Grounding needle ground penetration depth measurement method based on perception data fusion

Abstract

The invention discloses a method for measuring the ground penetration depth of a grounding needle based on perceptual data fusion, and aims to solve the technical problems of false reading of laser ranging and accumulated drifting of acceleration integral caused by flying dust interference in an impact implantation site. The method comprises the following steps of: locking a physical boundary and establishing an impact shielding window by using a double-window synchronous sliding rule by taking an impact triggering moment as an original point; freezing laser ranging update in the window, and executing integral operation on the axial acceleration sequence based on the acceleration zero offset baseline to calculate an impact intrusion displacement increment; and finally, the echo intensity base line and the impact intrusion displacement increment are utilized to perform double verification on the end point observation value from two dimensions of optical consistency and kinematic closure degree, and the accumulated underground depth is updated only when the verification is passed. Through time domain shielding and multi-mode verification, optical blind areas are effectively filled, environmental interference is eliminated, and credible measurement under the severe working condition is achieved.

Description

Technical Field

[0001] This invention relates to the field of power engineering testing technology, and more specifically, to a method for measuring the depth of a grounding pin based on sensing data fusion. Background Technology

[0002] Power engineering monitoring technology is commonly used for construction monitoring of grounding pin impact implantation. In construction monitoring, obtaining the penetration depth mainly relies on direct observation or indirect calculation of physical quantities. Existing technical solutions typically employ non-contact ranging technologies such as lasers and ultrasound to capture real-time positional changes at the pole's end; or they introduce inertial navigation technology, using accelerometers to collect impact waveforms and combining them with integral algorithms to calculate displacement increments. Some advanced solutions attempt to incorporate filtering algorithms to smooth the aforementioned observation data in order to obtain continuous depth readings.

[0003] The existing technology has the following shortcomings:

[0004] Existing technologies generally suffer from two main problems: First, optical ranging lacks effective identification capabilities against environmental interference. Under dusty conditions, it easily misinterprets numerically stable dust echoes as actual grounding pin displacement, making it difficult to distinguish between spurious environmental steady states and true physical steady states. Consequently, the system is highly susceptible to "line-of-sight deception," prematurely locking depth or outputting erroneous data, making it difficult to guarantee the uniqueness of the measured target under harsh conditions. Second, inertial calculations lack external physical constraints against long-term integration drift. Under the influence of zero-bias noise excited by high overload, the cumulative error generated by quadratic integration diverges nonlinearly over time. This results in inertial data being usable only for a very short period; once external calibration is lost, it becomes difficult to maintain the continuity and reliability of depth data over long periods during optical blind zones. To address these problems, this invention proposes a solution. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a grounding pin penetration depth measurement method based on sensing data fusion to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A method for measuring the penetration depth of a grounding pin based on sensing data fusion, comprising:

[0008] S101, during the grounding needle impact implantation process, the axial acceleration sequence, laser ranging sequence, and echo intensity sequence of the grounding needle are continuously collected; the impact triggering time is identified based on the axial acceleration sequence; with the impact triggering time as the time origin, a dual-window synchronous sliding rule based on fluctuation monitoring is executed, and a reverse backtracking search is performed in the historical buffer data to lock the time interval in which the axial acceleration sequence and echo intensity sequence simultaneously show a convergent steady state as the pre-trigger static time period; based on the statistical characteristics within the pre-trigger static time period, the zero-biased acceleration baseline and the echo intensity baseline are extracted respectively.

[0009] S102, an impact shielding window is established from the moment of impact triggering; with the moment of impact triggering as the time origin, the dual-window synchronous sliding rule is executed, and a forward search is performed in the real-time data stream to monitor the earliest moment when the axial acceleration sequence and the laser ranging sequence simultaneously reach a convergent steady state, and this moment is determined as the end point of the impact shielding window; within the impact shielding window, the cumulative penetration depth of the grounding pin is not updated using the laser ranging sequence, and the axial acceleration sequence is corrected and integrated using the zero-biased acceleration baseline to obtain the impact intrusion displacement increment;

[0010] S103, obtain the endpoint laser ranging value and endpoint echo intensity at the endpoint of the impact shielding window; verify the optical consistency of the endpoint echo intensity based on the echo intensity baseline, and verify the kinematic closure of the endpoint laser ranging value based on the impact intrusion displacement increment; update the cumulative penetration depth based on the endpoint laser ranging value only when both verifications pass.

[0011] In a preferred embodiment, the axial acceleration sequence, laser ranging sequence, and echo intensity sequence are all discrete-time sequences synchronously acquired at a preset sampling frequency: the axial acceleration sequence is a sequence of acceleration physical quantities obtained by analog-to-digital conversion of the voltage signal reflecting the vibration state of the grounding pin along the grounding axis; the laser ranging sequence is a sequence of measured values ​​output by the laser ranging module reflecting the distance from the ranging optical center to the current reflecting surface; and the echo intensity sequence is a sequence of relative intensity values ​​reflecting the strength of the light energy at the laser receiver. The three sequences maintain strict frame alignment in the time domain.

