Fusion positioning method, device, equipment, medium and product

Abstract

The invention discloses a fusion positioning method, device and equipment, a medium and a product, and relates to tunneling equipment positioning. According to distance information measured by a millimeter-wave radar and an attitude angle, measured by a navigator, of tunneling equipment, a first distance deviation of a body rotation center of the tunneling equipment relative to a theoretical center line of a roadway is determined; according to the point cloud data obtained by scanning of the laser radar and the attitude angle, measured by the navigator, of the tunneling equipment, the second distance deviation of the body rotation center of the tunneling equipment relative to the theoretical center line of the roadway is determined; according to the distance information measured by the UWB range radar, the position variation of the tunneling equipment in the footage direction is determined; and fusing the first distance deviation, the second distance deviation and the position variation in the footage direction to obtain the position of the tunneling equipment. The measurement modes of the navigator, the UWB range radar, the millimeter wave radar and the laser radar are integrated, and the positioning precision and reliability of the tunneling equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of tunneling equipment positioning, and in particular to a fusion positioning method, device, equipment, medium and product. Background Art

[0002] Tunneling equipment positioning refers to the technology used to determine the current position and posture of tunneling equipment during tunnel construction. This is a critical step in tunnel construction, directly impacting the accuracy and quality of tunnel construction. Tunneling equipment positioning presents challenges due to the lack of Global Positioning System (GPS) signals in underground environments, the harsh construction environment (dust, vibration, humidity), the accumulation of errors during long tunneling distances, and the high real-time requirements.

[0003] Existing positioning methods include laser guidance, machine vision, and inertial navigation. Laser guidance uses a laser beam as a reference for positioning. This method offers high precision but is limited by tunnel environments. Machine vision uses visual sensors to perform positioning through real-time map construction, matching, and updates. This method suffers from high computational complexity and low timeliness. Inertial navigation uses gyroscopes and accelerometers for positioning. This method is highly autonomous and unaffected by the external environment, but it can suffer from cumulative errors and requires regular calibration. Summary of the Invention

[0004] The purpose of this application is to provide a fusion positioning method, device, equipment, medium and product to improve positioning accuracy and reliability.

[0005] To achieve the above objectives, this application provides the following solutions.

[0006] In a first aspect, the present application provides a fusion positioning method for positioning tunneling equipment. The tunneling equipment is provided with: a navigator, a UWB (Ultra-WideBand) ranging radar, a millimeter-wave radar, and a lidar. A reference guide rail is provided on the top plate of the tunnel where the tunneling equipment is located. The installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current mission phase. The fusion positioning method includes: Determine the first distance deviation of the rotation center of the tunneling equipment relative to the theoretical centerline of the tunnel based on the distance information measured by the millimeter-wave radar and the attitude angle of the tunneling equipment measured by the navigator; Determine the second distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the tunnel based on the point cloud data obtained by the laser radar scan and the tunneling equipment's attitude angle measured by the navigator. Determine the position change of the tunneling equipment in the footage direction based on the distance information measured by the UWB ranging radar; The position of the tunneling equipment is determined based on the position change of the tunneling equipment in the footage direction and the first distance deviation and the second distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel.

[0007] In a second aspect, the present application provides a fusion positioning device, which includes: a navigator, a UWB ranging radar, a millimeter wave radar, a laser radar, a reference guide rail, and an industrial computer; The navigator, the UWB ranging radar, the millimeter wave radar, and the laser radar are all arranged on the tunneling equipment, the reference guide rail is arranged on the top plate of the tunnel where the tunneling equipment is located, and the installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current mission stage; The navigator, the UWB ranging radar, the millimeter wave radar, and the laser radar are all connected to the industrial computer; The industrial computer is used to determine the position of the tunneling equipment using the above-mentioned fusion positioning method.

[0008] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned fusion positioning method.

[0009] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned fusion positioning method when executed by a processor.

