CN-121632118-B - Highway job site thing networking location tracking system

CN121632118BCN 121632118 BCN121632118 BCN 121632118BCN-121632118-B

Abstract

The invention relates to the technical field of construction site management, in particular to a positioning and tracking system of the Internet of things of a highway construction site, which comprises the following components: the system comprises a fundamental frequency calculation module, a parameter generation module, a dynamic filtering module, a track tracking module, a position coordinate generation module, a cross-over base algorithm integration and a position coordinate generation module, wherein the fundamental frequency calculation module is used for collecting engine rotating speed and angular speed signals, calculating engine vibration fundamental frequency by combining an ignition factor, the parameter generation module is used for generating a center frequency based on a harmonic constant, setting bandwidth and calculating a weighting coefficient, the dynamic filtering module is used for configuring the weighting coefficient as a differential equation parameter, convoluting and filtering out blocking bandwidth energy, generating a purifying angular speed, the track tracking module is used for calculating the purifying angular speed and a zero deviation value, calling a Dragon base tower algorithm integration and generating a course angle, and the position coordinate is combined with a running speed. According to the invention, the blocking bandwidth is dynamically constructed according to the interference frequency by reversely calculating the vibration fundamental frequency by collecting the rotation speed of the engine, the mapping frequency characteristic is a differential equation coefficient, the vibration noise is accurately stripped, the course drift is eliminated, and the output of the positioning coordinates which are consistent with the actual track is ensured.

Inventors

LI RUIJUAN
WEI XU
ZHOU XIAOXU
LIU DONG
WANG YAN
Pei Jingxue
WANG HAIFENG
QIAO XIAOPING
Jiao Chunjing
YANG YAFENG

Assignees

中铁北京工程局集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260202

Claims (10)

