Portal crane rotation angle monitoring system based on Beidou positioning

Abstract

The invention discloses a portal crane rotation angle monitoring system based on Beidou positioning, which belongs to the technical field of Beidou positioning and comprises a Beidou double-antenna positioning module, an inertial navigation module, a data preprocessing module, an adaptive filtering module, an intelligent correction module, a remote monitoring and early warning module, a power management module and a communication module. Key support is provided through the inertial navigation module when Beidou signals are lost, the uninterrupted working capacity of the system is guaranteed, temporary position and direction information can be provided through the built-in accelerometer and gyroscope even under the condition that no Beidou signals exist, the robustness of the system is greatly enhanced, and the reliability of the system is improved. And the operation risk caused by signal interruption is reduced.

Description

Technical Field

[0001] The present invention belongs to the field of Beidou positioning technology, and specifically refers to a gantry crane rotation angle monitoring system based on Beidou positioning. Background Art

[0002] Existing solutions for monitoring the rotation angle of door cranes on the market primarily rely on sensors installed on the machine, such as encoders and gyroscopes. However, these methods have limitations, such as the potential for decreased accuracy after long-term use and reliability issues in harsh environments.

[0003] However, the existing gantry crane rotation angle monitoring system still has certain defects. The existing gantry crane rotation angle monitoring system usually relies on a single receiving antenna for positioning, which makes it susceptible to signal blocking or reflection in complex environments, thereby reducing positioning accuracy. When Beidou or other satellite navigation signals are temporarily unavailable, traditional systems often cannot provide effective alternative solutions, resulting in the gantry crane operation being forced to suspend or enter a high-risk mode. The error correction mainly relies on manual operation, which is not only time-consuming and labor-intensive, but also prone to human errors, reducing the long-term stability and accuracy of the system. For this reason, a gantry crane rotation angle monitoring system based on Beidou positioning is proposed. Summary of the Invention

[0004] The purpose of the present invention is to provide a door crane rotation angle monitoring system based on Beidou positioning to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a door crane rotation angle monitoring system based on Beidou positioning, comprising a Beidou dual-antenna positioning module, an inertial navigation module, a data preprocessing module, an adaptive filtering module, an intelligent correction module, a remote monitoring and early warning module, a power management module and a communication module;

[0006] The Beidou dual-antenna positioning module is used to obtain high-precision location information;

[0007] The inertial navigation module is used to estimate the attitude and motion state of the door crane using the built-in accelerometer and gyroscope when the Beidou signal is interfered with or lost, providing temporary position and direction information;

[0008] The data preprocessing module is used to perform preliminary processing on the raw data collected by the Beidou positioning module, including data cleaning, denoising and format conversion;

[0009] The adaptive filtering module is used to receive data from the data preprocessing module and the inertial navigation module, remove noise and outliers through the adaptive filtering algorithm, and pass the data to the intelligent correction module after optimizing the data quality;

[0010] The intelligent correction module is used to obtain data processed by the adaptive filtering module, automatically adjust system parameters to compensate for errors, and send the final correction results to the remote monitoring and early warning module;

[0011] The remote monitoring and early warning module is used to obtain high-precision data from the intelligent correction module, exchange data with external devices through the communication module, monitor the door machine status in real time, and trigger alarms according to preset conditions;

[0012] The power management module is used to manage and optimize the power supply of each component in the system;

[0013] The communication module is used to build a bridge between the entire system and the outside world to ensure reliable data transmission.

[0014] Among them, the Beidou dual-antenna positioning module is used to obtain high-precision location information; by selecting two relatively fixed but different positions on the gantry crane to install Beidou receiving antennas, calibration is performed after installation, and the Beidou dual-antenna positioning module receives Beidou satellite signals in real time. Each antenna will independently receive signals sent by multiple satellites, and extract the original observation data containing timestamp, pseudorange and carrier phase key information from the received Beidou satellite signals. The relative position change between the two is calculated through the data received by the dual antennas, and the rotation angle of the gantry crane during this period is obtained by comparing the difference in satellite distance measured by the two antennas at the same time. The relative position change data obtained in different time periods are fused and processed to form a continuous time series data set. The data is further optimized through the Kalman filter. The processed data is the required high-precision location information and is transmitted to the data processing module.

