Gate real-time positioning and attitude sensing device and method based on inertial measurement

Abstract

The invention discloses a gate real-time positioning and attitude sensing device and method based on inertial measurement, and belongs to the technical field of automatic monitoring and control of water conservancy projects. The device comprises an inertial measurement unit module, a storage module, a data processing and fusion resolving unit module and a data output and interface module. The inertial measurement unit module is rigidly installed on the gate body, the motion information of the gate is monitored in real time, errors caused by monitoring mechanical transmission in a traditional mode are avoided, meanwhile, the monitored gate motion information comprises the angular velocity and the acceleration of the gate, and through multi-dimensional sensing, the accuracy of monitoring is improved. A monitoring mode from one-dimensional opening measurement to multi-dimensional state perception is realized, and the reliability of a monitoring result is higher.

Description

TECHNICAL FIELD

[0001] The application relates to a kind of gate real-time positioning and attitude sensing device and method based on inertial measurement, and belongs to the technical field of water conservancy engineering automation monitoring and control. BACKGROUND

[0002] The water gate is widely used in water conservancy projects, and is usually built in river channels, canal systems, reservoirs, lakes and coastal areas. The gate of the water gate is an important hoist component of the water gate, and the opening degree thereof is controlled to realize the functions of water flow blocking, releasing and flow regulation. The accurate position and operating state of the gate of the water gate need to be monitored during the working process. In the traditional way, the gate position meter is used to monitor the gate opening degree, wherein the gate opening degree refers to the height and position of the gate opening, which is an important parameter representing the opening degree of the gate. The mechanical or photoelectric encoder connected with the drum of the hoist or the motor shaft is mainly used, and the displacement of the gate during the hoist process drives the encoder to rotate through the steel wire rope or gear transmission, converts the mechanical movement into an electric signal, and calculates the gate stroke by measuring the number of rotation turns.

[0003] The above-mentioned method indirectly measures the gate opening degree by using the gate position meter, and the following shortcomings exist in the measurement method. Since the gate position meter does not directly detect the actual displacement / angle of the gate body, but measures the movement of the auxiliary components (such as the hoist transmission shaft, the pull wire and the gear) linked with the gate through the intermediate links such as transmission coupling and mechanical conversion, any deviation, failure or interference (such as the slip of the steel wire rope, the elastic stretching or the layering error on the drum and the idle stroke of the mechanical transmission) of the intermediate links will cause a large measurement error of the detection data of the gate opening degree. The serious consequences caused by the rupture of the steel wire rope cannot be measured and fed back.

[0004] In order to ensure that the gate opening monitoring is more accurate, the Chinese invention patent with publication number CN 118089621 A discloses a method, system and related device based on inclination monitoring height, which collects the acceleration value of the first branch arm in the process of rotary motion through a sensor, then obtains the inclination of the first branch arm according to the acceleration value, and further obtains the lifting height of the first branch arm, which is equal to the lifting height of the gate. This patent uses a sensor to measure the acceleration value of the first branch arm to reflect the gate height. Although this gate opening uses a direct measurement method, it can reduce the error of the intermediate link. However, this patent can only be used for the opening measurement of an arc-shaped gate, and the application scenario is relatively narrow. Moreover, it provides one-dimensional test data (i.e. acceleration value data), which is single, has large error, and leads to insufficient test accuracy, so that the monitoring result still has low reliability. This is because when the branch arm is in a static or uniform motion state, the inclination of the branch arm relative to the horizontal plane can be accurately calculated by analyzing the components of gravity on each axis of the sensor. However, during the process of rotary motion, the acceleration, deceleration or direction change of the branch arm will produce additional inertial acceleration, which will be superimposed on the gravitational acceleration, resulting in distortion of the sensor reading, thus causing large error in the inclination calculation result based on only the gravitational component, and also failing to monitor the real-time attitude of the gate in operation (such as forward and backward pitching, left and right tilting, etc.), and unable to provide early warning for safety hazards such as "skewing", "climbing track" or abnormal vibration of the gate caused by track deformation, blockage or water flow impact, thus being difficult to ensure the safety of the gate during operation. SUMMARY