1. A highway construction site internet of things positioning and tracking system, the system comprising: the fundamental frequency calculation module is used for collecting the engine rotation speed value through a controller local area network bus, synchronously collecting the original angular velocity signal output by the micro-electromechanical inertial measurement unit, reading a preset cylinder ignition factor, and calculating and generating the engine vibration fundamental frequency according to the engine rotation speed value, sixty and the cylinder ignition factor; The parameter generation module is used for respectively multiplying the engine vibration fundamental frequency by a preset harmonic order constant, calculating and generating a plurality of harmonic center frequencies, setting a blocking bandwidth based on the harmonic center frequencies, calling an infinite impulse response filter design algorithm, and calculating and generating a filtering weighting coefficient according to the blocking bandwidth; the dynamic filtering module is used for constructing a time domain differential equation, configuring the filtering weighting coefficient as an operation parameter of the time domain differential equation, inputting the original angular velocity signal into the time domain differential equation to perform convolution operation, filtering energy components with frequencies within the blocking bandwidth from the original angular velocity signal, and generating a purified angular velocity value; And the track tracking module is used for acquiring a static zero-bias value, calculating the difference value between the purifying angular velocity value and the static zero-bias value, calling a Dragon library tower algorithm to execute numerical integration operation on the difference value, generating a mechanical heading angle, and generating position coordinate information by combining real-time running velocity calculation.
2. The system of claim 1, wherein the base frequency calculation module specifically comprises: The bus data analysis sub-module is configured to monitor a controller partial pressure network bus communication port of the construction machine in real time, analyze a data frame according to a preset communication protocol, extract the engine rotating speed value containing the engine running state, synchronously record a time stamp of the data acquisition time, and generate a rotating speed data stream with a time stamp; the signal synchronous acquisition sub-module is configured to send a trigger instruction to the micro-electromechanical inertial measurement unit, acquire the original angular velocity signal output by the three-axis gyroscope, and align the sampling time of the original angular velocity signal with the time stamp of the engine rotating speed value by utilizing a hardware interrupt mechanism to generate a time synchronous inertial measurement data sequence; The frequency synthesis calculation sub-module is configured to read the cylinder ignition factor preset in the memory, divide the aligned engine rotation speed value by a constant sixty to convert the engine rotation speed value into a rotation cycle number per second, multiply the rotation cycle number per second by half of the cylinder ignition factor, calculate the main vibration frequency of the construction machinery engine at the current moment, and generate the engine vibration fundamental frequency.
3. The system of claim 1, wherein the parameter generation module specifically comprises: The harmonic mapping sub-module is configured to acquire the calculated and generated engine vibration fundamental frequency, sequentially call a plurality of pre-stored harmonic order constants, map the engine vibration fundamental frequency into a plurality of frequency points covering fundamental waves and higher harmonics through multiplication operation, and generate the harmonic center frequency corresponding to vibration energy of different orders; The bandwidth limiting sub-module is configured to calculate cut-off frequency boundaries on the left side and the right side of the frequency point according to a preset quality factor or a relative bandwidth proportion coefficient for each harmonic center frequency, determine a frequency range in which signal energy needs to be suppressed, and generate a blocking bandwidth corresponding to each harmonic point; the coefficient solving sub-module is configured to select a transfer function prototype of the notch filter according to the determined blocking bandwidth and the preset sampling frequency, convert the transfer function of the analog domain into discrete coefficients of the digital domain by using a bilinear transformation method, calculate a numerator coefficient and a denominator coefficient for configuring the digital filter, and generate the filtering weighting coefficient.
4. The system of claim 1, wherein the dynamic filtering module specifically comprises: the equation construction submodule is configured to establish a linear differential equation describing a recursion relation between an input signal and an output signal according to the structural characteristics of the infinite impulse response filter, map the generated filtering weighting coefficients into weighting factors of an input item and regression factors of a feedback output item in the differential equation respectively, and construct the time domain differential equation; The convolution operation sub-module is configured to take the original angular velocity signal acquired in real time as an input sequence into the time domain differential equation, execute multiplication and accumulation operation logic by combining historical input data and historical output data stored in a register, and calculate a numerical result of the filter response at the current moment; The frequency spectrum purifying sub-module is configured to weight the signals in the time domain through the convolution operation, attenuate vibration noise components with frequencies falling in the blocking bandwidth range in the original angular velocity signals, retain low-frequency angular motion information caused by the real motion of the construction machinery and generate the purifying angular velocity value.
5. The system of claim 1, wherein the track tracking module specifically comprises: A zero offset correction sub-module configured to read a static zero offset value measured at a system rest initialization stage, subtract the static zero offset value from the dynamically output purge angular velocity value, eliminate a zero drift error inherent to the gyroscope device, and generate an effective angular velocity increment for attitude calculation; The integral deduction submodule is configured to set a time step of numerical integration by taking an effective angular velocity increment as a differential term, perform weighted average slope estimation on the angular velocity change rate by using a fourth-order Dragon-Gregorian algorithm, gradually accumulate and calculate the angle change quantity of the current moment relative to the last moment, and generate the mechanical course angle; The coordinate updating sub-module is configured to acquire the real-time running speed of the construction machine, decompose the real-time running speed into displacement components along the direction of the machine course angle, calculate the absolute position of the current moment in a construction site plane coordinate system through vector superposition by combining the position coordinate information of the previous moment, and generate the updated position coordinate information.
6. The system of claim 3, wherein the bandwidth defining submodule performs the following operations in generating the blocking bandwidth: Acquiring the harmonic center frequency at the current moment and a preset bandwidth adjustment coefficient, and determining the frequency span of the blocking bandwidth by adopting a self-adaptive bandwidth calculation formula according to the vibration characteristics of the construction machinery engine in different rotating speed intervals; The self-adaptive bandwidth calculation formula specifically comprises: ; Wherein, the A frequency width value representing the calculated blocking bandwidth, Representing the harmonic center frequency of the current process, Representing a predetermined base relative bandwidth coefficient, Representing a preset dynamic compensation factor of the rotating speed, Representing the currently acquired engine speed value, Representing the idle speed constant of the engine.
7. The system for locating and tracking the internet of things on the highway construction site according to claim 3, wherein the process of generating the filtering weighting coefficient by the coefficient solving submodule specifically comprises: Calculating an intermediate process variable, namely a predistortion frequency, according to the upper cutoff frequency and the lower cutoff frequency of the blocking bandwidth, and mapping the poles and the zeros of the analog notch filter into a unit circular plane; And calling a preset second-order system transfer function template, bringing the predistortion frequency into template parameters for analysis and solution, respectively calculating to obtain a feedforward coefficient vector and a feedback coefficient vector, and combining the two groups of vectors to construct the filtering weighting coefficient which can be directly called by a digital signal processor.
8. The system for locating and tracking the internet of things on the highway construction site according to claim 4, wherein the specific logic of the convolution operation sub-module executing the convolution operation is: creating a cyclic shift register queue in each sampling period, wherein the cyclic shift register queue is used for storing the original angular velocity signals of the latest N moments and the purifying angular velocity values generated by the latest M moments; According to the order requirement of the time domain difference equation, extracting historical data at corresponding time from a cyclic shift register queue, and multiplying the historical data with corresponding numerator coefficients and denominator coefficients in the filtering weighting coefficients respectively; accumulating and summing all the product results to obtain a filtering output value at the current moment, and immediately updating the output value to the head of the cyclic shift register queue for the iterative operation of the next sampling period; Wherein N represents the total number of input signal history sampling points corresponding to the numerator coefficients, and M represents the total number of output signal history feedback points corresponding to the denominator coefficients.
9. The system of claim 5, wherein the process of generating the mechanical heading angle by the integral deduction submodule through the lagrangian algorithm specifically comprises: Based on the current mechanical heading angle and the input angular velocity difference value, calculating four characteristic slope values, namely a starting point slope, a midpoint estimated slope, a midpoint correction slope and an end point slope; according to the preset Dragon library tower weighting weight, carrying out weighted average calculation on the four characteristic slope values to obtain the average change rate in the current integral step length; And multiplying the average change rate by the integral time step length to obtain an angle increment, and accumulating the angle increment to the heading angle value at the last moment to finish the single-step updating of the mechanical heading angle.
10. The system of claim 5, wherein the process of generating the location coordinate information by the coordinate updating sub-module specifically comprises: Acquiring auxiliary positioning data output by a global navigation satellite system, and calculating Euclidean distance between the auxiliary positioning data and the currently calculated position coordinate information; judging whether the Euclidean distance exceeds a preset confidence interval threshold value, if not, directly outputting the position coordinate information obtained by dead reckoning; If the confidence interval threshold value is exceeded, a Kalman filtering observation equation is constructed, auxiliary positioning data is used as an observation value, and coordinates obtained through dead reckoning are subjected to weighted correction, so that the position coordinate information after fusion correction is generated.