[0015] Among them, the data preprocessing module is used to perform preliminary processing on the raw data collected by the Beidou positioning module, including data cleaning, denoising and format conversion; receive raw observation data from the Beidou dual-antenna positioning module, including timestamp, satellite number, pseudorange and carrier phase information; integrate data from different antennas according to timestamps, and perform data cleaning, denoising and format conversion on the integrated data.

[0016] Among them, the data preprocessing module, data cleaning includes removing invalid data and filling missing values. Removing invalid data identifies and removes obviously erroneous or invalid data points for removal, filling missing values ​​in the case of data loss, and filling missing data by interpolation; denoising processing includes filtering, which reduces the impact of noise on data through median filtering, and format conversion converts the cleaned and denoised data into a unified standard format, and performs quality assessment on the preprocessed data.

[0017] Among them, the inertial navigation module is used to use the built-in accelerometer and gyroscope to estimate the attitude and motion state of the door crane and provide temporary position and direction information when the Beidou signal is interfered with or lost; when the Beidou signal is normal, the accelerometer and gyroscope are calibrated to eliminate the inherent deviation and drift error of the sensor, and based on the high-precision position and attitude information provided by the Beidou dual-antenna positioning module, the initial state of the inertial navigation system is initialized, including the initial position, speed and attitude angle. The inertial navigation module continuously obtains real-time data from the accelerometer and gyroscope. The accelerometer measures the acceleration along three orthogonal axes, and the attitude is corrected by the accelerometer data to eliminate the drift error of the gyroscope, and the attitude information is represented by the rotation matrix.

[0018] Among them, the inertial navigation module uses the acceleration data provided by the accelerometer to first obtain speed information through a single integration, and then obtains displacement information through a secondary integration. It predicts the position and direction at the next moment based on the current speed and attitude information. When the Beidou signal is restored, the position and attitude information obtained by the inertial navigation is integrated with the latest data provided by Beidou. Based on the fresh data of the Beidou signal, the internal parameters of the inertial navigation system are adjusted to correct the accumulated error. During the entire process, even if the Beidou signal is temporarily unavailable, the inertial navigation module can continue to provide the position and direction information of the door crane. If a long period of Beidou signal loss or a large positioning error is detected, the corresponding alarm mechanism will be triggered to remind the operator to pay attention to potential risks.

[0019] Among them, the adaptive filtering module is used to receive data from the data preprocessing module and the inertial navigation module, remove noise and outliers through the adaptive filtering algorithm, and pass it to the intelligent correction module after optimizing the data quality; receive Beidou positioning data from the data preprocessing module and accelerometer and gyroscope data from the inertial navigation module, fuse the Beidou positioning data and inertial navigation data through the Kalman filtering algorithm, set the initial parameters of the adaptive filtering algorithm, analyze the noise characteristics of the input data, identify the statistical characteristics of possible system noise and measurement noise, and dynamically adjust the noise parameters in the filter based on the real-time data analysis results. Through the prediction and update steps of the Kalman filtering algorithm, remove noise and outliers in the data, and provide the high-quality data set after adaptive filtering processing to the intelligent correction module.

[0020] Among them, the intelligent correction module is used to obtain data processed by the adaptive filtering module, automatically adjust system parameters to compensate for errors, and send the final correction results to the remote monitoring and early warning module; receive filtered and optimized position and posture information from the adaptive filtering module, perform preliminary verification on the received data, build an error model based on historical data and the current system operation status, conduct in-depth analysis of the collected data through machine learning, identify potential error sources and their influencing rules, and automatically adjust key parameters within the system according to the results of the error model. For detected errors, immediately apply corresponding correction measures, and package the final position and posture information after intelligent correction into a standard format and send it to the remote monitoring and early warning module.

