Method and system for positioning an electrified work platform for a substation environment - Patents.com

Abstract

To provide a method and system for positioning an electrification work platform for a substation environment.SOLUTION: A method comprises the steps of: measuring an angular velocity and specific impulse information of a carrier, and inputting both to a strapdown inertial navigation system; causing the strapdown inertial navigation system to analyze position information of the carrier and simultaneously combine it with a base station position transmitted from a UWB tag to the strapdown inertial navigation system, to derive RTT distance information corresponding to the strapdown inertial navigation system; acquiring observation quantities using the difference between the RTT distance information and an RTT ranging value obtained by a UWB positioning system, and combining it with a state quantity to establish a Kalman filter model; and obtaining an optimal estimate value in the strapdown inertial navigation system by state estimation of the Kalman filter model, and acquiring a final position, velocity and attitude angle information of the carrier by calibration.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to the technical field of electrified work platform positioning, in particular for electrified work platform positioning for substation environments. The present invention relates to a method and system for determining the position of a work platform. [Background technology]

[0002] At present, the relatively mature electrified work platform is mainly for power distribution and transmission lines, mainly It is a type of insulated bucket arm vehicle, and the design of the electrification work platform for the substation has not yet been decided. The number and variety of power equipment in substations is large, the electromagnetic environment is complex, and The safe working distance of an electrified working platform for industrial environments poses stringent requirements. At present, the mainstream positioning methods for electrified work platforms are visual positioning, satellite navigation positioning, Visual positioning is the positioning by which the worker is actually looking at the platform and the charging work area. The area location can be visually observed, manually and remotely controlled, and used in many scenarios, but the experience of the operator is required. This relies on the intelligence of the workers, which increases the workload of the workers and poses safety risks. The degree of reliability is not high, and satellite navigation positioning is mainly used for outdoor power distribution lines and power transmission lines. Star-enhanced technology can achieve centimeter-level positioning accuracy, but the substation In the vicinity of the station, there are problems such as substation equipment and complex electromagnetic signal interference, which can reduce the positioning accuracy and There are similar safety risks in substation environments, due to the loss of functionality and high dependency on the environment. In the case of visual positioning, images are collected by a camera and image processing algorithms are used to determine the location of the charging work plate. The platform is positioned and does not depend on external conditions, but the electrified work platform is rigid. The lighting conditions of outdoor substations change greatly, the image background is complex, and the interference of induced arc discharge is difficult. There are problems such as interference and unclear contours of identified objects, and the positioning accuracy is not high. Summary of the Invention

