060] The execution evaluation unit is used to monitor the execution of the construction platform in real time to ensure its stability. Before the attitude control platform performs attitude control, it monitors the positional deviation between the preset execution point and the actual execution point of the construction platform's running trajectory. If the positional deviation is within and continuously within the set range, the execution performance of the construction platform is determined. When the attitude control platform performs attitude control, it performs an impact analysis on the execution performance of the construction platform. If there is no impact, attitude control continues; if there is an impact, the operating components or tasks of the construction platform are adjusted.

[0061] In use, the measurement error assessment unit evaluates the measurement error of the construction platform. Through multi-sensor fusion technology, multiple types of sensors are used to monitor and control the attitude of the construction platform. Multiple sensors at different angles form a monitoring network to monitor the construction platform simultaneously. The inertial influence analysis unit performs inertial influence analysis on the real-time attitude position of the construction platform at each measurement moment. After determining that the inertial influence is low, the attitude real-time control unit monitors the current attitude position of the construction platform and performs real-time control.

[0062] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A construction platform attitude control system based on multi-sensor fusion, characterized in that, An attitude control platform is provided, which is connected to a measurement error evaluation unit, an inertial influence analysis unit, an attitude real-time control unit, and an execution evaluation unit. The measurement error assessment unit assesses the measurement error of the construction platform. It uses multi-sensor fusion technology to monitor and control the attitude of the construction platform with various types of sensors. Multiple sensors at different angles form a monitoring network to monitor the construction platform simultaneously. The inertial influence analysis unit performs inertial influence analysis on the real-time attitude position of the construction platform at each measurement time. After determining the low inertial influence, the attitude real-time control unit monitors and controls the current attitude position of the construction platform in real time. The process of the measurement error assessment unit is as follows: Using any position within the construction platform as the attitude position point, based on the start time of the construction platform's operation period, the location of the initial attitude position point of the construction platform and the attitude position at the real-time monitoring time are collected, and the monitoring deviation position is obtained based on the position deviation. Based on the monitoring network and taking the attitude position points as the monitoring objects, the point trajectories of different angle sensors at the positions of the attitude position points are obtained, and the operating attitude of the construction platform at each moment is obtained based on the point trajectories. After determination, the attitude offset distance of the monitoring point trajectories of different angle sensors at each moment is statistically analyzed, and the attitude offset distance statistical deviation value between the corresponding sensors is obtained based on the different angle sensors. If the deviation value of the attitude offset distance between the sensors corresponding to the same monitoring time of the construction platform is obtained, and the deviation value exceeds the threshold, the corresponding monitoring time is marked as a time of cumulative high deviation, and vice versa. During the current measurement process of the construction platform, the maximum peak value of the statistical deviation corresponding to the cumulative high deviation moment within the current operating cycle, and the ratio of the number of times the corresponding sensor data was used to the total number of times all sensors were used; If the maximum peak value of the statistical deviation value corresponding to the cumulative high deviation moment during the measurement process exceeds the maximum peak value threshold, and the ratio of the number of times the corresponding sensor data is used to the number of times all sensors are used exceeds the ratio threshold, then a high error signal is generated and sent to the attitude control platform. If, during the measurement process, the maximum peak value of the statistical deviation value corresponding to the time of cumulative high deviation exceeds the maximum peak value threshold, or the ratio of the number of times the corresponding sensor data is used to the total number of times all sensors are used exceeds the ratio threshold, then a mean error signal is generated and sent to the attitude control platform. If the maximum peak value of the statistical deviation value corresponding to the cumulative high deviation moment during the measurement process exceeds the maximum peak value threshold, or the ratio of the number of times the corresponding sensor data is used to the total number of times all sensors are used exceeds the ratio threshold, and neither of the above two situations occurs, then a low error signal is generated and sent to the attitude control platform. The process of inertial influence analysis unit is as follows: The corresponding attitude position of the construction platform at the measurement time is obtained, and the position where the attitude position is floating and controllable is marked as the fixed position. The floating and controllable situation means that the position change speed or change span in the attitude position movement trajectory is lower than the corresponding set threshold until there is no position change. The maximum trajectory distance value of the trajectory pendulum span at the location of the floating and controllable front attitude position point is collected. At the same time, the maximum drop span value of the trajectory pendulum floating frequency at the floating and controllable front and rear attitude position points is obtained. The maximum trajectory distance value of the trajectory pendulum span at the location of the floating and controllable front attitude position point and the maximum drop span value of the trajectory pendulum floating frequency at the floating and controllable front and rear attitude position points are compared with the maximum trajectory distance threshold and the maximum drop span threshold, respectively. If the maximum trajectory distance value of the trajectory pendulum span at the location of the floating controllable front attitude position point exceeds the maximum trajectory distance threshold, or the maximum drop span value of the floating frequency of the trajectory pendulum at the floating controllable front and rear attitude position points exceeds the maximum drop span threshold, a high inertia influence signal will be generated. If the maximum trajectory distance value of the trajectory pendulum span at the location of the floating controllable front attitude position point does not exceed the maximum trajectory distance threshold, and the maximum drop span value of the floating frequency of the trajectory pendulum at the floating controllable front and rear attitude position points does not exceed the maximum drop span threshold, then a low inertia influence signal is generated.

2. The construction platform attitude control system based on multi-sensor fusion according to claim 1, characterized in that, The process of the attitude real-time control unit is as follows: Within the monitoring network, the monitoring trajectories of the construction platform's attitude position points corresponding to the positions of each running trajectory point are analyzed in real time. The positions where the attitude position points within the monitoring trajectory are floating and controllable are collected and marked as floating positions. During the floating process, the monitoring trajectory points are infinitely delayed to obtain intersection points, and the floating angle is obtained based on the line connecting the intersection point to the monitoring trajectory.

3. The construction platform attitude control system based on multi-sensor fusion according to claim 2, characterized in that, The system collects floating positions in the monitoring trajectory corresponding to the attitude position points, which are at the peak of the floating angle. Based on the recording time of the floating positions, it obtains the duration of continuous floating angle peak. At the same time, it obtains the total number of floating positions and the frequency of floating position dwell during the non-floating controllable phase of the monitoring trajectory corresponding to the attitude position points. The system then sums the values ​​of the two data points to obtain the non-floating controllable parameters.

4. The construction platform attitude control system based on multi-sensor fusion according to claim 3, characterized in that, If the duration of continuous floating angle peak exceeds the duration threshold, or if the non-floating controllable parameter exceeds the parameter threshold, it is inferred that the operating attitude of the construction platform needs to be controlled in real time. The operating parameters of the current operating attitude are reduced, the current operating attitude is stored in the trajectory, and sent to the attitude control platform. If the duration of continuous operation at the peak of the floating angle does not exceed the duration threshold, and the non-floating controllable parameter does not exceed the parameter threshold, then the current operating posture is maintained and stored.

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