[0021] Among them, the remote monitoring and early warning module is used to obtain high-precision data from the intelligent correction module, exchange data with external devices through the communication module, monitor the door machine status in real time, and trigger an alarm according to preset conditions; receive the corrected high-precision position and posture information from the intelligent correction module, and analyze the working status of the door machine in real time based on the received data, including changes in key indicators such as rotation angle, speed, acceleration, etc., and evaluate whether the operating status of the door machine is normal according to the preset normal range and threshold. When it is detected that the status of the door machine exceeds the preset normal range, an alarm is triggered, and the real-time status data of the door machine is uploaded to the designated external device through the communication module.

[0022] Among them, the communication module is used to build a bridge between the entire system and the outside world to ensure reliable data transmission; the data collected from each module is encapsulated according to a predefined format, necessary header information is added, the received data packets are decapsulated at the receiving end, the original data is extracted, and the data information is transmitted through wireless communication technology.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. This invention achieves high-precision measurement of the door crane's rotation angle by using two relatively fixed receiving antennas. Compared with traditional single-antenna solutions, it not only improves positioning accuracy but also effectively addresses signal obstruction or reflection issues. This module uses pseudorange and carrier phase information in satellite signals to calculate relative position, ensuring data continuity and accuracy. It is particularly suitable for construction scenarios in complex environments. In addition, a Kalman filter further optimizes data quality and improves the overall reliability of the system.

[0025] 2. The present invention provides critical support through the inertial navigation module when the Beidou signal is lost, ensuring the uninterrupted operation of the system. The built-in accelerometer and gyroscope can provide temporary position and direction information even in the absence of Beidou signal, greatly enhancing the robustness of the system and reducing the operational risks caused by signal interruption.

[0026] 3. The present invention significantly improves the accuracy and stability of the final output results by fusing and optimizing data from different sensors through the adaptive filtering module. The Kalman filter algorithm is used to dynamically adjust the noise parameters, which can more effectively adapt to the ever-changing working environment. It can not only remove noise and outliers, but also compensate for errors caused by sensor characteristics, thereby obtaining more reliable measurement results.

[0027] 4. The present invention uses an intelligent correction module to build an error model based on historical data analysis, and uses machine learning technology to identify potential error sources, automatically adjusting system parameters to compensate for errors. This not only improves correction efficiency, but also reduces the need for manual intervention, enabling the system to maintain high accuracy over a long period of time. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of a gantry crane rotation angle monitoring system based on Beidou positioning according to the present invention;

[0029] Figure 2 The operation process of the door crane rotation angle monitoring system based on Beidou positioning of the present invention Figure 1 ;

[0030] Figure 3 The operation process of the door crane rotation angle monitoring system based on Beidou positioning of the present invention Figure 2 ;

[0031] Figure 4 The operation process of the door crane rotation angle monitoring system based on Beidou positioning of the present invention Figure 3 . DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] Example

[0034] See also Figure 1-Figure 4As shown, the present invention provides a technical solution: including a Beidou dual-antenna positioning module, an inertial navigation module, a data preprocessing module, an adaptive filtering module, an intelligent correction module, a remote monitoring and early warning module, a power management module and a communication module;

[0035] The Beidou dual-antenna positioning module is used to obtain high-precision location information;

[0036] The inertial navigation module is used to estimate the attitude and motion state of the door crane using the built-in accelerometer and gyroscope when the Beidou signal is interfered with or lost, providing temporary position and direction information;

[0037] The data preprocessing module is used to perform preliminary processing on the raw data collected by the Beidou positioning module, including data cleaning, denoising and format conversion;

[0038] The adaptive filtering module is used to receive data from the data preprocessing module and the inertial navigation module, remove noise and outliers through the adaptive filtering algorithm, and pass the data to the intelligent correction module after optimizing the data quality;

[0039] The intelligent correction module is used to obtain data processed by the adaptive filtering module, automatically adjust system parameters to compensate for errors, and send the final correction results to the remote monitoring and early warning module;

[0040] The remote monitoring and early warning module is used to obtain high-precision data from the intelligent correction module, exchange data with external devices through the communication module, monitor the door machine status in real time, and trigger alarms according to preset conditions;

[0041] The power management module is used to manage and optimize the power supply of each component in the system;

[0042] The communication module is used to build a bridge between the entire system and the outside world to ensure reliable data transmission.