[0005] In order to solve the problems that the gate stroke monitoring process only monitors the gate opening through single data, lacks multi-dimensional state perception data, is difficult to monitor the real-time attitude of the gate in operation, leads to low reliability of the monitoring result and is difficult to ensure the safety of the gate during operation, the present application provides a gate real-time positioning and attitude perception device and method based on inertial measurement, and the technical solution is as follows: A gate real-time positioning and attitude perception device based on inertial measurement, the device comprising: an inertial measurement unit module rigidly mounted on the gate body for real-time monitoring of gate motion information, the gate motion information including the angular velocity and acceleration of the gate; a storage module storing data of a pre-established digital model of the gate track; a data processing and fusion calculation unit module receiving data of the inertial measurement unit module and performing inertial navigation calculation to obtain an inertial calculation trajectory; constraining and matching the inertial calculation trajectory to the digital model of the gate track; outputting the absolute position, three-dimensional attitude, velocity and acceleration information of the gate through a data fusion algorithm; Data output and interface module: Receives the output status information of the data processing and fusion calculation unit module, and transmits it to the sluice gate local control unit or remote monitoring center through industrial bus or wireless network.

[0006] Furthermore, the inertial measurement unit module integrates a three-axis gyroscope, a MEMS three-axis accelerometer, and a temperature sensor.

[0007] Furthermore, in the data processing and fusion calculation unit module, the mechanical limit points of the fully open and fully closed gates are used as absolute position references to perform periodic error reset.

[0008] Furthermore, the digital model of the gate track is precise spatial curve data describing the gate's travel trajectory, which is obtained in advance through precise measurement. The digital model of the gate track includes at least a three-dimensional coordinate sequence of the track centerline and the spatial orientation information of each point on the track.

[0009] A method for real-time positioning and attitude sensing of a gate based on the above-mentioned device, the method comprising: Step 1: System initialization and calibration: Control the gate to run to the mechanical limit points of the gate being fully closed and fully open respectively, and record them as absolute position coordinates; Step 2, Real-time attitude calculation: During the operation of the gate at non-limited points, data from the inertial measurement unit module is collected in real time to perform inertial navigation calculation; the inertial trajectory calculated by the inertial navigation is fused with the gate track digital model to solve the gate state in real time; Step 3, Abnormal State Diagnosis: By analyzing the real-time output attitude angle, velocity and acceleration data and comparing them with preset thresholds or normal models, the abnormal state of the gate operation is diagnosed.

[0010] Furthermore, in step 2, the inertial navigation calculation includes: Step 21: Using the monitoring data of the inertial measurement unit module, calculate the gate's motion trajectory in real time. The gate's motion trajectory includes displacement increment, velocity, and three-dimensional attitude information. Step 22: Use the known physical constraints of the gate opening and closing system as an immovable reference position. The known physical constraints include two absolute mechanical limit points: the gate is fully open and the gate is fully closed. When the gate moves to either limit point, the system automatically performs zero speed correction and position reload to eliminate the cumulative error of inertial calculation. Step 23: During non-limited operation, the gate motion trajectory calculated by inertia is forcibly matched to the geometric path of the digital model of the gate track. Step 24: Integrate the gate motion trajectory results calculated by inertia and the geometric path under forced constraints, and perform optimal estimation through a Kalman filter. Finally, output the gate's absolute travel distance on the track, opening percentage, three-dimensional attitude angle, real-time speed, and running acceleration.

[0011] Furthermore, in step 21, the operating state of the gate is calculated using the original measurement values ​​from the inertial measurement unit module, with the input being the coordinates of the carrier. The measurement data at a given time is output as the predicted state in the navigation coordinate system at that time.

[0012] Furthermore, the predicted state includes attitude update, velocity update, and position update data.

[0013] Furthermore, in step 23, the predicted state data from step 21 is matched with the orbital digital model to generate absolute observations that can be used for correction, then the observations of the filter are constructed, and finally the observation vector is output.