[0012] In a preferred embodiment, the execution of the dual-window synchronous sliding rule includes: constructing a first sliding window mapped to a first data sequence and a second sliding window mapped to a second data sequence, with both windows having the same length; controlling the first and second sliding windows to slide synchronously in the time-domain sequence with the same step size; calculating a first fluctuation index within the first sliding window and a second fluctuation index within the second sliding window in each sliding step; determining that a convergent steady state has been reached when the first fluctuation index is less than a preset inertial stability threshold and the second fluctuation index is less than a preset second stability threshold, and both continuously satisfy the minimum stability duration; wherein, the first fluctuation index is represented by the variance of the data within the window, and the second fluctuation index is represented by the range or difference amplitude of the data within the window; the inertial stability threshold is determined by the background noise parameter of the accelerometer; and the minimum stability duration is determined by the mechanical vibration attenuation characteristics of the measured object.

[0013] In a preferred embodiment, when the dual-window synchronous sliding rule is applied to lock the pre-trigger static time period, reverse backtracking sliding is performed starting from the impact trigger time; at this time, the first data sequence is mapped to an axial acceleration sequence, the second data sequence is mapped to an echo intensity sequence, and the second stability threshold is set as an optical stability threshold; wherein, the optical stability threshold is determined by the static measurement jitter range of the laser ranging module.

[0014] In a preferred embodiment, the extraction of the acceleration zero-bias baseline and the echo intensity baseline includes: performing bidirectional truncated mean calculations on the axial acceleration sequence and the echo intensity sequence during the static time period before triggering; for each sequence, removing extreme points with a preset ratio of maximum and minimum values, and calculating the arithmetic mean of the remaining data points, which are respectively used as the acceleration zero-bias baseline and the echo intensity baseline; the acceleration zero-bias baseline serves as a calibration reference for eliminating sensor zero-point drift in subsequent integration calculations, and the echo intensity baseline serves as a standard grayscale feature for subsequent verification of optical path transmittance.

[0015] In a preferred embodiment, when the dual-window synchronous sliding rule is applied to determine the endpoint of the impact shielding window, forward sliding is performed from the moment the impact is triggered. At this time, the first data sequence is mapped to an axial acceleration sequence, the second data sequence is mapped to a laser ranging sequence, and the second stability threshold is set as the ranging stability threshold. The ranging stability threshold is determined based on the nominal measurement resolution or repeatability parameter of the laser ranging module.

[0016] In a preferred embodiment, the cumulative ground penetration depth is a state variable characterizing the total historical displacement of the grounding pin tip relative to the ground surface. The step of not updating the cumulative ground penetration depth using the laser ranging sequence within the impact shielding window specifically includes: immediately freezing the numerical update of the cumulative ground penetration depth after identifying the impact trigger moment and entering a depth-holding mode; locking the cumulative ground penetration depth of the frame preceding the impact trigger moment as the current held value, and forcibly anchoring the system output to the current held value throughout the entire impact shielding window, regardless of fluctuations in the laser ranging sequence; the depth-holding mode is used to isolate impact interference and prevent erroneous ranging values ​​caused by dust obstruction or vibration from incorrectly updating the cumulative ground penetration depth.

[0017] In a preferred embodiment, the step of correcting the axial acceleration sequence and performing integration using the zero-biased acceleration baseline specifically includes: subtracting the zero-biased acceleration baseline from the axial acceleration sequence within the impact shielding window to generate a net acceleration sequence; performing a time-domain quadratic integration operation on the net acceleration sequence to generate an impact displacement sequence; and extracting the value at the end of the impact shielding window as the impact intrusion displacement increment; wherein, the initial velocity boundary condition for the integration operation is set to zero, corresponding to the instantaneous stationary state at the moment of impact triggering; the impact intrusion displacement increment is used to characterize the maximum theoretical displacement that the impact may physically produce.

[0018] In a preferred embodiment, the step of verifying the optical consistency of the endpoint echo intensity based on the echo intensity baseline includes: calculating the absolute value of the difference between the endpoint echo intensity and the echo intensity baseline, and recording it as the optical deviation value; if the optical deviation value is less than the optical consistency threshold, it is determined that the laser ranging optical path at the endpoint is not significantly obstructed by dust, and the optical consistency verification is passed; the optical consistency threshold is set to one or more times the optical stability threshold of claim 4, to allow reasonable fluctuations in the optical path reflectivity before and after the impact due to minor deformation of the grounding pin or deflection of the grounding angle.

[0019] In a preferred embodiment, the step of verifying the kinematic closure of the endpoint laser ranging value based on the impact intrusion displacement increment includes: obtaining the cumulative ground penetration depth of the frame preceding the impact triggering moment, adding it to the impact intrusion displacement increment to obtain the predicted ground penetration depth; calculating the absolute value of the difference between the current measured depth converted from the endpoint laser ranging value and the predicted ground penetration depth, and recording it as the kinematic closure residual; if the kinematic closure residual is less than the maximum permissible closure error, it is determined that the laser ranging value conforms to the rigid body kinematics law and passes the kinematic closure verification; wherein, the maximum permissible closure error is determined by the sum of the absolute accuracy error of the laser ranging module and the upper bound of the drift error calculated by the acceleration integral.

[0020] The present invention provides a method for measuring the depth of a grounding pin based on sensor data fusion, highlighting its effectiveness and advantages.