[0003] In view of the above-mentioned problems in the conventional art, the present invention is proposed. Therefore, the object of the present invention is to provide a charging work platform that is weak in rigidity and is suitable for outdoor substations. The lighting conditions change greatly, the image background is complicated, the induced arc discharge interference, and the contour of the object to be identified is ambiguous. To solve the problem of low positioning accuracy due to ambiguity, a charging station for substation environments is developed. A method for positioning a work platform is provided. In order to solve the above technical problems, the present invention provides the following technical solutions: In a first aspect, an embodiment of the present invention provides an electrically-charged work platform positioning system for a substation environment. The present invention provides a method for measuring the angular velocity and specific impulse information of a carrier and comparing the two. inputting the navigation data into a pull-down inertial navigation system; Analyzing the carrier's position information by the strapdown inertial navigation system At the same time, the base station transmitted from the UWB tab to the strap-down inertial navigation system Combined with station position, RTT distances for strapdown inertial navigation systems Deriving information; The difference between the RTT distance information and the RTT distance measurement value obtained by the UWB positioning system is used to acquiring measurements and combining them with the state quantities to establish a Kalman filter model; The state estimation of the Kalman filter model is used to estimate the strapdown inertial navigation system. The system obtains the best estimate and provides feedback to the strapdown inertial navigation system. and obtaining final carrier position, velocity and attitude angle information by calibration. include. As a method for determining the position of an electrified work platform for a substation environment according to the present invention, The pull-down inertial navigation system analyzes the carrier's position information and simultaneously Combined with base station positions transmitted from the satellite to a strapdown inertial navigation system, A strap-down inertial navigation system that derives RTT distance information corresponding to the strap-down inertial navigation system. The step is the carrier position coordinates analyzed by the strapdown inertial navigation system. Convert the target into a geographic coordinate system and analyze it to obtain the RTT distance information between the carrier and the base station. Includes. In the method for positioning an electrified work platform for a substation environment according to the present invention, the observation quantity is , the difference between the RTT distance information and the RTT distance measurement. As a method for determining the position of an electrified work platform for a substation environment according to the present invention, The carrier position coordinates analyzed by the pull-down inertial navigation system are converted to the geographic coordinate system. The thing is, The carrier position coordinates analyzed by the strapdown inertial navigation system are longitude and latitude. JPEG0007648865000001.jpg65, latitude JPEG0007648865000002.jpg55 and advanced JPEG0007648865000003.jpg64, which are converted to the geographic coordinate system and When shown as JPEG0007648865000004.jpg958, the following formula is obtained: JPEG0007648865000005.jpg4075JPEG0007648865000006.jpg1138where, JPEG0007648865000007.jpg55 is the semi-major axis length of the Earth ellipse, JPEG0007648865000008.jpg76 is the Earth ellipsoid flattening. As a method for measuring the position of an electrified work platform for a substation environment according to the present invention, The separation information specifically includes the following formula: JPEG0007648865000009.jpg10118 where, JPEG0007648865000010.jpg812 is the carrier and JPEG0007648865000011.jpg53 This is the RTT ranging information of the base station. JPEG0007648865000012.jpg959 is the 1st pixel in the geographic coordinate system. JPEG0007648865000013.jpg53 are the coordinates of the base station. In the method for positioning an electrified work platform for a substation environment according to the present invention, the observation quantity is It is shown by the following formula: JPEG0007648865000014.jpg846 where, JPEG0007648865000015.jpg710 is the observation of the Kalman filter, JPEG0007648865000016.jpg812 is the RTT distance measurement between the base station and the tab measured with the UWB system. In the method for measuring the position of an electrified work platform for a substation environment according to the present invention, the state quantity is , Gaussian noise in three-axis measurements of a gyroscope, Gaussian noise in three-axis measurements of an accelerometer The platform’s longitude, latitude, and altitude position errors, three-axis velocity errors, and Includes UWB ranging error. In a second aspect, an embodiment of the present invention provides an electrically-charged work platform positioning system for a substation environment. This system provides Measure the angular velocity and specific impulse information of the carrier and use both for strap-down inertial navigation. a collection module for inputting the data into the online system; Analyzing the carrier's position information by the strapdown inertial navigation system At the same time, the base station transmitted from the UWB tab to the strap-down inertial navigation system Combined with station position, RTT distances for strapdown inertial navigation systems The difference between the RTT distance information and the RTT distance measurement value obtained by the UWB positioning system is calculated. A model for obtaining observations using the Kalman filter and combining them with state variables to construct a Kalman filter model. A rule building module; The state estimation of the Kalman filter model is used to estimate the strapdown inertial navigation system. The system obtains the best estimate and provides feedback to the strapdown inertial navigation system. The estimation module is used to obtain the final carrier position, velocity and attitude information by calibration. It is equipped with a system. In a third aspect, an embodiment of the present invention provides a computing device, comprising: It consists of memory and a processor. The memory is used to store computer-executable instructions, and the processor A method for executing the computer-executable instructions, comprising: When executed by a processor, the substation environment according to any one of the embodiments of the present invention The steps of a method for positioning an electrically-charged work platform for a vehicle are realized. In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, comprising: Executable instructions are stored and are executed by a processor. When the method is performed, the steps of the method for determining the position of an electrified work platform for a substation environment are realized. can be. Effect of the Invention

[0004] The present invention has the following beneficial effects: The electrified work platform for a substation environment of the present invention According to the positioning method, the electrified work platform can autonomously and intelligently determine its own position. This allows the acquisition of information on the location of the equipment, and at the same time prevents safety risks posed by workers. In addition, we will achieve positioning capabilities in indoor and outdoor substation environments without relying on satellite signals, and ultimately ,Compared with visual positioning, it is possible to realize all-weather, all-time ,positioning function. [Brief description of the drawings]

