Chemical plant UWB base station deployment system
By adopting GNSS/INS/UWB/vision fusion method and ZUPT/INS/UWB technology in chemical plants, the problems of low accuracy, low deployment timeliness and environmental limitations in UWB base station deployment in chemical plants are solved, and high precision is achieved. High-efficiency base station location and remote monitoring.
Patent Information
- Application Number
- CN202421199895.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-29
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-05-29
AI Technical Summary
The existing UWB base station deployment method in chemical plants has problems such as low accuracy, low deployment timeliness and environmental limitations, especially in complex environments, it is difficult to accurately measure the base station location.
The GNSS/INS/UWB/vision fusion method is adopted, combined with ZUPT/INS/UWB technology, through the collaborative work of the GNSS module, UWB module, camera, IMU module and 4G module, high-precision positioning and remote monitoring of base station location are achieved.
It improves the accuracy and efficiency of base station deployment, can accurately measure base station location in complex environments, and has remote monitoring functions, supporting real-time output and cloud distribution.
Smart Images
Figure CN222509542U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of UWB base station deployment, in particular to a chemical plant UWB base station deployment system. Background Art
[0002] The existing chemical plant UWB base station deployment mainly relies on traditional measurement methods, such as laser ranging and manual measurement. The existing chemical plant UWB base station deployment method has the following disadvantages:
[0003] 1. Low accuracy: Traditional methods are difficult to accurately measure the location information of base stations in complex environments due to non-line-of-sight errors and multipath effects;
[0004] 2. Low deployment efficiency: The traditional method uses laser ranging and manual measurement. The deployment of base stations requires a lot of manpower and time costs, which is inefficient.
[0005] 3. Environmental limitations: Traditional methods have high requirements on the environment and are only applicable to environments away from high-power equipment, metal objects and liquids. Otherwise, the positioning accuracy of the base station will be seriously reduced. For this reason, we propose a UWB base station deployment system for chemical plants. Utility Model Content
[0006] In order to solve the above problems, the utility model provides a chemical plant UWB base station deployment system.
[0007] The utility model discloses a UWB base station deployment system for a chemical plant, comprising a shell, a GNSS module being provided on one side above the shell, a communication antenna being provided on one side of the GNSS module, a UWB module being provided on the side of the communication antenna away from the GNSS module, a camera being provided on the shell, an IMU module being provided on one side of the camera, a matching cloud server being provided on the communication antenna, and the cloud server and a display terminal are wirelessly transmitted.
[0008] In the above solution, an MCU and a 4G module are provided in the shell.
[0009] In the above solution, the shell is provided with a handle.
[0010] In the above solution, the GNSS module is a GNSS single-frequency receiver.
[0011] In the above solution, the IMU module is a high-precision inertial navigation module.
[0012] In the above solution, the GNSS module, UWB module, camera, 4G module and MCU all communicate via the UART protocol.
[0013] In the above solution, the IMU module is connected to the MCU via an SPI / IIC interface.
[0014] The advantages and beneficial effects of the utility model are: The utility model provides a chemical plant UWB base station deployment system:
[0015] 1. The fusion method of GNSS / INS / UWB / vision is adopted, and the results are more accurate and reliable.
[0016] 2. Adopt ZUPT / INS / UWB fusion to effectively suppress noise, and the results are more accurate and reliable.
[0017] 3. It has Internet of Things function and supports remote monitoring. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0019] Figure 1 It is a structural schematic diagram of the utility model;
[0020] Figure 2 This is a schematic diagram of the communication module structure of the utility model.
[0021] In the figure: 1. Housing 2. GNSS module 3. Communication antenna 4. UWB module
[0022] 5. Camera 6. IMU module 7. Cloud server 8. Display terminal
[0023] 9. Grip the club. DETAILED DESCRIPTION
[0024] The following is a further description of the specific implementation of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.
[0025] like Figure 1-2 As shown, the utility model is a UWB base station deployment system for a chemical plant, comprising a shell 1, a GNSS module 2 is provided on one side above the shell 1, a communication antenna 3 is provided on one side of the GNSS module 2, a UWB module 4 is provided on the side of the communication antenna 3 away from the GNSS module 2, a camera 5 is provided on the shell 1, an IMU module 6 is provided on one side of the camera 5, the communication antenna 3 is provided with a matching cloud server 7, and the cloud server 7 is wirelessly transmitted with a display terminal 8.
[0026] The housing 1 is provided with an MCU and a 4G module.
[0027] The housing 1 is provided with a handle 9 .
[0028] The GNSS module 2 is a GNSS single-frequency receiver.
[0029] The IMU module 6 is a high-precision inertial navigation module.
[0030] The GNSS module 2, UWB module 4, camera 5 and 4G module communicate with the MCU via the UART protocol.
[0031] The IMU module 6 is connected to the MCU via an SPI / IIC interface.