[0014] Furthermore, in step 24, the predicted state from step 21 and the observation vector from step 23 are fused together to output the optimal estimated state, and the conversion relationship of the final engineering parameters is clarified. Finally, the absolute travel, opening percentage, three-dimensional attitude angle, real-time speed and running acceleration of the gate on the track are output.

[0015] The beneficial effects of this invention are: This invention avoids the error accumulation problem caused by relying on mechanical transmission to monitor gate opening using traditional encoders. Furthermore, this invention is suitable for monitoring the status of various types of gates (such as planar, arc-shaped, herringbone, and stacked beam gates). Through multi-dimensional parameter monitoring, it integrates dynamic acceleration and angular velocity information, enabling more accurate measurements and reducing measurement errors. Based on the final output of absolute position, three-dimensional attitude, velocity, and acceleration information, it can monitor safety hazards such as "skewness," "track climbing," or abnormal vibration caused by track deformation, jamming, and water flow impact. The monitoring results are more reliable, especially suitable for monitoring the status of flat and arc-shaped gates. The inertial measurement unit module is rigidly installed on the gate body and clamped using existing fixing fixtures, achieving direct, multi-dimensional, and high-precision perception of the gate's operating status. This provides a revolutionary technical means for the safe operation and intelligent diagnosis of sluice gates. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a flat gate structure in the prior art; Figure 2 This is a physical diagram of a gate and a locking gate device locking in the prior art; Figure 3 This is an actual image of a gate and its locking device not being locked in the existing technology (the gate is excessively moved upwards). Figure 4 This is a photograph of an existing gate and locking device that are not locked (the gate's movement distance is insufficient). Figure 5 This is a schematic diagram of module connections according to Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the installation of the inertial measurement unit module in a flat gate according to Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the installation of the inertial measurement unit module of Embodiment 1 of the present invention on an arc-shaped gate; Figure 8 This is a flowchart of the data fusion process in step 2 of embodiment 2 of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0019] Currently, during gate operation, when water blocking is required, the hoist lowers the gate to the bottom, where a water-stopping device tightly seals against the gate bottom, preventing water flow. When water needs to be released, the hoist lifts the gate, allowing water to flow out from below. Because the gate's stroke adjustment requires high precision—for example, in typical scenarios, the gate opening requirement is ±1% to ±3% FS (FS being the maximum gate opening)—higher control requirements are placed on the gate to prevent abnormal gate opening control due to various anomalies, which could affect safe operation.

[0020] like Figure 1The diagram shows a common structural schematic of a lifting and lowering flat gate in the prior art. The following example illustrates a practical control anomaly encountered during the process of lifting the gate to its fully open state. The gate 1 is lifted upwards along the straight section of track 2 by adjusting the winch drum, and then gradually tilted backwards along the arc section of track 2. After the gate 1 is fully open, it rests horizontally on the gate pier and is locked to the gate by the locking device 3. During this control process, at least two experienced operators are required. One operator controls the winch drum in the control room, while the other visually checks whether the gate 1 has moved to the correct position and whether the locking device 3 is locked to the gate 1. Specifically, the lock must be properly aligned with the arc-shaped contact surface of the locking device 3. Figure 2 As shown, gate 1 is excessively moved upwards (as in the actual object). Figure 3 Or insufficient movement distance (e.g., physical objects) Figure 4 If any of these conditions are not met, the gate may fail to lock properly, jeopardizing the normal operation and safety of gate 1. Therefore, ensuring the accurate detection of parameters such as gate opening is of great practical value, as it not only saves manpower but also guarantees the safe operation of the gate.

[0021] Example 1 This embodiment provides a gate real-time positioning and attitude sensing device based on inertial measurement. The device of this invention can accurately monitor the gate opening degree. See details below. Figure 5 The device includes an inertial measurement unit module 4, a storage module 5, a data processing and fusion calculation unit module 6, and a data output and interface module 7.