[0043] Among them, the Beidou dual-antenna positioning module is used to obtain high-precision location information; by selecting two relatively fixed but different positions on the gantry crane to install Beidou receiving antennas, calibration is performed after installation, and the Beidou dual-antenna positioning module receives Beidou satellite signals in real time. Each antenna will independently receive signals sent by multiple satellites, and extract the original observation data containing timestamp, pseudorange and carrier phase key information from the received Beidou satellite signals. The relative position change between the two is calculated through the data received by the dual antennas, and the rotation angle of the gantry crane during this period is obtained by comparing the difference in satellite distance measured by the two antennas at the same time. The relative position change data obtained in different time periods are fused and processed to form a continuous time series data set. The data is further optimized through the Kalman filter. The processed data is the required high-precision location information and is transmitted to the data processing module.

[0044] Among them, the data preprocessing module is used to perform preliminary processing on the raw data collected by the Beidou positioning module, including data cleaning, denoising and format conversion; receive raw observation data from the Beidou dual-antenna positioning module, including timestamp, satellite number, pseudorange and carrier phase information; integrate data from different antennas according to timestamps, and perform data cleaning, denoising and format conversion on the integrated data.

[0045] Among them, the data preprocessing module, data cleaning includes removing invalid data and filling missing values. Removing invalid data identifies and removes obviously erroneous or invalid data points for removal, filling missing values ​​in the case of data loss, and filling missing data by interpolation; denoising processing includes filtering, which reduces the impact of noise on data through median filtering, and format conversion converts the cleaned and denoised data into a unified standard format, and performs quality assessment on the preprocessed data.

[0046] Among them, the inertial navigation module is used to use the built-in accelerometer and gyroscope to estimate the attitude and motion state of the door crane and provide temporary position and direction information when the Beidou signal is interfered with or lost; when the Beidou signal is normal, the accelerometer and gyroscope are calibrated to eliminate the inherent deviation and drift error of the sensor, and based on the high-precision position and attitude information provided by the Beidou dual-antenna positioning module, the initial state of the inertial navigation system is initialized, including the initial position, speed and attitude angle. The inertial navigation module continuously obtains real-time data from the accelerometer and gyroscope. The accelerometer measures the acceleration along three orthogonal axes, and the attitude is corrected by the accelerometer data to eliminate the drift error of the gyroscope, and the attitude information is represented by the rotation matrix.

[0047] Among them, the inertial navigation module uses the acceleration data provided by the accelerometer to first obtain speed information through a single integration, and then obtains displacement information through a secondary integration. It predicts the position and direction at the next moment based on the current speed and attitude information. When the Beidou signal is restored, the position and attitude information obtained by the inertial navigation is integrated with the latest data provided by Beidou. Based on the fresh data of the Beidou signal, the internal parameters of the inertial navigation system are adjusted to correct the accumulated error. During the entire process, even if the Beidou signal is temporarily unavailable, the inertial navigation module can continue to provide the position and direction information of the door crane. If a long period of Beidou signal loss or a large positioning error is detected, the corresponding alarm mechanism will be triggered to remind the operator to pay attention to potential risks.

[0048] Among them, the adaptive filtering module is used to receive data from the data preprocessing module and the inertial navigation module, remove noise and outliers through the adaptive filtering algorithm, and pass it to the intelligent correction module after optimizing the data quality; receive Beidou positioning data from the data preprocessing module and accelerometer and gyroscope data from the inertial navigation module, fuse the Beidou positioning data and inertial navigation data through the Kalman filtering algorithm, set the initial parameters of the adaptive filtering algorithm, analyze the noise characteristics of the input data, identify the statistical characteristics of possible system noise and measurement noise, and dynamically adjust the noise parameters in the filter based on the real-time data analysis results. Through the prediction and update steps of the Kalman filtering algorithm, remove noise and outliers in the data, and provide the high-quality data set after adaptive filtering processing to the intelligent correction module.