[0021] This invention isolates vibration and dust interference in the time domain by constructing an impact shielding window. Within the window, inertial calculations are used to fill optical blind spots and freeze laser readings, actively avoiding spurious stable values ​​caused by dust. Simultaneously, this invention performs dual verification of optical consistency and kinematic closure at the window's endpoint, updating the cumulative depth of penetration only when echo characteristics and motion laws simultaneously satisfy physical constraints. This method not only effectively eliminates misjudgments caused by dust obstruction but also utilizes laser observation to periodically block the nonlinear cumulative drift of acceleration integrals, achieving reliable measurements under harsh conditions without requiring high-precision inertial navigation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0023] Figure 2 This is a flowchart illustrating the execution of the dual-window synchronous sliding rule in this invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] To achieve the above objectives, the present invention provides the following technical solution:

[0026] A method for measuring the penetration depth of a grounding pin based on sensing data fusion, comprising:

[0027] S101, during the grounding needle impact implantation process, the axial acceleration sequence, laser ranging sequence, and echo intensity sequence of the grounding needle are continuously collected; the impact triggering time is identified based on the axial acceleration sequence; with the impact triggering time as the time origin, a dual-window synchronous sliding rule based on fluctuation monitoring is executed, and a reverse backtracking search is performed in the historical buffer data to lock the time interval in which the axial acceleration sequence and echo intensity sequence simultaneously show a convergent steady state as the pre-trigger static time period; based on the statistical characteristics within the pre-trigger static time period, the zero-biased acceleration baseline and the echo intensity baseline are extracted respectively.

[0028] S102, an impact shielding window is established from the moment of impact triggering; with the moment of impact triggering as the time origin, the dual-window synchronous sliding rule is executed, and a forward search is performed in the real-time data stream to monitor the earliest moment when the axial acceleration sequence and the laser ranging sequence simultaneously reach a convergent steady state, and this moment is determined as the end point of the impact shielding window; within the impact shielding window, the cumulative penetration depth of the grounding pin is not updated using the laser ranging sequence, and the axial acceleration sequence is corrected and integrated using the zero-biased acceleration baseline to obtain the impact intrusion displacement increment;

[0029] S103, obtain the endpoint laser ranging value and endpoint echo intensity at the endpoint of the impact shielding window; verify the optical consistency of the endpoint echo intensity based on the echo intensity baseline, and verify the kinematic closure of the endpoint laser ranging value based on the impact intrusion displacement increment; update the cumulative penetration depth based on the endpoint laser ranging value only when both verifications pass.

[0030] In a preferred embodiment, the axial acceleration sequence, laser ranging sequence, and echo intensity sequence are all discrete-time sequences synchronously acquired at a preset sampling frequency: the axial acceleration sequence is a sequence of acceleration physical quantities obtained by analog-to-digital conversion of the voltage signal reflecting the vibration state of the grounding pin along the grounding axis; the laser ranging sequence is a sequence of measured values ​​output by the laser ranging module reflecting the distance from the ranging optical center to the current reflecting surface; and the echo intensity sequence is a sequence of relative intensity values ​​reflecting the strength of the light energy at the laser receiver. The three sequences maintain strict frame alignment in the time domain.

[0031] In a preferred embodiment, the execution of the dual-window synchronous sliding rule includes: constructing a first sliding window mapped to a first data sequence and a second sliding window mapped to a second data sequence, with both windows having the same length; controlling the first and second sliding windows to slide synchronously in the time-domain sequence with the same step size; calculating a first fluctuation index within the first sliding window and a second fluctuation index within the second sliding window in each sliding step; determining that a convergent steady state has been reached when the first fluctuation index is less than a preset inertial stability threshold and the second fluctuation index is less than a preset second stability threshold, and both continuously satisfy the minimum stability duration; wherein, the first fluctuation index is represented by the variance of the data within the window, and the second fluctuation index is represented by the range or difference amplitude of the data within the window; the inertial stability threshold is determined by the background noise parameter of the accelerometer; and the minimum stability duration is determined by the mechanical vibration attenuation characteristics of the measured object.

[0032] In a preferred embodiment, when the dual-window synchronous sliding rule is applied to lock the pre-trigger static time period, reverse backtracking sliding is performed starting from the impact trigger time; at this time, the first data sequence is mapped to an axial acceleration sequence, the second data sequence is mapped to an echo intensity sequence, and the second stability threshold is set as an optical stability threshold; wherein, the optical stability threshold is determined by the static measurement jitter range of the laser ranging module.

[0033] In a preferred embodiment, the extraction of the acceleration zero-bias baseline and the echo intensity baseline includes: performing bidirectional truncated mean calculations on the axial acceleration sequence and the echo intensity sequence during the static time period before triggering; for each sequence, removing extreme points with a preset ratio of maximum and minimum values, and calculating the arithmetic mean of the remaining data points, which are respectively used as the acceleration zero-bias baseline and the echo intensity baseline; the acceleration zero-bias baseline serves as a calibration reference for eliminating sensor zero-point drift in subsequent integration calculations, and the echo intensity baseline serves as a standard grayscale feature for subsequent verification of optical path transmittance.

[0034] In a preferred embodiment, when the dual-window synchronous sliding rule is applied to determine the endpoint of the impact shielding window, forward sliding is performed from the moment the impact is triggered. At this time, the first data sequence is mapped to an axial acceleration sequence, the second data sequence is mapped to a laser ranging sequence, and the second stability threshold is set as the ranging stability threshold. The ranging stability threshold is determined based on the nominal measurement resolution or repeatability parameter of the laser ranging module.

[0035] In a preferred embodiment, the cumulative ground penetration depth is a state variable characterizing the total historical displacement of the grounding pin tip relative to the ground surface. The step of not updating the cumulative ground penetration depth using the laser ranging sequence within the impact shielding window specifically includes: immediately freezing the numerical update of the cumulative ground penetration depth after identifying the impact trigger moment and entering a depth-holding mode; locking the cumulative ground penetration depth of the frame preceding the impact trigger moment as the current held value, and forcibly anchoring the system output to the current held value throughout the entire impact shielding window, regardless of fluctuations in the laser ranging sequence; the depth-holding mode is used to isolate impact interference and prevent erroneous ranging values ​​caused by dust obstruction or vibration from incorrectly updating the cumulative ground penetration depth.