[0022] Specifically, the inertial measurement unit (IMU) module 4 integrates a three-axis gyroscope, a MEMS three-axis accelerometer, and a temperature sensor. This IMU module 4 can be rigidly mounted independently on the gate body (see [link]). Figure 6 , Figure 7 As shown in the figure, it is used to monitor the gate's motion information in real time, which includes the gate's angular velocity and acceleration.

[0023] Furthermore, the inertial measurement unit module 4 can be set to one or more. By arranging multiple inertial measurement unit modules 4, they can be redundant to prevent one inertial measurement unit module 4 from failing while another can still work normally. At the same time, the redundancy process can ensure that the monitored data is more accurate. Moreover, when multiple inertial measurement unit modules 4 are adjusted with the gate, they can corroborate each other through logical operations, further ensuring the accuracy of the monitored data.

[0024] Specifically, storage module 5 stores a pre-established digital model of the gate track. This digital model is precise spatial curve data describing the gate's trajectory, obtained through precise measurements. The gate track data can be obtained from the gate design documents or through on-site measurements using a total station. The digital model of the gate track includes at least the three-dimensional coordinate sequence of the track centerline and the spatial orientation information of each point on the track.

[0025] Specifically, the data processing and fusion calculation unit module 6 receives data from the inertial measurement unit module 4 and performs inertial navigation calculation to obtain the inertial calculation trajectory; it uses the mechanical limit points of the gate fully open and fully closed as absolute position references to perform periodic error reset; it matches the inertial calculation trajectory constraints to the digital model of the gate track; and through the data fusion algorithm, it outputs the absolute position, three-dimensional attitude, velocity and acceleration information of the gate.

[0026] Specifically, the data output and interface module 7 receives the output status information from the data processing and fusion calculation unit module 6 and transmits it to the local control unit of the sluice gate or the remote monitoring center via an industrial bus or wireless network, facilitating monitoring and issuing control commands more promptly.

[0027] The core of the inertial measurement-based gate real-time positioning and attitude sensing device in this embodiment lies in the direct rigid installation of the inertial measurement unit module 4 onto the gate body. The data processing and fusion calculation unit module 6 integrates the digital model of the gate track pre-established in the inertial measurement unit module 4 and the storage module 5. Innovatively, it uses the specific sharp-tooth-shaped ripples that appear when the gate and the gate bottom plate collide when the sluice gate is fully closed as an absolute reference for periodic error reset, and finally calculates the precise absolute position, three-dimensional attitude, velocity and acceleration of the gate.

[0028] Example 2 This embodiment provides a method for real-time positioning and attitude sensing of a gate based on the above-mentioned device, the method comprising the following steps: Step 1: System initialization and calibration. Control the gate to run to the mechanical limit points of fully closed and fully open gate respectively, and record them as absolute position coordinates.

[0029] First, the basic concepts and related definitions are as follows: Regarding coordinate systems: The carrier coordinate system (b-frame) is fixedly connected to the inertial measurement unit module. The origin of this coordinate system is at the center of the inertial measurement unit module. The axis points to the left and right banks of the gate (horizontal). The axis points upstream and downstream (horizontally). The axis is vertically upward. 、( 、( All measurements are taken in this coordinate system, which consists of three-dimensional coordinate axes centered on the centroid of the inertial measurement unit module.

[0030] Navigation coordinate system (n-frame): Fixed to the orbital plane. Defined as: The axis runs downstream (horizontally). The axis is vertically upward. The axis is determined by the right-hand rule (pointing to the right bank), and the gate's running track is strictly within... In the plane.

[0031] Specifically, the digital model of the gate track: This model is known and can be described as follows: The arc length of a curve in a plane With coordinates One-to-one correspondence.

[0032] The system initialization and calibration specifically involve running the gates until they are fully closed. ) and the gate is fully open ( The mechanical limit point records the angular velocity output by the inertial measurement unit module at that moment. acceleration The absolute coordinates of the digital model of the gate track are used to complete the initial alignment.