[0049] Among them, the intelligent correction module is used to obtain data processed by the adaptive filtering module, automatically adjust system parameters to compensate for errors, and send the final correction results to the remote monitoring and early warning module; receive filtered and optimized position and posture information from the adaptive filtering module, perform preliminary verification on the received data, build an error model based on historical data and the current system operation status, conduct in-depth analysis of the collected data through machine learning, identify potential error sources and their influencing rules, and automatically adjust key parameters within the system according to the results of the error model. For detected errors, immediately apply corresponding correction measures, and package the final position and posture information after intelligent correction into a standard format and send it to the remote monitoring and early warning module.

[0050] Among them, the remote monitoring and early warning module is used to obtain high-precision data from the intelligent correction module, exchange data with external devices through the communication module, monitor the door machine status in real time, and trigger an alarm according to preset conditions; receive the corrected high-precision position and posture information from the intelligent correction module, and analyze the working status of the door machine in real time based on the received data, including changes in key indicators such as rotation angle, speed, acceleration, etc., and evaluate whether the operating status of the door machine is normal according to the preset normal range and threshold. When it is detected that the status of the door machine exceeds the preset normal range, an alarm is triggered, and the real-time status data of the door machine is uploaded to the designated external device through the communication module.

[0051] Among them, the communication module is used to build a bridge between the entire system and the outside world to ensure reliable data transmission; the data collected from each module is encapsulated according to a predefined format, necessary header information is added, the received data packets are decapsulated at the receiving end, the original data is extracted, and the data information is transmitted through wireless communication technology.

[0052] Working principle: By installing two relatively fixed but different-positioned Beidou receiving antennas on the gantry crane, Beidou satellite signals are received in real time. Each antenna independently receives signals sent by multiple satellites, extracts original observation data containing key information such as timestamps, pseudoranges, and carrier phases, and calculates the difference in satellite distances received by the two antennas at the same time to obtain the rotation angle of the gantry crane. The relative position change data of different time periods are fused to form a continuous time series data set, and the Kalman filter is used to further optimize the data quality, and finally output high-precision position information. When the Beidou signal is normal, the accelerometer and gyroscope are calibrated to eliminate the inherent deviation and drift error of the sensor. Based on the high-precision positioning provided by the Beidou dual-antenna positioning module The inertial navigation system is initialized with position and attitude information. When the Beidou signal is interfered with or lost, the inertial navigation module uses the real-time data of the accelerometer and gyroscope to obtain the speed, displacement and attitude information of the gantry crane through integration operation, and provides temporary position and direction information. After the Beidou signal is restored, the data obtained by the inertial navigation is integrated with the latest data provided by Beidou, the internal parameters of the inertial navigation system are adjusted, the accumulated error is corrected, and the original observation data of the Beidou dual-antenna positioning module is received, including timestamp, satellite number, pseudorange and carrier phase information. The data from different antennas are integrated according to the timestamp, and data cleaning, denoising and format conversion are performed to convert the cleaned and denoised data into a unified standard format. , perform quality assessment on the pre-processed data, receive Beidou positioning data from the data pre-processing module and accelerometer and gyroscope data from the inertial navigation module, fuse the Beidou positioning data and inertial navigation data through the Kalman filter algorithm, set the initial parameters of the adaptive filtering algorithm, analyze the noise characteristics of the input data, identify the statistical characteristics of possible system noise and measurement noise, dynamically adjust the noise parameters in the filter based on the real-time data analysis results, remove noise and outliers in the data through the prediction and update steps of the Kalman filter algorithm, provide the high-quality data set after adaptive filtering processing to the intelligent correction module, receive the filtered and optimized position and attitude information from the adaptive filtering module, The received data is preliminarily verified, and an error model is constructed based on historical data and the current operating status of the system. The collected data is deeply analyzed through machine learning to identify potential error sources and their influencing patterns. According to the results of the error model, the key parameters within the system are automatically adjusted. For detected errors, the corresponding correction measures are immediately applied, and the final position and posture information after intelligent correction is packaged into a standard format and sent to the remote monitoring and early warning module. The remote monitoring and early warning module receives the high-precision position and posture information after correction from the intelligent correction module. Based on the received data, the working status of the door crane is analyzed in real time, including changes in key indicators such as rotation angle, speed, acceleration, etc. According to the preset normal range and threshold,Evaluate whether the door machine's operating status is normal. When it is detected that the door machine's status exceeds the preset normal range, an alarm is triggered and the door machine's real-time status data is uploaded to the designated external device through the communication module so that the monitoring personnel can take timely measures.