[0010] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the above-mentioned fusion positioning method when executed by a processor.

[0011] According to the specific embodiments provided in this application, this application has the following technical effects.

[0012] The present application provides a fusion positioning method, apparatus, device, medium, and product. This application determines a first distance deviation of the tunneling equipment's body rotation center relative to the theoretical centerline of the tunnel based on distance information measured by a millimeter-wave radar and the tunneling equipment's attitude angle measured by a navigator; determines a second distance deviation of the tunneling equipment's body rotation center relative to the theoretical centerline of the tunnel based on point cloud data obtained by a laser radar scan and the tunneling equipment's attitude angle measured by a navigator; determines the tunneling equipment's position change in the footage direction based on distance information measured by an ultrawideband (UWB) ranging radar; and determines the tunneling equipment's position based on the tunneling equipment's position change in the footage direction and the first and second distance deviations of the tunneling equipment's body rotation center relative to the theoretical centerline of the tunnel. This application integrates the measurement methods of a navigator, UWB ranging radar, millimeter-wave radar, and laser radar, improving the accuracy and reliability of tunneling equipment positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 A flowchart of a fusion positioning method provided in one embodiment of the present application.

[0015] Figure 2 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0017] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0018] In an exemplary embodiment, the present application provides a fusion positioning method for positioning tunneling equipment. The tunneling equipment is provided with: a navigator, a UWB ranging radar, a millimeter wave radar, and a lidar. A reference guide rail is provided on the top plate of the tunnel where the tunneling equipment is located. The installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment at the current mission stage, such as Figure 1 As shown, the fusion positioning method includes the following steps 101 to 104.

[0019] Step 101 : Determine a first distance deviation of a rotation center of the tunneling equipment relative to a theoretical center line of the tunnel based on distance information measured by a millimeter-wave radar and an attitude angle of the tunneling equipment measured by a navigator.

[0020] Step 102 : Determine a second distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel based on the point cloud data obtained by the laser radar scanning and the attitude angle of the tunneling equipment measured by the navigator.

[0021] Step 103 : Determine the position change of the tunneling equipment in the footage direction based on the distance information measured by the UWB ranging radar.

[0022] Step 104 , determining the position of the tunneling equipment according to the position change of the tunneling equipment in the footage direction and the first distance deviation and the second distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel.

[0023] Steps 101-104 above integrate the measurement methods of a navigation system, UWB ranging radar, millimeter-wave radar, and lidar, improving the accuracy and reliability of tunneling equipment positioning. This embodiment of the present application utilizes a combination of navigation, UWB ranging radar, millimeter-wave radar, lidar, and reference guide rails to measure the footage, elevation difference, deviation, and attitude of tunneling equipment within the tunnel coordinate system. This results in an automatic positioning and attitude measurement system that meets all conditions of autonomous cutting for tunneling equipment. This system addresses the positioning challenges of underground tunneling equipment and lays the foundation for intelligent and unmanned operations.

[0024] In another exemplary embodiment, there are four millimeter-wave radars, which are respectively located at the front left, rear left, front right, and rear right of the tunneling equipment. The implementation principle of step 101 is as follows: The navigation measurement obtains the heading angle yaw of the tunneling equipment, the target heading yaw_target of the tunnel, and the difference in the heading angle of the tunneling equipment relative to the target yaw1=yaw-yaw_target.