[0033] The key steps are as follows: When stationary at the limit point, read the average output of the inertial measurement unit module: , ,in Let n be the attitude matrix from coordinate system b to coordinate system n; Where T is the matrix transpose, and since the vehicle is stationary, the specific force output only reflects the projection of gravitational acceleration g onto the carrier coordinate system; using the above relationship, combined with the orbital tangent (in Given the information in the plane, the initial attitude matrix can be calculated. The mechanical limit points for the gate being fully closed and fully open are respectively calibrated, and the corresponding absolute arc lengths are recorded. .

[0034] Step 2, Real-time attitude calculation: During the operation of the control gate at non-limited points, data from the inertial measurement unit module is collected in real time to perform inertial navigation calculation; Specifically, inertial navigation solution (prediction) includes the following steps: Step 21: Using the monitoring data of the inertial measurement unit module, calculate the gate's motion trajectory in real time. The gate's motion trajectory includes displacement increment, velocity, and three-dimensional attitude information.

[0035] Step 21 specifically utilizes the raw measurement values ​​from the inertial measurement unit module to perform a short-term estimation of the gate's operating status. The input is... The measured data at any given time (in the carrier coordinate system (b system)) is output as the predicted state in the navigation coordinate system (n system).

[0036] Specific input parameters include: This parameter is At time t, the acceleration measured by the inertial measurement unit module (B frame); This parameter is At time t, the angular velocity measured by the inertial measurement unit module (b frame); The formula represents the sampling time interval; This formula represents in The attitude quaternion, velocity, and position at any given moment.

[0037] The output predicted state includes attitude, velocity, and position update data: Specifically, pose update (quaternion method): (1) In the formula To use the three-axis gyroscope zero bias estimated at the previous moment The corrected angular velocity For the angular velocity vector ( The differential rotation quaternion constructed. For quaternion multiplication, the output of equation (1) above is the predicted attitude information at the current time. .

[0038] Then, construct the attitude matrix using the following formula (2): (2) In the formula This is a standard function for converting quaternions into direction cosine matrices (rotation matrices). Used for subsequent coordinate transformations.

[0039] Specifically, updates will be provided soon: (3) In the formula The zero bias value of the accelerometer estimated at the previous moment. For the gravity vector in the navigation coordinate system, equation (3) will be the specific force of the acceleration after correcting for zero bias. Through the attitude matrix Rotate to System, plus gravity The actual acceleration is obtained, and then integrated to obtain the updated velocity value.

[0040] Specifically, location update: (4) In the formula , which represents the two-dimensional position coordinates of the gate center in the navigation coordinate system (n-system) (because the track is in (within the plane).

[0041] In summary, the overall output is... That is, the nominal state of the predicted information calculated by inertial estimation, where the position component is denoted as ( , ).

[0042] The prediction was obtained , ,in The predicted Y-coordinate value in the n-coordinate system is obtained based on the previous calculations; Based on the previously calculated predicted Z coordinate value in the n-coordinate system, this formula refers to the position update in equation (4) above. Y-axis projection and Z-axis projection.

[0043] Step 22: Use the known physical constraints of the gate opening and closing system as an immovable reference position. The known physical constraints include two absolute mechanical limit points: the gate is fully open and the gate is fully closed. When the gate moves to either limit point, the system automatically performs zero-speed correction and position reload to eliminate the cumulative error of inertial calculation.

[0044] Specifically, the absolute reset (periodic) of the mechanical limit is as follows: When the gate reaches the mechanical limit, the arc length is forcibly reduced. Reset to 0 or And set the position, velocity error and related error status to zero.

[0045] 1. , 2. , , , 3. Covariance matrix The corresponding position, velocity, and attitude items are reset to smaller values.

[0046] Step S23: During non-limited operation, the gate motion trajectory calculated by inertia is forcibly matched to the geometric path of the digital model of the gate track.

[0047] Specifically, the predicted position calculated by inertial estimation is matched with a high-precision known orbital digital model to generate absolute observations that can be used for correction. That is, the predicted position calculated by inertial estimation (… , By projecting the perpendicular arc onto the known orbital curve, the matching arc length can be obtained. Tangential angle of the orbit at that point (Tangent to the track and) (The included angle of the axis).