[0036] In a preferred embodiment, the step of correcting the axial acceleration sequence and performing integration using the zero-biased acceleration baseline specifically includes: subtracting the zero-biased acceleration baseline from the axial acceleration sequence within the impact shielding window to generate a net acceleration sequence; performing a time-domain quadratic integration operation on the net acceleration sequence to generate an impact displacement sequence; and extracting the value at the end of the impact shielding window as the impact intrusion displacement increment; wherein, the initial velocity boundary condition for the integration operation is set to zero, corresponding to the instantaneous stationary state at the moment of impact triggering; the impact intrusion displacement increment is used to characterize the maximum theoretical displacement that the impact may physically produce.

[0037] In a preferred embodiment, the step of verifying the optical consistency of the endpoint echo intensity based on the echo intensity baseline includes: calculating the absolute value of the difference between the endpoint echo intensity and the echo intensity baseline, and recording it as the optical deviation value; if the optical deviation value is less than the optical consistency threshold, it is determined that the laser ranging optical path at the endpoint is not significantly obstructed by dust, and the optical consistency verification is passed; the optical consistency threshold is set to one or more times the optical stability threshold of claim 4, to allow reasonable fluctuations in the optical path reflectivity before and after the impact due to minor deformation of the grounding pin or deflection of the grounding angle.

[0038] In a preferred embodiment, the step of verifying the kinematic closure of the endpoint laser ranging value based on the impact intrusion displacement increment includes: obtaining the cumulative ground penetration depth of the frame preceding the impact triggering moment, adding it to the impact intrusion displacement increment to obtain the predicted ground penetration depth; calculating the absolute value of the difference between the current measured depth converted from the endpoint laser ranging value and the predicted ground penetration depth, and recording it as the kinematic closure residual; if the kinematic closure residual is less than the maximum permissible closure error, it is determined that the laser ranging value conforms to the rigid body kinematics law and passes the kinematic closure verification; wherein, the maximum permissible closure error is determined by the sum of the absolute accuracy error of the laser ranging module and the upper bound of the drift error calculated by the acceleration integral.

[0039] This invention provides a grounding pin penetration depth measurement method based on sensing data fusion, suitable for non-contact precision measurement of penetration depth during the high-dynamic process of grounding pin impact implantation. In the harsh conditions of impact implantation sites, accompanied by high-frequency strong vibrations and pervasive dust, existing observation methods generally lack effective identification capabilities against environmental interference and external physical constraints against long-term integral drift: optical ranging is easily obscured by dust, producing false readings that are numerically stable but indicate incorrect targets, while inertial estimation is limited by sensor zero bias and integral divergence characteristics, easily resulting in nonlinear cumulative drift. These logical deficiencies make it difficult for the system to distinguish between environmental interference and actual displacement during impact, easily leading to premature cessation of depth updates due to dust or false depth abrupt changes due to integral drift.

[0040] Therefore, the technical problem to be solved by this invention is how to fill the optical blind zone using inertial calculations under the condition of simultaneous impact vibration and dust interference, and how to eliminate erroneous ranging data caused by environmental interference through dual verification of optical consistency and kinematic closure, while suppressing the cumulative error of inertial integral. To this end, this invention uses the moment of impact triggering as the time origin, and uses a dual-window synchronous sliding rule to perform reverse backtracking and forward search respectively to lock the physical boundary and establish an impact shielding window; within the impact shielding window, the laser ranging update is frozen, and the axial acceleration sequence is integrated based on the zero-biased acceleration baseline to calculate the impact intrusion displacement increment; finally, using the echo intensity baseline and the impact intrusion displacement increment, the endpoint observation value is dually verified from the two dimensions of optical consistency and kinematic closure, and the cumulative penetration depth is updated only when the verification passes.

[0041] Based on the above design, this invention constructs a complete process for measuring the grounding depth of a grounding pin based on sensing data fusion, consisting of steps S101 to S103 sequentially. (Refer to...) Figure 1 , Figure 1 This is a schematic diagram of the method flow of the present invention, which includes:

[0042] Step S101, baseline locking and initialization, is used to perform reverse time-domain backtracking on multimodal sensing data at the beginning of the impact implantation phase, completing the system's time-domain baseline locking and anti-disturbance structure initialization. This step reads the sensing data sequence set D101, identifies the impact trigger moment, and extracts the zero-biased acceleration baseline and echo intensity baseline using a dual-window synchronous sliding rule. It then generates an initialized impact shielding window W102 and writes the aforementioned baseline parameters into it for subsequent integration calculations in step S102 and verification comparisons in step S103. Specifically, D101 provides the raw data stream containing vibration and optical information; W102 serves as the core time-domain container for the entire process, carrying the time-domain anchor point, baseline parameters, and process increments; the impact trigger moment establishes the origin of the relative spatiotemporal coordinate system; and the zero-biased acceleration baseline and echo intensity baseline eliminate sensor static drift and establish an optical transmittance reference standard.