[0032] Specifically, in the utility model, the MCU reads the original observation data of the GNSS module 2 through the serial port, and then decodes the original observation value according to the rtcm protocol to obtain satellite ephemeris, pseudorange, carrier phase, Doppler frequency shift, etc., and uses Newton iteration and least squares method to calculate the preliminary single-point positioning result according to the ephemeris and pseudorange observation values, and the positioning result includes latitude, longitude, and elevation (height relative to sea level); the user speed can be calculated by least squares according to Doppler shift; the single-point positioning result is uploaded to the reference station, and the reference station sends the corresponding correction data according to the rough position reported by the user, and then combines the carrier phase observation value, and uses the RTK algorithm to obtain a more accurate relative positioning result. The MCU reads the IMU module data 6 through SPI / IIC, including the acceleration and angular velocity measurement values in the three directions of x, y, and z, and uses the Madgwick filtering method to filter the original data, and then integrates the acceleration to obtain the velocity result, integrates the velocity to obtain the displacement component, and then based on the given initial position, the current position can be obtained. MCU reads UWB module 4 through the serial port, including the distance from the mobile terminal to the base station, the horizontal angle and vertical angle from the mobile terminal to the base station antenna phase center, and the horizontal angle and vertical angle from the base station to the mobile terminal antenna phase center. The position of the base station relative to the mobile terminal can be calculated based on trigonometric functions. As long as the absolute position of the mobile terminal is determined, the position of the base station can be quickly obtained. Camera 5 takes photos of feature points at different angles, uses these photos to complete feature point tracking and matching between adjacent frames, and then estimates motion and constructs maps based on the matching relationship of the features.
[0033] In the open environment of the chemical plant, the GNSS module 2 completes the positioning and obtains the high-precision absolute position of the terminal; when the user holds the terminal and enters an indoor environment without GNSS signals, the camera 5 and the IMU module 6 can be used for fusion and solution. The camera 5 has a simple structure, low price, and strong environmental adaptability, but the SLAM based on monocular vision has the problem of scale uncertainty. The IMU module 6 has the measurement characteristics that are not affected by the environment and are completely autonomous, and can obtain higher-frequency carrier motion data, which can not only restore the scale but also make up for the shortcomings of the monocular camera in fast-moving or dynamic environments; at the same time, the high-precision visual positioning results in the slow-moving state can suppress the inertial sensor data. The system can detect the drift of the original observation value of IMU module 6, thereby improving the positioning accuracy and stability of the system. When the handheld device moves to a position near the bottom of the UWB base station, fix the device on the ground for a period of time, and use ZUPT / IMU / UWB technology to maintain the posture and position in a static state. ZUPT is a zero-speed correction. When the device is detected to be stationary, the heading and position of the current device are locked, effectively avoiding the drift of the original observation value of IMU module 6 over time. When the device is placed under the UWB base station, the UWB / IMU fusion technology can be used to effectively weaken the large noise of the original observation value of UWB module 4, reduce non-line-of-sight error and multipath error, and thus calculate the accurate absolute position of the current UWB base station.
[0034] When the handheld terminal detects that there are three or more UWB base stations with determined absolute positions, the current position coordinates can be directly calculated using the known coordinates of the UWB base station positions.
[0035] Through the 4G module, the detected absolute position information of the UWB base station is output to the staff in real time and uploaded to the cloud server for distribution to other remote monitoring systems.
[0036] 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 in the protection scope of the present invention.
Claims
1. A chemical plant UWB base station deployment system, comprising a housing (1), characterized in that: A GNSS module (2) is provided on one side of the upper part of the shell (1), a communication antenna (3) is provided on one side of the GNSS module (2), a UWB module (4) is provided on the side of the communication antenna (3) away from the GNSS module (2), a camera (5) is provided on the shell (1), an IMU module (6) is provided on one side of the camera (5), a matching cloud server (7) is provided on the communication antenna (3), and the cloud server (7) is wirelessly transmitted with a display terminal (8).
2. A chemical plant UWB base station deployment system according to claim 1, characterized in that: The housing (1) is provided with an MCU and a 4G module.
3. A chemical plant UWB base station deployment system according to claim 1, characterized in that: The housing (1) is provided with a grip rod (9).
4. A chemical plant UWB base station deployment system according to claim 1, characterized in that: The GNSS module (2) is a GNSS single-frequency receiver.
5. A chemical plant UWB base station deployment system according to claim 1, characterized in that: The IMU module (6) is a high-precision inertial navigation module.
6. A chemical plant UWB base station deployment system according to claim 2, characterized in that: The GNSS module (2), the UWB module (4), the camera (5) and the 4G module communicate with the MCU via the UART protocol.
7. A chemical plant UWB base station deployment system according to claim 1, characterized in that: The IMU module (6) is connected to the MCU via an SPI / IIC interface.