[0048] Using the predicted location from step 21: The known orbital digital model is denoted as Path_Model, which is a set of discrete points. The set of, where Let be the arc length, ( () are coordinates. The orbital tangential angle (and) (Axis angle).

[0049] Projection matching: Arc length observation: (5) In formula (5) As the projection function, equation (5) represents that in Find the predicted point within the set of points. Find the line segment with the closest Euclidean distance, then calculate the position of the predicted point projected perpendicularly onto that line segment, and the arc length corresponding to that projected position. The value is obtained by linear interpolation of the arc lengths at both ends of the line segment, which is... .

[0050] Tangential angle observation: (6) In formula (6) As the interpolation function, equation (6) represents that, based on the calculated... ,exist Find two adjacent known points in the middle and Calculated by linear interpolation The corresponding orbital tangential angle , .

[0051] Construct the observations of the filter: Location observation is This value is a scalar and is directly used as the absolute arc length observation; the heading observation is... ,in From the current predicted pose matrix The carrier's heading extracted from it. , and These are the first two elements of the first column of the matrix, representing the carrier. The axis is in the horizontal plane of the n-system. The projection direction. In summary, step 23 outputs the observation vector as follows: and the corresponding observation noise covariance matrix (Determined by the accuracy of the digital orbital model itself and projection errors).

[0052] Step 24: This step uses an error state Kalman filter to perform optimal estimation, integrates the gate motion trajectory results calculated by inertia (Step 21) and the geometric path under forced constraints (track observations in Step 23), outputs the optimal estimated state, clarifies the conversion relationship of the final engineering parameters, and finally outputs the gate's absolute travel, opening percentage, three-dimensional attitude angle, real-time speed and running acceleration on the track.

[0053] Specifically: Using the error state Kalman filter state variables and model, the error state... , (7), in this formula (7) For arc length error, Track speed error, This is the attitude error angle (small angle vector, less than 5°). , This refers to the zero-bias error of the inertial measurement unit module; The state transition matrix (F) is derived from the inertial navigation error equation and describes how the above errors propagate over time (e.g., ...). Depend on integral, Depend on and Impact, etc. Observation matrix (H): Connects the error state to the observation z. For position observations... H(1,1)=1 (direct observation arc length error); for heading observations H(2,3)=1 (Main observations around) Heading error of the axis (under approximate planar motion).

[0054] Kalman filter update process: State prediction and error covariance prediction are respectively: , (8) In this formula, Q is the system process noise and F is the state transition matrix; renew: This formula calculates the Kalman gain, where H is the observation matrix; Equation (9) is used to calculate the optimal error estimate, where H is the observation matrix; This formula is used to update the covariance, where H is the observation matrix and I is the identity matrix; State Injection and Final Parameter Output: (This step is crucial for returning to the final engineering parameters from the error state) Specifically, nominal state correction is as follows: Arc length: In this formula for The predicted value, For predicted values, To optimize the value, according to the above formula (8). Measured value at the previous moment Calculated; speed: ; attitude: This formula will use small angle error quaternions Ride onto the predicted attitude; Zero bias: , .

[0055] In the above formula, , , , and The optimal error estimate is calculated based on equation (8).

[0056] The final engineering parameter calculation results (including absolute stroke and opening percentage) are as follows: Absolute Itinerary (Unit: meters); Percentage of opening , (in the formula) (where the arc length is at the fully open point). 3D attitude angles, derived from the corrected attitude matrix Solve Euler angles in a fixed order (e.g., ZYX): Roll angle This mainly reflects the left and right tilt of the gate: ; Pitch angle This mainly reflects the forward and backward pitch of the gate: ; Yaw angle Under the constraints of a planar track, the angle should be relative to the track tangent angle. Strong correlation Where b2n represents the coordinate system from the carrier coordinate system (b system) to the navigation coordinate system (n system); Real-time velocity and acceleration: Real-time speed (The velocity scalar along the tangential direction of the orbit); running acceleration (Differential calculation).