[0025] The distance between the left side of the fuselage and the left side of the road measured by the left millimeter-wave radar is: Given a fixed tunnel width L and tunneling equipment width D, when the tunneling equipment is at the theoretical centerline of the tunnel, the distance between the side of the tunneling equipment and the tunnel sidewall is: The distance between the fuselage rotation center and the roadway centerline measured by the left millimeter-wave radar is: In the above formula, is the distance deviation of the fuselage rotation center relative to the theoretical centerline of the tunnel, measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment, i=1,2. When i=1, the i-th millimeter-wave radar located on the left side of the tunneling equipment is the millimeter-wave radar located to the left front of the tunneling equipment. When i=2, the i-th millimeter-wave radar located on the left side of the tunneling equipment is the millimeter-wave radar located to the left rear of the tunneling equipment. is the distance between the left side of the machine body and the left side of the tunnel measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment, is the distance between the side of the tunneling equipment and the side wall of the tunnel when the tunneling equipment is at the theoretical center line of the tunnel, L is the tunnel width, D is the width of the tunneling equipment, is the distance information measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment, is the lateral distance between the installation position of the i-th millimeter-wave radar located on the left side of the tunneling equipment and the left side of the fuselage, is the vertical distance between the installation position of the i-th millimeter-wave radar on the left side of the tunneling equipment and the rotation center of the fuselage, It is the heading angle difference of the tunneling equipment relative to the target.

[0026] Similarly, the distance between the right side of the fuselage and the right side of the road measured by the right millimeter-wave radar is: The distance between the fuselage rotation center and the roadway centerline measured by the right millimeter-wave radar is: In the above formula, is the distance deviation of the fuselage rotation center relative to the theoretical centerline of the tunnel, measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment, j=1,2. When j=1, the j-th millimeter-wave radar located on the right side of the tunneling equipment is the millimeter-wave radar located to the right front of the tunneling equipment. When j=2, the j-th millimeter-wave radar located on the right side of the tunneling equipment is the millimeter-wave radar located to the right rear of the tunneling equipment. is the distance between the right side of the machine body and the right side of the tunnel measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment, is the distance information measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment, is the lateral distance between the installation position of the jth millimeter-wave radar located on the right side of the tunneling equipment and the right side of the fuselage, is the vertical distance between the installation position of the j-th millimeter-wave radar located on the right side of the tunneling equipment and the rotation center of the fuselage.

[0027] Four millimeter-wave radars are installed on the tunneling equipment, namely the left front, left rear, right front, and right rear. The average of the results is obtained to obtain the distance between the rotation center of the tunneling equipment body and the centerline of the tunnel measured by the millimeter-wave radar: in, It is the first distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel.

[0028] In another exemplary embodiment, the above step 102 may be replaced by the following steps 201 to 203 .

[0029] Step 201: Determine the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system based on the point cloud data obtained by laser radar scanning.

[0030] Step 202, construct a first rotation matrix and a second rotation matrix based on the attitude angle; the first rotation matrix is ​​the rotation matrix of the lidar coordinate system relative to the target heading coordinate system, and the second rotation matrix is ​​the rotation matrix of the tunneling equipment body coordinate system relative to the target heading coordinate system; the tunneling equipment body coordinate system is constructed with the tunneling equipment body rotation center as the origin.

[0031] Step 203: Determine the second distance deviation of the rotation center of the tunneling equipment body relative to the theoretical center line of the tunnel based on the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system, the first rotation matrix, and the second rotation matrix.

[0032] The specific implementation of step 201 is as follows.

[0033] Among all the point cloud data in the current scanning cycle, the point cloud data of the top plate is selected using the following formula: and in, and are the lower and upper limits of the distance of the top plate point cloud data, and They are the lower and upper limits of the angle of the point cloud data of the top plate, point.distance is the distance information in the point cloud data, and point.angle is the angle information in the point cloud data.

[0034] The clustering algorithm is used to cluster the point cloud data of the roof and three point cloud data clusters are obtained.

[0035] The point cloud data cluster that satisfies the following formula is determined as the point cloud data cluster of the reference guide rail: and in, and are the lower and upper limits of the x-axis coordinate span of the point cloud data of the reference guide rail, and The lower and upper limits of the number of point cloud data for the reference guide, is the span of the x-axis coordinates of different point cloud data in the point cloud data cluster, It is the span redundancy deviation, which can be 0.05 or other data. It can be set according to needs and will not be described here. is the number of point cloud data in the point cloud data cluster.