[0043] Step S102, shielding calculation and window update, is used to achieve active disturbance rejection during the highly dynamic action of impact implantation and to fill the optical measurement blind zone using short-time inertial calculation, completing the time-domain boundary locking and displacement increment calculation for the entire impact process. This step reads the impact shielding window W102 and the sensing data sequence set D101, performs numerical freezing of the cumulative penetration depth R103, uses a forward search to lock the endpoint of the impact shielding window, and performs integration on the axial acceleration sequence based on the zero-biased acceleration baseline to obtain the impact intrusion displacement increment. The results are then updated to W102 for subsequent step S103. W102 defines the effective time-domain range of the integration operation and carries the inertial calculation results; R103 serves as the system output state variable, remaining in hold mode during this period to prevent erroneous updates due to dust interference; the impact intrusion displacement increment characterizes the true value estimate of the physical displacement of a single impact.

[0044] Step S103, dual verification and depth update, is used to perform dual verification of optical consistency and kinematic closure on the multimodal sensing data at the end of the impact shielding window, completing the depth data confidence judgment and state update throughout the impact process. This step reads the impact shielding window W102 and the sensing data sequence set D101, combines the historical value of the cumulative penetration depth R103, and performs a dual-gated logic judgment based on the upper bound of dynamic error. Based on the verification result, it unfreezes and updates R103 or maintains the frozen state, producing the final valid depth state for system output and reading in the next impact cycle. Among them, the cumulative penetration depth R103, as the total penetration depth state quantity of the grounding pin maintained by the system, only accepts the jump update of laser ranging after physical constraint verification of the echo baseline and inertial increment; otherwise, it forcibly maintains the locked value of the previous frame in the current impact cycle to eliminate environmental interference.

[0045] By implementing the above method, this invention isolates the mixed region of high-dynamic vibration and dust interference in the time domain using the impact shielding window W102. Within the window, it fills the physical blind zone of optical measurement using baseline-corrected inertial extrapolation. At the end of the window, a stringent threshold for depth data updates is established by forcibly performing dual verification of optical consistency and kinematic closure. This method effectively eliminates spurious stable readings caused by dust obstruction, and simultaneously constrains the cumulative drift of inertial integrals by using absolute laser position observation, thereby achieving reliable measurement and robust updating of the grounding pin penetration depth under harsh operating conditions.

[0046] The implementation process and operational effects of the method of the present invention will be described in detail below with reference to specific embodiments. It should be understood that the embodiments are only used to illustrate the technical solution of the present invention, and not to limit it. The relevant steps, parameters, and module divisions can be appropriately adjusted without changing the essence of the invention.

[0047] In an optional embodiment, step S101, reference locking and initialization, is used to lock a highly reliable static reference based on D101 by utilizing physical causality constraints and performing a time-domain reverse search, and to establish an impact shielding window W102 as the logical carrier for subsequent anti-disturbance processing.

[0048] To complete the baseline locking and structural initialization, the sensing data sequence set D101 and the impact shielding window W102 are defined as follows in this step: D101 is a set of multi-dimensional discrete time sequences synchronously acquired at a preset sampling frequency, including at least an axial acceleration sequence reflecting the axial vibration state of the grounding pin, a laser ranging sequence reflecting the displacement of the ranging optical center, and an echo intensity sequence reflecting the intensity of light energy, and each sequence maintains strict frame alignment in the time domain; W102 is a time-domain state container used to isolate high-dynamic impact interference, whose life cycle covers the entire process from impact triggering to environmental recovery to steady state, and is created and initialized in this step, containing a start anchor point field, an end anchor point field, a baseline parameter group, and a displacement increment field.

[0049] The implementation process of this step includes impact trigger identification, reverse-order dual-window construction, synchronous backtracking search, static interval locking, baseline statistical extraction, and structure initialization. Among them, the reverse-order search and baseline extraction include reverse-order dual-window construction, synchronous backtracking search, and static interval locking.

[0050] In the impact trigger identification, starting from the axial acceleration sequence of the sensing data sequence set D101, according to the preset signal peak detection or differential threshold judgment rules, the moment when the signal amplitude significantly exceeds the environmental noise level is monitored, the signal change point that characterizes the moment of mechanical impact is identified, and this moment is marked as the impact trigger moment, which serves as the time origin of the entire system process.

[0051] In the reverse-order dual-window construction and synchronous backtracking search, the impact trigger moment is taken as the starting point, based on, as follows: Figure 2 The illustrated dual-window synchronous sliding rule based on wave monitoring constructs a first sliding window mapped to the axial acceleration sequence and a second sliding window mapped to the echo intensity sequence. The two windows are controlled to slide in the reverse order along the historical data direction of the time axis with synchronized durations. In each sliding step, according to conventional statistical methods, the inertial wave index of the data within the first sliding window and the optical wave index of the data within the second sliding window are calculated respectively. The inertial wave index preferably uses variance or standard deviation, and the optical wave index preferably uses range or the sum of the absolute values ​​of the first-order differences. Figure 2 This is a flowchart illustrating the execution of the dual-window synchronous sliding rule in this invention.