[0057] In summary, step 24 outputs a complete status packet containing information such as absolute travel, opening percentage, roll angle, pitch angle, real-time speed, and running acceleration. It also updates the zero-bias estimate of the inertial measurement unit module for measurement correction in the next cycle's step 21. When the gate touches the mechanical limit, execution... The hard reset and error state clearing complete the absolute reference closed loop.

[0058] Step 3, Abnormal State Diagnosis: By analyzing the real-time output attitude angle, velocity, and acceleration data and comparing them with preset thresholds or the normal model, the system diagnoses whether the gate is operating in an abnormal state. The threshold parameters are generally set based on engineering experience; for example, if the inclination angle of the left and right banks exceeds 2°, it is considered abnormal; sudden changes in velocity or acceleration during operation can also be considered abnormal.

[0059] 1. By rigidly mounting the inertial measurement unit module onto the gate body, the motion information of the gate is monitored in real time, avoiding the errors of traditional methods of monitoring mechanical transmission: directly measuring the motion of the gate body completely avoids the errors introduced by all intermediate links such as wire rope slippage, tension, and drum error, achieving a qualitative leap in positioning accuracy and reliability. 2. The monitored gate motion information includes the gate's angular velocity and acceleration. Through multi-dimensional sensing, a monitoring method has been realized that has changed from one-dimensional opening measurement to multi-dimensional state sensing, reducing measurement errors and making the monitoring results more reliable. 3. Possesses self-calibration and error correction capabilities: Innovatively utilizes the inherent mechanical limit points of the sluice gate (fully open / fully closed) as absolute position reference points, enabling the system to have a periodic automatic calibration function, which theoretically can achieve long-term stable operation with "zero cumulative error". 4. Enhance safety and intelligence: By analyzing the output of the gate's absolute position, three-dimensional attitude, speed and acceleration information, potential faults such as track deformation and wear of the traveling mechanism can be identified in the early stage, changing "post-event maintenance" to "predictive maintenance" and greatly improving the safety of sluice gate operation.

[0060] Specific Example 1: The present invention is implemented on a flat gate of a certain water conservancy project.

[0061] 1. Installation: An industrial-grade MEMS IMU (Inertial Measurement Unit Module 4) is selected and installed in the protective box at the top centerline of the gate, ensuring a rigid connection with the gate. The data processing unit (integrating the other modules of the device of this invention) is installed in the control cabinet at the top of the gate chamber.

[0062] 2. Modeling: Use a total station to accurately measure the three-dimensional coordinates of the gate's travel track and establish a digital model of the straight track.

[0063] 3. Calibration: By operating the gate to the fully closed and fully open states through the local control unit, the "Position Calibration" button is triggered on the touch screen, and the system records the absolute zero point (0%) and full scale point (100%) at this moment.

[0064] 4. Operation and Verification: During daily opening and closing operations, the system outputs data in real time. Verification showed that within a 100-meter travel distance, the error between its absolute position output and the manual steel ruler measurement remained stable within ±1 cm, far exceeding the ±10 cm accuracy of the original encoder. Simultaneously, the monitoring screen displayed for the first time a periodic pitch swing of approximately 0.5° during gate operation, which, upon inspection, was found to be caused by minor unevenness in the track, demonstrating the superior attitude sensing capability of this invention.

[0065] Some steps in the embodiments of the present invention can be implemented using software, and the corresponding software program can be stored in a readable storage medium, such as an optical disc or a hard disk.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gate real-time positioning and attitude sensing device based on inertial measurement, characterized in that, The device includes: An inertial measurement unit module is rigidly mounted on the gate body and is used to monitor the gate's motion information in real time, including the gate's angular velocity and acceleration. The storage module stores data containing a pre-built digital model of the gate track; The data processing and fusion calculation unit module receives data from the inertial measurement unit module and performs inertial navigation calculation to obtain the inertial calculation trajectory; it then constrains and matches the inertial calculation trajectory to the digital model of the gate track; and through a data fusion algorithm, it outputs the absolute position, three-dimensional attitude, velocity, and acceleration information of the gate. The data output and interface module receives the output status information of the data processing and fusion calculation unit module and transmits it to the sluice gate local control unit or remote monitoring center via industrial bus or wireless network.