[0036] The average value of each point cloud data in the point cloud data cluster of the reference guide rail is calculated as the three-dimensional coordinate of the reference guide rail in the lidar coordinate system.

[0037] In the above step 202, the first rotation matrix is: in, is the first rotation matrix, 、 、 are the rotation angles of the lidar coordinate system relative to the target heading coordinate system in the X-axis, Y-axis, and Z-axis directions, respectively. , , ; 、 and They are the heading angle, pitch angle and roll angle of the tunneling equipment respectively. The target heading of the tunneling equipment at the current mission stage; The second rotation matrix is: in, is the second rotation matrix, 、 、 are the rotation angles of the tunneling equipment body coordinate system relative to the target heading coordinate system in the X-axis, Y-axis and Z-axis directions, respectively. , , .

[0038] In another exemplary embodiment, the specific implementation of step 203 is as follows: Based on the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system and the first rotation matrix, the following formula is used to determine the distance information between the laser radar and the reference guide rail in the target heading coordinate system; in, is the distance information between the laser radar and the reference guide rail in the target heading coordinate system, is the three-dimensional coordinate of the reference rail in the laser radar coordinate system, and are the x-axis and y-axis coordinates of the reference rail in the lidar coordinate system.

[0039] Based on the three-dimensional coordinates of the laser radar in the tunneling equipment body coordinate system and the second rotation matrix, the following formula is used to determine the distance information between the laser radar and the rotation center of the tunneling equipment body in the target heading coordinate system; in, is the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system, is the second rotation matrix, is the three-dimensional coordinate of the laser radar in the coordinate system of the tunneling equipment body, 、 、 They are the x-axis, y-axis and z-axis coordinates of the laser radar in the coordinate system of the tunneling equipment body.

[0040] Based on the distance information between the laser radar and the reference guide rail in the target heading coordinate system and the distance information between the laser radar and the rotation center of the tunneling equipment in the target heading coordinate system, the following formula is used to determine the distance information of the rotation center of the tunneling equipment relative to the reference guide rail. in, It is the distance information of the rotation center of the tunneling equipment relative to the reference guide rail.

[0041] Based on the x-axis distance of the tunneling equipment's rotation center relative to the reference guide rail, use the following formula to determine the deviation of the tunneling equipment's rotation center from the theoretical centerline of the roadway mining. in, The second distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel mining, The x-axis distance between the rotation center of the tunneling equipment and the reference guide rail. It is the distance between the reference guide rail and the theoretical center line of the tunnel mining.

[0042] In another exemplary embodiment, the deviation of the laser radar relative to the centerline of the roadway measured in the roadway coordinate system is , the deviations measured by the four millimeter-wave radars are Since the millimeter wave measurement value is the average value of the left and right sides of the roadway, there is an error value relative to the laser radar measurement value. : Error value As the equipment moves constantly, the dust around the tunneling equipment is very large during cutting, which will cause the LiDAR measurement value to lose accuracy. Therefore, the error value is set when the tunneling equipment starts cutting. Fixed at this moment After that, the position change of the tunneling equipment is detected by millimeter wave radar and The difference is calculated as: in, The current distance deviation between the rotation center of the tunnel boring machine and the theoretical center line of the tunnel. is the first distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel at the current sampling time t, is the measurement error at the target time T, is the second distance deviation of the rotation center of the tunneling equipment at the target time T relative to the theoretical center line of the tunnel, It is the first distance deviation of the rotation center of the tunneling equipment at the target time T relative to the theoretical center line of the tunnel. The target time T is the sampling time that is closest to the current sampling time t and meets the measurement requirements of the laser radar.

[0043] In another exemplary embodiment, the above step 104 may be replaced by the following steps 301 to 304 .