[0005] In order to more clearly describe the technical solutions of the embodiments of the present invention, the following description of the embodiments will be given. The accompanying drawings, which need to be used in conjunction with the present invention, will be briefly described. The accompanying drawings are merely some examples of the present invention, and it will be apparent to those skilled in the art that the present invention can be practiced with the aid of creative labor. Based on these drawings other drawings can be derived. [Figure 1] FIG. 1 is an overall frame diagram of an electrified work platform positioning method for a substation environment according to the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0006] In order to make the above objects, features and advantages of the present invention more clear and understandable, the following detailed description is given. Specific embodiments of the present invention will now be described in detail in conjunction with the accompanying drawings and the accompanying written description. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in other forms than those described in the specification, and those skilled in the art will recognize that the present invention is not limited to the above-described embodiments. Since the same can be carried out without violating the meaning of the present invention, the present invention is as follows: It is not intended to be limited by the specific examples shown. Also, "one embodiment" or "embodiment" herein refers to at least one embodiment of the present invention. Refers to a particular feature, structure, or characteristic that may be included in "One embodiment" does not refer to all the same embodiment but to a separate or equivalent embodiment from other embodiments. The alternatives are not intended to refer to mutually exclusive embodiments. Furthermore, the present invention will be described in detail in conjunction with the schematic drawings, and when describing the embodiments of the present invention in detail, For the sake of convenience, the cross-sectional view showing the device structure is not enlarged according to a general ratio. The above is merely an example and should not limit the scope of the present invention. The three spatial dimensions of width and depth should be included. Example 1 Referring to FIG. 1, one embodiment of the present invention is an electrically-charged work platform positioning system for a substation environment. A method is provided, the method including the following steps. S1: The inertial measurement unit (IMU) measures the angular velocity and specific impulse information of the carrier, and Enter the strap-down inertial navigation system. S2: Analyze the carrier's position information using a strapdown inertial navigation system. At the same time, the UWB tab transmits the base station signal to the strap-down inertial navigation system. Combined with the ground station position, it provides the RTT distance corresponding to the strapdown inertial navigation system. The distance information is derived from the captured data analyzed by the strapdown inertial navigation system. Rear position coordinates are longitude JPEG0007648865000017.jpg65, latitude JPEG0007648865000018.jpg65 and advanced JPEG0007648865000019.jpg64, and convert it to a geographic coordinate system, For JPEG0007648865000020.jpg958, we get the following: JPEG0007648865000021.jpg4175JPEG0007648865000022.jpg1138where, JPEG0007648865000023.jpg55 is the semi-major axis length of the Earth ellipse, JPEG0007648865000024.jpg76 is the Earth ellipsoid flattening. The carrier coordinates analyzed by the corresponding strapdown inertial navigation system are The distance information of the RTT between the carrier and the base station is shown in the following formula: JPEG0007648865000025.jpg11118 where, JPEG0007648865000026.jpg812 is the carrier and JPEG0007648865000027.jpg63 This is the RTT ranging information of the base station. JPEG0007648865000028.jpg959 is the 3rd pixel in the geographic coordinate system. JPEG0007648865000029.jpg63 are the coordinates of the base station. S3: Using the difference between the RTT distance information and the RTT distance measurement value obtained by the UWB positioning system Observations are obtained and combined with state variables to establish a Kalman filter model. The difference between the RTT distance information and the RTT distance measurement is specifically expressed by the following formula: JPEG0007648865000030.jpg846 where, JPEG0007648865000031.jpg810 is the observation of the Kalman filter, JPEG0007648865000032.jpg912 is the RTT distance measurement between the base station and the tab measured with the UWB system. The difference between the RTT distance information and the RTT distance measurement value is input to the Kalman filter as an observable. By reducing the number of parameters in the Lehman filter, the amount of calculation required for the above method is reduced, and the data from the two sensors is The above method realizes the accurate positioning function of the electrified working platform; It can operate normally even if the UWB ranging information is partially lost. The state quantities are Gaussian noise in the three-axis measurements of the gyroscope, and three-axis measurements of the accelerometer. Gaussian noise, platform longitude, latitude, and altitude position errors, and velocity errors in three axes Includes the difference and UWB ranging error. S4: Strapdown inertial navigation system using state estimation of Kalman filter model Find the best estimate during the stem and feed it into the strapdown inertial navigation system The final position, velocity and attitude angle information of the carrier are obtained by calibration. The specific algorithm flow of the Kalman filter model is as follows: The state matrix and JPEG0007648865000033.jpg610: Filtering is performed to estimate the state. JPEG0007648865000034.jpgGet the state prediction at time 64: JPEG0007648865000035.jpg1053 Calculate the mean squared error of the state prediction: JPEG0007648865000036.jpg9105Calculate the gain matrix of the Kalman filter: JPEG0007648865000037.jpg998Estimate the system state from the gain matrix: JPEG0007648865000038.jpg1093Calculate the mean squared error of the state estimate: JPEG0007648865000039.jpg761, where JPEG0007648865000040.jpg917 is JPEG0007648865000041.jpgThis is the state prediction at time 64. JPEG0007648865000042.jpg913 JPEG0007648865000043.jpg is the state estimate after filtering obtained at time 610. JPEG0007648865000044.jpg716 is JPEG0007648865000045.jpg610~ JPEG0007648865000046.jpg65 is the transfer matrix at time 65. JPEG0007648865000047.jpg714 is the mean squared error of the state prediction, JPEG0007648865000048.jpg716 is JPEG0007648865000049.jpg610~ JPEG0007648865000050.jpg64 is the noise allocation matrix at time point, JPEG0007648865000051.jpg78 is the gain matrix of the Kalman filter, JPEG0007648865000052.jpg79 JPEG0007648865000053.jpg is the measurement matrix at time 65, JPEG0007648865000054.jpg78 JPEG0007648865000055.jpg64 is the observed noise allocation matrix. JPEG0007648865000056.jpg78 is a system measurement value, JPEG0007648865000057.jpg77 JPEG0007648865000058.jpgThis is the mean squared error of the state estimation at time 64. The best estimates are based on gyroscopes, accelerometers, platform attitude angles, velocity and position. Contains the best estimate of the error. The present embodiment further provides an electrified work platform positioning system for a substation environment, The system is Measure the angular velocity and specific impulse information of the carrier and use both for strap-down inertial navigation. a collection module for inputting the data into the online system; Analyzing the carrier's position information by the strapdown inertial navigation system At the same time, the base station transmitted from the UWB tab to the strap-down inertial navigation system Combined with station position, RTT distances for strapdown inertial navigation systems The difference between the RTT distance information and the RTT distance measurement value obtained by the UWB positioning system is calculated. A model for obtaining observations using the Kalman filter and combining them with state variables to construct a Kalman filter model. A rule building module; The state estimation of the Kalman filter model is used to estimate the strapdown inertial navigation system. The system obtains the best estimate and provides feedback to the strapdown inertial navigation system. The estimation module is used to obtain the final carrier position, velocity and attitude information by calibration. It is equipped with a system. The present embodiment further provides a computing device, an electrostatic work platform for a substation environment, This applies to the case of the platform positioning method, A computer system that consists of a memory and a processor, where the memory is used to store computer-executable instructions. the processor is used to execute the computer-executable instructions, The computer-executable instructions, when executed by a processor, cause the power transformer described in the above embodiment to The steps of a method for positioning an electrically-charged work platform for an intended environment are accomplished. The computer device may be a terminal, and the computer device may be connected via a system bus. The device includes a processor, a memory, a communication interface, a display, and an input device. Here, the processor of the computer device is used to provide computational and control capabilities. The memory of this computer device includes a non-volatile storage medium, an internal memory. The non-volatile storage medium includes an operating system and computer programs. This internal memory contains the operating system and computer The communication interface of this computer device provides an operating environment for the computer program. It is used to communicate with external terminals via wired or wireless methods. Wireless methods include WIFI, server This can be achieved through service provider networks, NFC (near field communication) or other technologies. The display of this computer device can be a liquid crystal display or an electronic interface. The input device of the computer device may be a keyboard or keyboard display, and the input device of the computer device may be a keyboard or keyboard covered by the display. Touch panel, buttons, trackballs or touch pads on the housing of a computer device The input / output device may be a keyboard, an external keyboard, a touchpad, or a mouse. This embodiment further provides a storage medium having a computer program stored thereon, When the program is executed by the processor, the charging operation program for the substation environment described in the above embodiment is implemented. A platform positioning method is realized. The storage medium proposed in this embodiment and the data storage method proposed in the above embodiment are based on the same inventive idea. The technical details not exhaustively described in this embodiment are described in the above embodiment. Therefore, this embodiment and the above embodiment have the same beneficial effects.