[0053] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

[0054] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. The gantry crane rotation angle monitoring system based on Beidou positioning is characterized by: It includes Beidou dual-antenna positioning module, inertial navigation module, data preprocessing module, adaptive filtering module, intelligent correction module, remote monitoring and early warning module, power management module and communication module; The Beidou dual-antenna positioning module is used to obtain high-precision location information; The inertial navigation module is used to estimate the attitude and motion state of the door crane using the built-in accelerometer and gyroscope when the Beidou signal is interfered with or lost, providing temporary position and direction information; The data preprocessing module is used to perform preliminary processing on the raw data collected by the Beidou positioning module, including data cleaning, denoising and format conversion; The adaptive filtering module is used to receive data from the data preprocessing module and the inertial navigation module, remove noise and outliers through the adaptive filtering algorithm, and pass the data to the intelligent correction module after optimizing the data quality; The intelligent correction module is used to obtain data processed by the adaptive filtering module, automatically adjust system parameters to compensate for errors, and send the final correction results to the remote monitoring and early warning module; The remote monitoring and early warning module is used to obtain high-precision data from the intelligent correction module, exchange data with external devices through the communication module, monitor the door machine status in real time, and trigger alarms according to preset conditions; The power management module is used to manage and optimize the power supply of each component in the system; The communication module is used to build a bridge between the entire system and the outside world to ensure reliable data transmission.

2. The door crane rotation angle monitoring system based on Beidou positioning according to claim 1 is characterized in that: The Beidou dual-antenna positioning module is used to obtain high-precision position information; by selecting two relatively fixed but different positions of the Beidou receiving antennas on the gantry crane, calibration is performed after the installation is completed, and the Beidou dual-antenna positioning module receives Beidou satellite signals in real time. Each antenna will independently receive signals sent by multiple satellites, and extract the original observation data containing key information such as timestamp, pseudorange and carrier phase from the received Beidou satellite signals. The relative position change between the two is calculated through the data received by the dual antennas. By comparing the difference in satellite distance measured by the two antennas at the same time, the rotation angle of the gantry crane during this period is obtained. The relative position change data obtained in different time periods are fused and processed to form a continuous time series data set. The data is further optimized through the Kalman filter. The processed data is the required high-precision position information and is transmitted to the data processing module.

3. The Beidou positioning-based gantry crane rotation angle monitoring system according to claim 1 is characterized in that: The data preprocessing module is used to perform preliminary processing on the raw data collected by the Beidou positioning module, including data cleaning, denoising and format conversion; receive raw observation data from the Beidou dual-antenna positioning module, including timestamp, satellite number, pseudorange and carrier phase information; integrate the data from different antennas according to the timestamp, and perform data cleaning, denoising and format conversion on the integrated data.

4. The gantry crane rotation angle monitoring system based on Beidou positioning according to claim 3 is characterized in that: The data preprocessing module, data cleaning includes removing invalid data and filling missing values. Removing invalid data identifies and removes obviously erroneous or invalid data points for removal. Filling missing values ​​fills missing data by interpolation in the case of data loss; Denoising processing includes filtering, which reduces the impact of noise on data through median filtering. Format conversion converts the cleaned and denoised data into a unified standard format, and performs quality assessment on the pre-processed data.