[0044] Step 301: determine whether the environment of the tunneling equipment at the current sampling time meets the measurement requirements of the laser radar, and obtain a determination result; Step 302: If the judgment result is yes, determine the current distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel as the second distance deviation; Step 303: If the judgment result is negative, determine the current distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel: Step 304: Determine the position of the tunneling equipment in the direction of advancement based on the position change of the tunneling equipment in the direction of advancement.

[0045] Among them, judging whether the environment of the tunneling equipment at the current sampling time meets the measurement requirements of the lidar and obtaining the judgment result specifically includes: If the absolute value of the difference between the second distance deviation at the current sampling moment and the second distance deviation at the previous sampling moment is not greater than the preset threshold, the judgment result is determined to be that the environment in which the tunneling equipment is located at the current sampling moment meets the measurement requirements of the laser radar; otherwise, the judgment result is determined to be that the environment in which the tunneling equipment is located at the current sampling moment does not meet the measurement requirements of the laser radar.

[0046] Based on the same inventive concept, the present application also provides a fusion positioning device for implementing the aforementioned fusion positioning method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more fusion positioning device embodiments provided below can be found in the above-mentioned limitations of the fusion positioning method and will not be repeated here.

[0047] In an exemplary embodiment, a fusion positioning device is provided, including: a navigator, a UWB ranging radar, a millimeter wave radar, a laser radar, a reference guide rail and an industrial computer; the navigator, the UWB ranging radar, the millimeter wave radar and the laser radar are all arranged on the tunneling equipment, the reference guide rail is arranged on the top plate of the tunnel where the tunneling equipment is located, and the installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current mission stage; the navigator, the UWB ranging radar, the millimeter wave radar and the laser radar are all connected to the industrial computer; the industrial computer is used to use the above-mentioned fusion positioning method to determine the position of the tunneling equipment.

[0048] The inertial navigation system installed on the tunneling equipment measures its attitude, including heading, pitch, and roll. Based on the target heading provided by the underground survey team and the measured heading angle, the yaw angle of the tunneling equipment relative to the mining direction can be calculated.

[0049] The UWB ranging radar consists of two antenna modules: one mounted above the belt frame at the rear of the machine, its position remaining constant during a cutting cycle; the other mounted to the left side of the rear of the machine. The UWB ranging radar measures the straight-line distance between the two antenna modules. By calibrating the position and measuring the navigation attitude angle, it measures the change in the tunneling equipment's footage in the tunnel coordinate system.

[0050] There are four millimeter-wave radars, installed on the left front, left rear, right front and right rear of the fuselage. By measuring the distance to the left and right sides of the tunnel, combined with the navigation attitude information and installation position error, the distance between the rotation center of the tunneling equipment and the theoretical center line of the tunnel coordinate system is calculated.

[0051] The laser radar measures the reference guide rail installed on the tunnel roof, combines it with the navigation posture information, and combines it with the position information of the rotation center of the tunneling equipment to obtain the distance between the rotation center and the theoretical center line of the tunnel.

[0052] During cutting, excessive dust can cause significant errors in LiDAR deviation data. Irregularities in the tunnel walls mean that millimeter-wave radar measurements are not accurate deviations from the theoretical centerline of the tunnel. Therefore, they must be combined with LiDAR measurements. LiDAR data is used during the autonomous driving phase of the tunneling equipment. At the start of cutting, LiDAR is used to calibrate the millimeter-wave radar deviation data. The calibrated millimeter-wave radar measurements are then used throughout the cutting process.

[0053] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 2As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a fusion positioning method is implemented.

[0054] Those skilled in the art will understand that Figure 2 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application and does not constitute a limitation on the computer device to which the solution of the present application is applied. A specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement. In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the above-mentioned method embodiments when executing the computer program.