Description

Highway job site thing networking location tracking system Technical Field The invention relates to the technical field of construction site management, in particular to a positioning and tracking system of the Internet of things of a highway construction site. Background The field mainly relates to the technical field of construction site management, which is used for organizing, planning, supervising and controlling and overall scheduling human resources, mechanical equipment, building materials and construction progress in the implementation process of constructional engineering. The traditional Internet of things positioning and tracking system for the highway construction site is characterized in that a global positioning system receiving module is installed on construction machinery equipment such as an excavator, a paver and the like, a radio frequency identification electronic tag or a low-power consumption Bluetooth beacon is embedded in a safety helmet of a constructor, a signal emitted by a positioning terminal is received through a wireless communication base station or a data acquisition gateway which is deployed along a construction road section, longitude and latitude coordinate data are transmitted to a remote central server through a mobile cellular network, and real-time positions of personnel and machinery are marked on a display screen of a monitoring center through an electronic map. The existing construction site positioning technology relies on a global positioning system and a wireless base station to carry out coordinate transmission, continuous tracking is difficult to maintain when facing a satellite signal weak coverage area, if an inertial measurement unit is introduced to assist in positioning, high-strength engine vibration of construction machinery can be directly coupled to a sensor, along with the change of operation working conditions, vibration frequency presents nonlinear drift, conventional fixed frequency filtering cannot effectively remove specific frequency band interference, so that angular velocity data is mixed into noise points, serious course angle accumulated errors are generated after integral operation, so that a monitoring end positioning track deviates from an actual route, and the real-time operation state of the machinery cannot be truly reflected. Disclosure of Invention The invention aims to solve the defects in the prior art, and provides a positioning and tracking system for the Internet of things on a highway construction site. In order to achieve the above purpose, the invention adopts the following technical scheme that the system for positioning and tracking the Internet of things on the highway construction site comprises: the fundamental frequency calculation module is used for collecting the engine rotation speed value through a controller local area network bus, synchronously collecting the original angular velocity signal output by the micro-electromechanical inertial measurement unit, reading a preset cylinder ignition factor, and calculating and generating the engine vibration fundamental frequency according to the engine rotation speed value, sixty and the cylinder ignition factor; The parameter generation module is used for respectively multiplying the engine vibration fundamental frequency by a preset harmonic order constant, calculating and generating a plurality of harmonic center frequencies, setting a blocking bandwidth based on the harmonic center frequencies, calling an infinite impulse response filter design algorithm, and calculating and generating a filtering weighting coefficient according to the blocking bandwidth; the dynamic filtering module is used for constructing a time domain differential equation, configuring the filtering weighting coefficient as an operation parameter of the time domain differential equation, inputting the original angular velocity signal into the time domain differential equation to perform convolution operation, filtering energy components with frequencies within the blocking bandwidth from the original angular velocity signal, and generating a purified angular velocity value; And the track tracking module is used for acquiring a static zero-bias value, calculating the difference value between the purifying angular velocity value and the static zero-bias value, calling a Dragon library tower algorithm to execute numerical integration operation on the difference value, generating a mechanical heading angle, and generating position coordinate information by combining real-time running velocity calculation. As a further aspect of the present invention, the fundamental frequency calculation module specifically includes: The bus data analysis sub-module is configured to monitor a controller partial pressure network bus communication port of the construction machine in real time, analyze a data frame according to a preset communication protocol, extract the engine rotating speed value containing the engin