[0052] In the static interval locking and baseline statistical extraction, the calculated fluctuation index is compared with a preset threshold. When the inertial fluctuation index is less than the inertial stability threshold and the optical fluctuation index is less than the optical stability threshold, and the minimum stability duration is continuously met, the system is determined to be in a convergent steady state, thus locking the static time period before triggering. Then, a bidirectional truncated mean operation is performed on the axial acceleration sequence and echo intensity sequence within this time period, i.e., the arithmetic mean is calculated after removing the extreme points of a preset ratio of maximum and minimum values, yielding the zero-biased acceleration baseline and the echo intensity baseline, respectively. In structural initialization, the impact shielding window W102 is instantiated, the impact trigger time is written to the starting anchor point field, the zero-biased acceleration baseline and the echo intensity baseline are written to the baseline parameter group, and the displacement increment field is reset to 0. Through W102 written in this step, step S102 can directly read the zero-biased acceleration baseline for net acceleration calculation and integral extrapolation, and step S103 can directly read the echo intensity baseline for optical consistency verification at the endpoint, thereby achieving unified control of the reference parameters throughout the entire process.

[0053] To facilitate implementation and standardize algorithm usage, this embodiment provides optional calculation schemes for key indicators, and the meaning and engineering interpretation of each symbol are given when it first appears.

[0054] set up The moment the impact is triggered; These are the first and second sliding windows, each with a length of [missing information]. ; For a moment The variance of axial acceleration within the first sliding window; This represents the range of echo intensity within the second sliding window. The dual-window convergence determination must satisfy the following logical relationship: And the duration for which the above conditions are continuously satisfied on the reverse timeline: ;in, The inertial stability threshold is determined by the background noise parameter of the accelerometer. The optical stabilization threshold is determined by the static measurement of the jitter range by the laser ranging module. The minimum stable duration is determined by the mechanical vibration attenuation characteristics of the object under test. For example, it can be 20 to 50 milliseconds, preferably 30 milliseconds, to prevent misjudgment caused by transient noise.

[0055] The baseline extraction uses a two-way truncated mean model as follows: ;in, The total number of data points within the static time period before the trigger; This is a data sequence sorted by numerical value. , For the truncation point, To preset the truncation ratio, an example can be taken as 5% to 10%, preferably 8%, in order to eliminate the influence of accidental extreme values ​​on baseline accuracy.

[0056] In an optional embodiment, the implementation process of step S102, shielding calculation and window update, includes anti-interference shielding and deep freezing, forward search and endpoint locking, inertial integration and incremental calculation, and window state update.

[0057] In the anti-interference shielding and depth freeze process, the system immediately activates the depth holding mode from the moment of impact triggering. The value of the previous frame before the impact triggering moment is read from the cumulative ground penetration depth R103 as the lock value. During the entire impact shielding window W102, no matter how the laser ranging sequence in the sensing data sequence set D101 fluctuates, the system output is forcibly anchored to this lock value, thereby physically isolating the ranging pseudo-stability or random jump interference caused by impact dust blocking the optical path.

[0058] In the forward search and endpoint locking, the impact trigger moment is taken as the starting point, and the process is similarly based on... Figure 2 The dual-window synchronous sliding rule based on fluctuation monitoring, as shown, constructs a first sliding window mapped to the axial acceleration sequence and a second sliding window mapped to the laser ranging sequence, and controls the two windows to slide along the real-time data flow direction (i.e., the forward sequence direction) with the same synchronization length. In each sliding step, according to conventional statistical methods, the inertial fluctuation index of the data in the first sliding window and the ranging fluctuation index of the data in the second sliding window are calculated respectively. The earliest moment when both of these indices are simultaneously less than the corresponding stability threshold is monitored, and this moment is determined as the end point of the impact shielding window.

[0059] In the inertial integration and incremental calculation, the zero-biased acceleration baseline written in S101 to W102 is used to perform zero-bias correction on the axial acceleration sequence in D101 to obtain the net acceleration sequence. Then, a time-domain quadratic integration operation is performed on the net acceleration sequence, with the integration interval covering from the impact triggering time to the end of the impact shielding window, and the initial velocity boundary condition of the integration is set to zero. The calculated integration result is used as the impact intrusion displacement increment.

[0060] During the window state update, the determined endpoint of the impact shielding window is written to the end anchor point field of W102, and the calculated impact intrusion displacement increment is written to the displacement increment field of W102. Through the W102 updated in this step, step S103 can directly obtain the effective time domain range of the entire impact process, and use the impact intrusion displacement increment as a benchmark reference for kinematic closure verification, thereby realizing logical gating of the endpoint laser ranging value.

[0061] To facilitate implementation and standardize algorithmic approaches, this embodiment provides key models for integration and search, and gives the meaning and engineering interpretation of each symbol upon its first appearance.

[0062] set up For a moment Observed values ​​of axial acceleration; The baseline for zero-biased acceleration; The moment the impact is triggered; To impact the end point of the shielding window; Sampling interval. Impact intrusion displacement increment. The calculation model is as follows: The inner summation implicitly assumes an initial velocity of zero, corresponding to the instantaneous stationary state of the grounding pin relative to the ground at the moment of impact triggering. The discrete summation model is an approximate expression for engineering implementation; in practice, the trapezoidal rule or Simpson's integral method can be used to further improve the calculation accuracy.

[0063] The stability criterion in ascending order search must satisfy: ;in, The inertial stability threshold is defined in step S101. This represents the range or coefficient of variation of the laser ranging sequence within the second sliding window. The ranging stability threshold is determined by the nominal measurement resolution or repeatability parameter of the laser ranging module, and can be, for example, 1 mm to 3 mm, to determine whether the ranging reading has recovered from the jump state to a reliable convergence state.

[0064] In an optional embodiment, the implementation process of step S103, double verification and depth update, includes endpoint feature extraction, dynamic error upper bound calculation, double verification execution, and depth state update.