2. The gate real-time positioning and attitude sensing device based on inertial measurement according to claim 1, characterized in that, The inertial measurement unit module integrates a three-axis gyroscope, a MEMS three-axis accelerometer, and a temperature sensor.

3. The gate real-time positioning and attitude sensing device based on inertial measurement according to claim 1, characterized in that, In the data processing and fusion calculation unit module, the mechanical limit points of the fully open and fully closed gates are used as absolute position references to perform periodic error reset.

4. The gate real-time positioning and attitude sensing device based on inertial measurement according to claim 1, characterized in that, The digital model of the gate track is a precise spatial curve data describing the gate's travel trajectory, obtained in advance through precise measurement. The digital model of the gate track includes at least a three-dimensional coordinate sequence of the track centerline and spatial orientation information of each point on the track.

5. A method for real-time positioning and attitude sensing of a gate, comprising a gate real-time positioning and attitude sensing device based on inertial measurement according to any one of claims 1 to 4, characterized in that, The method includes: Step 1: System initialization and calibration: Control the gate to run to the mechanical limit points of the gate being fully closed and fully open respectively, and record them as absolute position coordinates; Step 2, Real-time attitude calculation: During the operation of the gate at non-limited points, data from the inertial measurement unit module is collected in real time to perform inertial navigation calculation; the inertial trajectory calculated by the inertial navigation is fused with the gate track digital model to solve the gate state in real time; Step 3, Abnormal State Diagnosis: By analyzing the real-time output attitude angle, velocity and acceleration data and comparing them with preset thresholds or normal models, the abnormal state of the gate operation is diagnosed.

6. The method for real-time positioning and attitude sensing of a gate according to claim 5, characterized in that, In step 2, the inertial navigation calculation includes: Step 21: Using the monitoring data of the inertial measurement unit module, calculate the gate's motion trajectory in real time. The gate's motion trajectory includes displacement increment, velocity, and three-dimensional attitude information. Step 22: Use the known physical constraints of the gate opening and closing system as an immovable reference position. The known physical constraints include two absolute mechanical limit points: the gate is fully open and the gate is fully closed. When the gate moves to either limit point, the system automatically performs zero speed correction and position reload to eliminate the cumulative error of inertial calculation. Step 23: During non-limited operation, the gate motion trajectory calculated by inertia is forcibly matched to the geometric path of the digital model of the gate track. Step 24: Integrate the gate motion trajectory results calculated by inertia and the geometric path under forced constraints, and perform optimal estimation through a Kalman filter. Finally, output the gate's absolute travel distance on the track, opening percentage, three-dimensional attitude angle, real-time speed, and running acceleration.

7. The method for real-time positioning and attitude sensing of a gate according to claim 6, characterized in that, In step 21, the operating state of the gate is calculated using the original measurement values ​​from the inertial measurement unit module, with the input being the coordinates of the carrier. The measurement data at a given time is output as the predicted state in the navigation coordinate system at that time.

8. The method for real-time positioning and attitude sensing of a gate according to claim 7, characterized in that, The predicted state includes attitude update, velocity update, and position update data.

9. The method for real-time positioning and attitude sensing of a gate according to claim 7, characterized in that, In step 23, the predicted state data from step 21 is matched with the orbital digital model to generate absolute observations that can be used for correction, then the observations of the filter are constructed, and finally the observation vector is output.

10. The method for real-time positioning and attitude sensing of a gate according to claim 9, characterized in that, In step 24, the predicted state from step 21 and the observation vector from step 23 are integrated to output the optimal estimated state, and the conversion relationship of the final engineering parameters is clarified. Finally, the absolute travel, opening percentage, three-dimensional attitude angle, real-time speed and running acceleration of the gate on the track are output.

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