[0007] Example 2 Another embodiment of the present invention is described below to verify and explain the technical effects employed in the present method. ,To provide a verification experiment of the electrified work platform positioning method for ,substation environment. According to the electrification work platform positioning method for a substation environment proposed by the present invention, the electrification work The platform autonomously and intelligently acquires its own location information and automatically detects the location of the worker. This allows us to avoid the safety risks posed by satellite signals while at the same time reducing our reliance on satellite signals. Compared with visual positioning, it has the advantage of being all-weather and all-time in indoor and outdoor substation environments. As shown in Table 1, the simple UWB and IMU positioning methods, the conventional loose · The positioning accuracy is significantly improved compared to the coupling algorithm. Table 1: Comparison results

[0008] JPEG0007648865000059.jpg95165

[0009] As can be seen from the experimental results, the position error of simple UWB is about 0.4 meters, and the It is not possible to measure the moving speed of the platform, and conventional UWB / IMU loose coupling The positioning accuracy of the positioning algorithm method is improved compared to simple UWB, but the improvement is small. The positioning method proposed in this patent is not based on simple UWB and traditional loose coupling. Compared with the algorithmic method, the positioning accuracy is greatly improved, and the speed measurement accuracy is also obviously improved. It should be noted that the above embodiments are used to illustrate the technical solutions of the present invention, rather than to limit the scope of the invention. Although the present invention has been described in detail with reference to preferred embodiments thereof, it is to be understood that those skilled in the art will appreciate that the present invention is merely illustrative of the principles of the present invention. Therefore, without departing from the spirit and scope of the technical solution of the present invention, Any modifications or equivalent replacements made to the solution should be included within the scope of the claims of the present invention. do.