[0065] In endpoint feature extraction, the time anchor point of the endpoint of the impact shielding window W102 is read from the window, and the corresponding time observation value is extracted from the sensing data sequence set D101 using this as an index. The endpoint laser ranging value and the endpoint echo intensity are obtained respectively. At the same time, the starting anchor point, echo intensity baseline, and impact intrusion displacement increment are read from W102, and the current held value, i.e., the depth data of the frame before the impact triggering time, is read from the cumulative penetration depth R103 as the benchmark parameter for subsequent verification.

[0066] In the calculation of the upper bound of dynamic error, the duration of the impact shielding window is calculated based on the starting and ending anchor points of W102. The maximum drift error caused by the divergence of the inertial integral over time is calculated based on the random walk noise density parameters of the accelerometer. This drift error is then superimposed with the absolute accuracy error of the laser ranging module to generate the maximum permissible closure error for kinematic closure verification.

[0067] In the dual verification process, optical consistency verification is performed first. The absolute value of the difference between the endpoint echo intensity and the echo intensity baseline is calculated to determine whether it is less than the preset optical deviation tolerance. At the same time, kinematic closure verification is performed. The accumulated penetration depth R103 is added to the impact intrusion displacement increment to obtain the predicted penetration depth. The absolute value of the difference between the current measured depth converted from the endpoint laser ranging value and the predicted penetration depth is calculated to determine whether the closure residual is less than the maximum permissible closure error.

[0068] During depth state updates, a dual-gating decision logic is executed. Only when both the optical consistency check and the kinematic closure check pass simultaneously is the laser ranging data at the endpoint determined to be valid and unaffected by significant dust interference. In this case, the depth holding mode is deactivated, and the cumulative ground penetration depth R103 is updated using the endpoint laser ranging value. If either check fails, it is determined that there is optical obstruction or kinematic conflict in the sensing data. The system maintains the cumulative ground penetration depth R103 unchanged, discarding uncertain laser measurement results during this impact until the next impact triggers again.

[0069] This step uses the updated cumulative penetration depth R103 as the final output of the system at the current moment, which ensures both the high precision of lasers in clean environments and the robustness of inertial calculations in harsh environments, thus achieving highly reliable measurement of the grounding pin penetration process.

[0070] To facilitate implementation and standardize algorithm usage, this embodiment provides a key model of the verification logic, and each symbol is given its meaning and engineering interpretation upon its first appearance.

[0071] set up The endpoint echo intensity; Baseline for echo intensity; The optical stabilization threshold; This is the tolerance factor. Optical consistency verification must meet the following requirements: ;in, The value is greater than or equal to 1, for example, it can be 1.2 to 1.5, preferably 1.3, to allow reasonable fluctuations in optical path reflectivity before and after the impact due to slight deformation of the grounding pin or deflection of the grounding angle.

[0072] set up The current measured depth is calculated based on the endpoint laser ranging value; The cumulative ground penetration depth for the previous frame; This represents the increment of the impact intrusion displacement. This represents the maximum permissible closure error. Kinematic closure verification must meet the following requirements: Among them, the maximum permissible closure error The calculation model is as follows: In the formula, For absolute accuracy of laser ranging; A coefficient related to the accelerometer drift characteristics; Let be the duration of the impact shielding window. This formula shows that as the window time increases, the integral drift increases quadratically, therefore the allowable closure error range needs to be correspondingly nonlinearly broadened.

[0073] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0074] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0075] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and inventive constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0076] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0077] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0078] In conclusion, 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 method for measuring the penetration depth of a grounding pin based on sensing data fusion, characterized in that, include: S101, during the impact implantation of the grounding needle, continuously collect the axial acceleration sequence, laser ranging sequence, and echo intensity sequence of the grounding needle; The impact triggering time is identified based on the axial acceleration sequence; taking the impact triggering time as the time origin, a dual-window synchronous sliding rule based on wave monitoring is executed to perform a reverse backtracking search in the historical buffer data, and the time interval in which the axial acceleration sequence and echo intensity sequence simultaneously show a convergent steady state is locked as the pre-trigger static time period; based on the statistical characteristics within the pre-trigger static time period, the zero-biased acceleration baseline and the echo intensity baseline are extracted respectively. S102, an impact shielding window is established from the moment of impact triggering; with the moment of impact triggering as the time origin, the dual-window synchronous sliding rule is executed, and a forward search is performed in the real-time data stream to monitor the earliest moment when the axial acceleration sequence and the laser ranging sequence simultaneously reach a convergent steady state, and this moment is determined as the end point of the impact shielding window; within the impact shielding window, the cumulative penetration depth of the grounding pin is not updated using the laser ranging sequence, and the axial acceleration sequence is corrected and integrated using the zero-biased acceleration baseline to obtain the impact intrusion displacement increment; S103, obtain the endpoint laser ranging value and endpoint echo intensity at the endpoint of the impact shielding window; verify the optical consistency of the endpoint echo intensity based on the echo intensity baseline, and verify the kinematic closure of the endpoint laser ranging value based on the impact intrusion displacement increment; update the cumulative penetration depth based on the endpoint laser ranging value only when both verifications pass.

2. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 1, characterized in that, The axial acceleration sequence, laser ranging sequence, and echo intensity sequence are all discrete-time sequences synchronously acquired at a preset sampling frequency: the axial acceleration sequence is a sequence of acceleration physical quantities obtained by analog-to-digital conversion of the voltage signal reflecting the vibration state of the grounding pin along the grounding axis; the laser ranging sequence is a sequence of measured values ​​output by the laser ranging module reflecting the distance from the ranging optical center to the current reflecting surface; the echo intensity sequence is a sequence of relative intensity values ​​reflecting the strength of the light energy at the laser receiver; the three sequences maintain strict frame alignment in the time domain.

3. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 1, characterized in that, The execution of the dual-window synchronous sliding rule includes: constructing a first sliding window mapped to a first data sequence and a second sliding window mapped to a second data sequence, with both windows having the same length; controlling the first and second sliding windows to slide synchronously in the time-domain sequence with the same step size; calculating a first fluctuation index within the first sliding window and a second fluctuation index within the second sliding window in each sliding step; determining that a convergent steady state has been reached when the first fluctuation index is less than a preset inertial stability threshold and the second fluctuation index is less than a preset second stability threshold, and both continuously meet the minimum stability duration; wherein, the first fluctuation index is represented by the variance of the data within the window, and the second fluctuation index is represented by the range or difference amplitude of the data within the window; the inertial stability threshold is determined by the background noise parameter of the accelerometer; and the minimum stability duration is determined by the mechanical vibration attenuation characteristics of the measured object.

4. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 3, characterized in that, When the dual-window synchronous sliding rule is applied to lock the pre-trigger static time period, reverse backtracking sliding is performed starting from the impact trigger time. At this time, the first data sequence is mapped to the axial acceleration sequence, the second data sequence is mapped to the echo intensity sequence, and the second stability threshold is set as the optical stability threshold. The optical stability threshold is determined by the static measurement jitter range of the laser ranging module.

5. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 1, characterized in that, The extraction of the zero-biased acceleration baseline and the echo intensity baseline includes: performing bidirectional truncated mean calculations on the axial acceleration sequence and the echo intensity sequence during the static time period before triggering; for each sequence, removing the extreme points with a preset ratio of maximum and minimum values, and calculating the arithmetic mean of the remaining data points, which are respectively used as the zero-biased acceleration baseline and the echo intensity baseline; the zero-biased acceleration baseline serves as a calibration reference for eliminating sensor zero-point drift in subsequent integration calculations, and the echo intensity baseline serves as a standard grayscale feature for subsequent verification of optical path transmittance.

6. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 3, characterized in that, When the dual-window synchronous sliding rule is applied to determine the endpoint of the impact shielding window, forward sliding is performed from the moment the impact is triggered. At this time, the first data sequence is mapped to an axial acceleration sequence, the second data sequence is mapped to a laser ranging sequence, and the second stability threshold is set as the ranging stability threshold. The ranging stability threshold is determined based on the nominal measurement resolution or repeatability parameter of the laser ranging module.

7. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 1, characterized in that, The cumulative penetration depth is a state variable characterizing the total historical displacement of the grounding pin tip relative to the ground surface. The provision of not using laser ranging sequences to update the cumulative ground penetration depth within the impact shielding window specifically includes: immediately freezing the numerical update of the cumulative ground penetration depth after identifying the impact trigger moment and entering the depth preservation mode; The cumulative ground penetration depth of the frame preceding the impact trigger is locked as the current hold value. During the entire impact shielding window, regardless of fluctuations in the laser ranging sequence, the system output is forcibly anchored to the current hold value. The depth hold mode is used to isolate impact interference and prevent incorrect ranging values ​​caused by dust obstruction or vibration from mistakenly updating the cumulative ground penetration depth.

8. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 1, characterized in that, The step of correcting the axial acceleration sequence and performing integration using the zero-biased acceleration baseline specifically includes: subtracting the zero-biased acceleration baseline from the axial acceleration sequence within the impact shielding window to generate a net acceleration sequence; performing a time-domain quadratic integration operation on the net acceleration sequence to generate an impact displacement sequence; and extracting the value at the end of the impact shielding window as the impact intrusion displacement increment. The initial velocity boundary condition for the integration operation is set to zero, corresponding to the instantaneous stationary state at the moment of impact triggering. The impact intrusion displacement increment is used to characterize the maximum theoretical displacement that the impact may physically produce.

9. The method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 1, characterized in that, The optical consistency verification of the endpoint echo intensity based on the echo intensity baseline includes: calculating the absolute value of the difference between the endpoint echo intensity and the echo intensity baseline, which is recorded as the optical deviation value; if the optical deviation value is less than the optical consistency threshold, it is determined that the laser ranging optical path at the endpoint is not significantly obstructed by dust, and the optical consistency verification is passed; the optical consistency threshold is set to one or more times the optical stability threshold of claim 4, which is used to allow reasonable fluctuations in the optical path reflectivity before and after the impact due to the slight deformation of the grounding pin or the deflection of the grounding angle.

10. A method for measuring the penetration depth of a grounding pin based on sensing data fusion according to claim 1, characterized in that, The kinematic closure verification based on the impact intrusion displacement increment includes: obtaining the cumulative ground penetration depth of the frame preceding the impact triggering moment, adding it to the impact intrusion displacement increment to obtain the predicted ground penetration depth; calculating the absolute value of the difference between the current measured depth converted from the endpoint laser ranging value and the predicted ground penetration depth, denoted as the kinematic closure residual; if the kinematic closure residual is less than the maximum permissible closure error, it is determined that the laser ranging value conforms to the rigid body kinematics law and passes the kinematic closure verification; wherein, the maximum permissible closure error is determined by the sum of the absolute accuracy error of the laser ranging module and the upper bound of the drift error calculated by the acceleration integral.

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