5. The gantry crane rotation angle monitoring system based on Beidou positioning according to claim 1 is characterized in that: The inertial navigation module is used to estimate the attitude and motion state of the door crane using the built-in accelerometer and gyroscope when the Beidou signal is interfered with or lost, providing temporary position and direction information; when the Beidou signal is normal, the accelerometer and gyroscope are calibrated to eliminate the inherent deviation and drift error of the sensor, and based on the high-precision position and attitude information provided by the Beidou dual-antenna positioning module, the initial state of the inertial navigation system, including the initial position, velocity and attitude angle, is initialized. The inertial navigation module continuously obtains real-time data from the accelerometer and gyroscope. The accelerometer measures acceleration along three orthogonal axes, and the attitude is corrected using the accelerometer data to eliminate the drift error of the gyroscope, and the attitude information is represented by a rotation matrix.

6. The Beidou positioning-based gantry crane rotation angle monitoring system according to claim 5 is characterized in that: The inertial navigation module uses the acceleration data provided by the accelerometer to first obtain speed information through a single integration, and then obtain displacement information through a secondary integration. The position and direction at the next moment are predicted based on the current speed and attitude information. When the Beidou signal is restored, the position and attitude information obtained by the inertial navigation is integrated with the latest data provided by Beidou. Based on the fresh data of the Beidou signal, the internal parameters of the inertial navigation system are adjusted to correct the accumulated error. During the entire process, even if the Beidou signal is temporarily unavailable, the inertial navigation module can continue to provide the position and direction information of the door crane. If a long period of Beidou signal loss or a large positioning error is detected, the corresponding alarm mechanism is triggered to remind the operator of potential risks.

7. The gantry crane rotation angle monitoring system based on Beidou positioning according to claim 1 is characterized in that: The adaptive filtering module is used to receive data from the data preprocessing module and the inertial navigation module, remove noise and outliers through an adaptive filtering algorithm, and pass the data to the intelligent correction module after optimizing the data quality; receive Beidou positioning data from the data preprocessing module and accelerometer and gyroscope data from the inertial navigation module, fuse the Beidou positioning data and the inertial navigation data through a Kalman filtering algorithm, set the initial parameters of the adaptive filtering algorithm, analyze the noise characteristics of the input data, identify the statistical characteristics of possible system noise and measurement noise, dynamically adjust the noise parameters in the filter based on the real-time data analysis results, remove noise and outliers in the data through the prediction and update steps of the Kalman filtering algorithm, and provide the high-quality data set after adaptive filtering processing to the intelligent correction module.

8. The Beidou positioning-based gantry crane rotation angle monitoring system according to claim 1 is characterized in that: The intelligent correction module is used to obtain data processed by the adaptive filtering module, automatically adjust system parameters to compensate for errors, and send the final correction results to the remote monitoring and early warning module; receive filtered and optimized position and posture information from the adaptive filtering module, perform preliminary verification on the received data, build an error model based on historical data and the current system operation status, conduct in-depth analysis of the collected data through machine learning, identify potential error sources and their influencing patterns, and automatically adjust key parameters within the system based on the results of the error model. For detected errors, immediately apply corresponding correction measures, package the final position and posture information after intelligent correction into a standard format, and send it to the remote monitoring and early warning module.

9. The gantry crane rotation angle monitoring system based on Beidou positioning according to claim 1 is characterized in that: The remote monitoring and early warning module is used to obtain high-precision data from the intelligent correction module, exchange data with external devices through the communication module, monitor the door machine status in real time, and trigger alarms according to preset conditions; The intelligent correction module receives high-precision position and attitude information that has been corrected. Based on the received data, the door crane's operating status is analyzed in real time, including changes in key indicators such as rotation angle, speed, and acceleration. Based on the preset normal range and threshold, the system evaluates whether the door crane's operating status is normal. When it is detected that the door crane's status exceeds the preset normal range, an alarm is triggered, and the door crane's real-time status data is uploaded to the designated external device through the communication module.

10. The gantry crane rotation angle monitoring system based on Beidou positioning according to claim 1 is characterized in that: The communication module is used to build a bridge between the entire system and the outside world to ensure reliable data transmission; the data collected from each module is encapsulated according to a predefined format, necessary header information is added, and the received data packets are decapsulated at the receiving end to extract the original data, and the data information is transmitted through wireless communication technology.

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