[0055] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0056] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0057] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0058] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0059] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0060] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A fusion positioning method, characterized in that: The fusion positioning method is used to locate tunneling equipment. The tunneling equipment is provided with: a navigator, a UWB ranging radar, a millimeter wave radar, and a laser radar. A reference guide rail is provided on the top plate of the tunnel where the tunneling equipment is located. The installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current mission phase. The fusion positioning method includes: Determine the first distance deviation of the rotation center of the tunneling equipment relative to the theoretical centerline of the tunnel based on the distance information measured by the millimeter-wave radar and the attitude angle of the tunneling equipment measured by the navigator; Determine the second distance deviation of the tunneling equipment's rotation center relative to the theoretical centerline of the tunnel based on the point cloud data obtained by the laser radar scan and the tunneling equipment's attitude angle measured by the navigator. Determine the position change of the tunneling equipment in the footage direction based on the distance information measured by the UWB ranging radar; The position of the tunneling equipment is determined based on the position change of the tunneling equipment in the footage direction and the first distance deviation and the second distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel.

2. The fusion positioning method according to claim 1, characterized in that: There are four millimeter-wave radars, which are respectively located at the front left, rear left, front right, and rear right of the tunneling equipment.

3. The fusion positioning method according to claim 2, characterized in that: Based on the distance information measured by the millimeter-wave radar and the attitude angle of the tunneling equipment measured by the navigator, the first distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel is determined, specifically including: Based on the distance information measured by the millimeter-wave radar located at the left front and left rear of the tunneling equipment and the attitude angle of the tunneling equipment measured by the navigator, the following formula is used to calculate the distance deviation of the fuselage rotation center measured by the millimeter-wave radar located at the left front and left rear of the tunneling equipment relative to the theoretical center line of the roadway; ； ； ； in, is the distance deviation of the fuselage rotation center relative to the theoretical centerline of the tunnel, measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment, i=1,2. When i=1, the i-th millimeter-wave radar located on the left side of the tunneling equipment is the millimeter-wave radar located to the left front of the tunneling equipment. When i=2, the i-th millimeter-wave radar located on the left side of the tunneling equipment is the millimeter-wave radar located to the left rear of the tunneling equipment. is the distance between the left side of the machine body and the left side of the tunnel measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment, is the distance between the side of the tunneling equipment and the side wall of the tunnel when the tunneling equipment is at the theoretical center line of the tunnel, L is the tunnel width, D is the width of the tunneling equipment, is the distance information measured by the i-th millimeter-wave radar located on the left side of the tunneling equipment, is the lateral distance between the installation position of the i-th millimeter-wave radar located on the left side of the tunneling equipment and the left side of the fuselage, is the vertical distance between the installation position of the i-th millimeter-wave radar on the left side of the tunneling equipment and the rotation center of the fuselage, is the heading angle difference of the tunneling equipment relative to the target; Based on the distance information measured by the millimeter-wave radar located at the right front and right rear of the tunneling equipment and the attitude angle of the tunneling equipment measured by the navigator, the following formula is used to calculate the distance deviation of the fuselage rotation center measured by the millimeter-wave radar located at the right front and right rear of the tunneling equipment relative to the theoretical center line of the roadway; ； ； in, is the distance deviation of the fuselage rotation center relative to the theoretical centerline of the tunnel, measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment, j=1,2. When j=1, the j-th millimeter-wave radar located on the right side of the tunneling equipment is the millimeter-wave radar located to the right front of the tunneling equipment. When j=2, the j-th millimeter-wave radar located on the right side of the tunneling equipment is the millimeter-wave radar located to the right rear of the tunneling equipment. is the distance between the right side of the machine body and the right side of the tunnel measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment, is the distance information measured by the j-th millimeter-wave radar located on the right side of the tunneling equipment, is the lateral distance between the installation position of the jth millimeter-wave radar located on the right side of the tunneling equipment and the right side of the fuselage, is the vertical distance between the installation position of the jth millimeter-wave radar located on the right side of the tunneling equipment and the rotation center of the fuselage; Calculate a first distance deviation of the rotation center of the tunneling equipment relative to the theoretical centerline of the tunnel using the following formula based on distance deviations of the rotation center of the tunneling equipment relative to the theoretical centerline of the tunneling equipment measured by millimeter-wave radars located at the left front, left rear, right front, and right rear of the tunneling equipment. ； in, It is the first distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel.