Claims

1. Measure the angular velocity and acceleration information of the carrier and use them for strapdown inertial navigation. and inputting the information into the online system. Analyzing the carrier's position information by the strapdown inertial navigation system At the same time, the base station transmitted from the UWB tab to the strap-down inertial navigation system Combined with station position, RTT distance corresponding to strapdown inertial navigation system Deriving information; The difference between the RTT distance information and the RTT distance measurement value obtained by the UWB positioning system is used to calculate the observation quantity. and combining it with the state to establish a Kalman filter model; The state estimation of the Kalman filter model is used to estimate the strapdown inertial navigation system. The system obtains the best estimate and provides feedback to the strapdown inertial navigation system. and obtaining final carrier position, velocity and attitude angle information by calibration.

16. A method for positioning an electrified work platform for a substation environment, comprising:

2. The strapdown inertial navigation system simultaneously analyzes the position information of the carrier. Then, the base station position transmitted from the UWB tab to the strapdown inertial navigation system Combined with the position, RTT distance information corresponding to the strapdown inertial navigation system The step of deriving the metric includes deriving the metric based on the metric analyzed by the strapdown inertial navigation system. Convert the carrier position coordinates into a geographic coordinate system and analyze it to obtain the RTT distance information between the carrier and the base station. The electrified work platform for a substation environment according to claim 1, further comprising: Platform positioning method.

3. The observable includes a difference between the RTT distance information and the RTT distance measurement value.

2. The method of claim 1 for determining the position of an electrified work platform for a substation environment.

4. The carrier position coordinates analyzed by the strapdown inertial navigation system are converted into geographic coordinates. To convert to the standard system, The carrier position coordinates analyzed by the strapdown inertial navigation system are longitude and latitude. ,latitude and altitude and are converted to the geographic coordinate system as Then, we obtain the following equation: Where: is the semimajor axis length of the Earth ellipse, is the earth ellipse flattening ratio, Platform positioning method.

5. The RTT distance information specifically includes the following formula: Where: is the carrier estimated by SINS and the RTT ranging information of the base station, is the first coordinate system in the geographic coordinate system. The charging device for a substation environment according to claim 2 or 4, characterized in that the charging device is a base station coordinate system. Industrial platform positioning method.

6. The observable is expressed by the following formula: Where: is the observable of the Kalman filter, is the RTT distance measurement value between the base station and the tab measured in the UWB system.

2. The method of claim 1 for positioning an electrically-charged work platform for a substation environment.

7. The state quantity is the measurement Gaussian noise in the three axial directions of the gyroscope, the measurement noise in the three axial directions of the accelerometer, Measurement Gaussian noise, platform longitude, latitude, and altitude position errors, and three-axis velocity 2. The method for use in a substation environment according to claim 1, further comprising the steps of: An electrically charged work platform positioning method.

8. Measure the angular velocity and acceleration information of the carrier and use them for strapdown inertial navigation. a collection module for inputting the data into the online system; Analyzing the carrier's position information by the strapdown inertial navigation system At the same time, the base station transmitted from the UWB tab to the strap-down inertial navigation system Combined with station position, RTT distance corresponding to strapdown inertial navigation system The difference between the RTT distance information and the RTT distance measurement value obtained by the UWB positioning system is calculated as A model for obtaining observations using the Kalman filter and combining them with state variables to construct a Kalman filter model. A rule building module; The state estimation of the Kalman filter model is used to estimate the strapdown inertial navigation system. The system obtains the best estimate and provides feedback to the strapdown inertial navigation system. The estimation module is used to obtain the final carrier position, velocity and attitude information by calibration. and a positioning system for an electrified work platform for a substation environment, Stem.

9. A computer-executable instruction is stored, the computer-executable instruction being executed by a processor. When performed by the sensor, the electric charging work platform measurement system for a substation environment according to claim 7 is 23. A computer-readable storage medium having steps of a method implemented thereon.

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