4. The fusion positioning method according to claim 1, characterized in that: Based on the point cloud data obtained by the laser radar scanning and the attitude angle of the tunneling equipment measured by the navigation system, the second distance deviation of the rotation center of the tunneling equipment body relative to the theoretical center line of the roadway is determined, specifically including: Determine the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system based on the point cloud data obtained by laser radar scanning; Constructing a first rotation matrix and a second rotation matrix based on the attitude angle; the first rotation matrix is ​​a rotation matrix of the laser radar coordinate system relative to the target heading coordinate system, and the second rotation matrix is ​​a rotation matrix of the tunneling equipment body coordinate system relative to the target heading coordinate system; the tunneling equipment body coordinate system is constructed with the tunneling equipment body rotation center as the origin; Based on the three-dimensional coordinates of the reference guide rail in the laser radar coordinate system, the three-dimensional coordinates of the laser radar in the coordinate system of the tunneling equipment body, the first rotation matrix and the second rotation matrix, the second distance deviation of the rotation center of the tunneling equipment body relative to the theoretical center line of the tunnel is determined.

5. The fusion positioning method according to claim 1, characterized in that: The position of the tunneling equipment is determined based on the position change of the tunneling equipment in the footage direction and the first distance deviation and second distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel. Specifically, the following steps are performed: Determine whether the environment where the tunneling equipment is located at the current sampling time meets the measurement requirements of the lidar and obtain the judgment result; If the judgment result is yes, determining the current distance deviation of the rotation center of the machine body of the tunneling equipment relative to the theoretical center line of the tunnel as the second distance deviation; If the judgment result is no, then the current distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel is determined to be: ； ； in, The current distance deviation between the rotation center of the tunnel boring machine and the theoretical center line of the tunnel. is the first distance deviation of the rotation center of the tunneling equipment relative to the theoretical center line of the tunnel at the current sampling time t, is the measurement error at the target time T, is the second distance deviation of the rotation center of the tunneling equipment at the target time T relative to the theoretical center line of the tunnel, The first distance deviation of the rotation center of the tunneling equipment relative to the theoretical centerline of the tunnel at the target time T. The target time T is the sampling time closest to the current sampling time t and meets the measurement requirements of the lidar. The position of the tunneling equipment in the direction of footage is determined based on the position change of the tunneling equipment in the direction of footage.

6. The fusion positioning method according to claim 5, characterized in that: Determine whether the environment of the tunneling equipment at the current sampling time meets the measurement requirements of the lidar and obtain the judgment results, including: If the absolute value of the difference between the second distance deviation at the current sampling moment and the second distance deviation at the previous sampling moment is not greater than the preset threshold, the judgment result is determined to be that the environment in which the tunneling equipment is located at the current sampling moment meets the measurement requirements of the laser radar; otherwise, the judgment result is determined to be that the environment in which the tunneling equipment is located at the current sampling moment does not meet the measurement requirements of the laser radar.

7. A fusion positioning device, characterized in that: The fusion positioning device includes: a navigator, a UWB ranging radar, a millimeter wave radar, a laser radar, a reference guide rail and an industrial computer; The navigator, the UWB ranging radar, the millimeter wave radar, and the laser radar are all arranged on the tunneling equipment, the reference guide rail is arranged on the top plate of the tunnel where the tunneling equipment is located, and the installation direction of the reference guide rail is consistent with the target heading of the tunneling equipment in the current mission stage; The navigator, the UWB ranging radar, the millimeter wave radar, and the laser radar are all connected to the industrial computer; The industrial computer is used to determine the position of the tunneling equipment by using the fusion positioning method described in any one of claims 1 to 6.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the fusion positioning method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the fusion positioning method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the fusion positioning method according to any one of claims 1 to 6 is implemented.

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