CN103018757B - Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform - Google Patents
Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform Download PDFInfo
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Abstract
A monitoring and display system for a position and a three-dimensional attitude of a floating and semi-submersible type mobile platform comprises an RTK (real time kinematic) DGPS (differential global position system) positioning module which is used for obtaining positioning data of the mobile platform; a bidirectional gravity type inclinometer module which is used for obtaining longitudinal and transverse inclination data of the mobile platform; a wireless transmission module which is used for transmitting the positioning data and the inclination data to a synchronous collection and processing module; the synchronous collection and processing module which is used for collecting the positioning data and the inclination data synchronously and converting the positioning data into a presupposed type coordinate system; and a real-time three-dimensional animation and information display module which is used for dynamically displaying the position and the three-dimensional attitude of the mobile platform in real time in a three-dimensional simulation mode. By means of the GPS (global position system) and the animated simulation, the monitoring and display system for the position and the three-dimensional attitude of a floating and semi-submersible type mobile platform displays dynamically the position and attitude information of the mobile platform in real time, and has the advantages of being intuitional, efficient and highly-accurate, thereby largely improving the safety in construction and engineering efficiency, and having a high automaticity, an accurate measurement during work process and a wide prospect.
Description
Technical field
The invention belongs to engineering survey and design of Simulation field, particularly relate to a kind of floating and semisubmersible mobile platform orientation and 3 d pose and monitor display system.
Background technology
In fields such as engineering constructions, such as immersed tunnelling method constructing tunnel and marine ships platform etc., need orientation and the 3 d pose of accurately measuring Large-scale Mobile object, so that carry out construction docking and ensure engineering safety, especially for moving for construction work under water, not only require tight security, and whole work progress is below the water surface, construction area offshore is far away, construction period is long, if particularly residing for engineering, waters turbidity is high, even if install underwater camera also cannot see work progress clearly, will bring more highly difficult to this construction like this, the major accident such as easily collide.Existing classic method is generally felt by frogman and the method such as measurement data count off is measured, not only efficiency is lower and directly perceived not, accurate, in this case, provide a kind of precision to reach centimetre-sized, can round-the-clockly to work alone for a long time, can simultaneously multipoint acquisition mobile platform orientation, inclination data there is no line length Distance Transmission, the information integrated system of real-time three-dimensional dynamic model display can provide efficiently work progress, directly perceived, engineering reference accurately.Make site operation and managerial personnel can understand mobile object orientation, attitude and construction stage in time, and playback, analysis, summary can be carried out to whole work progress after construction, thus improve construction quality.
Summary of the invention
For existing technical disadvantages, the object of the present invention is to provide a kind of monitoring accuracy to reach centimetre-sized, round-the-clockly to work long hours, automatic real time data measurement, the transmission of remote-wireless data and high-precision floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system can be carried out to mobile platform.
For achieving the above object, technical scheme of the present invention is as follows: a kind of floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system, comprising:
Real-time dynamic GPS Positioning module, for obtaining the locator data of mobile platform;
Two-way gravity type inclinator module, for obtaining longitudinal direction and the transverse inclination data of mobile platform;
Wireless transport module, for transferring to synchronous data sampling and processing module by locator data and inclination data;
Synchronous data sampling and processing module, for by arranging synchronous acquisition locator data and inclination data, and carrying out origin coordinate system transform to locator data, converting preset kind coordinate system to, and automatically data preserved with acquisition time name;
Realtime three dimensional animation and information display module, for showing described mobile platform by three-dimensional modeling according to full-size(d) and shape, and show mobile platform relative orientation and 3 d pose dynamically according to the locator data after synchronous data sampling and processing module process and inclination data in real time in three-dimensional artificial mode.
Preferably, described floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system also comprise more than one water-proof CCD camera, for taking the true environment around described mobile platform in setting range;
Described realtime three dimensional animation and information display module, also for showing around described mobile platform equal proportion true environment in setting range.
Preferably, described Real-time dynamic GPS Positioning module comprises the RTK base station of being located at bank constant bearing and to be located at respectively on mobile platform and to measure higher than the A more than water surface two RTK movement stations that tower and B measure tower.
Preferably, described wireless transport module adopts point-to-point wireless bridging mode, comprising:
Power supply and data acquisition interface integration module, be arranged at A respectively and measure in tower and B measurement tower, for carrying out instrument and equipment independently-powered and gathering related data, and data acquisition interface quantity is one or more;
Wireless data transmission antenna, is connected for sending data with power supply and data acquisition interface integration module;
Receive data by wireless antenna, is fixedly installed on bank and is connected with processing module with synchronous data sampling, for the data that receiving radio data emitting antenna sends.
Preferably, described wireless data transmission antenna and receive data by wireless antenna adopt omnidirectional or omnidirectional and the qualitative mode combined.
Preferably, the wireless transmission bandwidth of described wireless transport module is more than 100,000,000.
Particularly, described synchronous data sampling and processing module comprise:
Module is set, for regulating data collection interval and the acquisition parameter of acquisition module on demand;
Acquisition module, for carrying out synchronous acquisition by the locator data of the different baud rate received by receive data by wireless antenna and parameters and inclination data;
Modular converter, for carrying out origin coordinate system transform to the locator data of acquisition module collection, converts preset kind coordinate system to;
Memory module, for the data after all collections and conversion being automatically stored in data file, data file presses acquisition time name automatically;
Preferably, described realtime three dimensional animation and information display module also for real-time dynamic display mobile platform position angle, with the distance of point of fixity and offsets in height value.
Particularly, described realtime three dimensional animation and information display module comprise:
Data read module, for reading the data of preserving in synchronous data sampling and processing module;
Vision-control module, for arranging the display parameter of three-dimensional animation, described display parameter comprise the Dynamic Announce time interval, playback speed;
The data that data read module reads are shown by setting means for the display parameter according to vision-control module installation by display module, and described setting means comprises side direction, forward, skeleton view and privileged site feature.
Compared with prior art, the present invention has following beneficial effect: native system adopts the orientation attitude information of the mode Real time dynamic display mobile platform of real time dynamic differential GPS and animation simulation, intuitively, efficient and high precision (centimetre-sized), greatly improve construction safety and engineering efficiency, automaticity is high, realize any playback to whole work progress and precise monitoring, there is wide application prospect.
Accompanying drawing explanation
Fig. 1 is the structural representation of present system embodiment one.
Fig. 2 is the structural representation of present system embodiment two.
Fig. 3 of the present inventionly gets a bird's eye view schematic diagram.
Fig. 4 is RTK rover station and wireless data transmission antenna structure view.
Embodiment
Below in conjunction with preferred embodiment wherein, the present invention program is described in detail.
The structural representation of floating of the present invention and semisubmersible mobile platform orientation and attitude detection system embodiment has been shown in Fig. 1.
As shown in Figure 1, the floating in the present embodiment and semisubmersible mobile platform orientation and attitude detection system include:
Real-time dynamic GPS Positioning module 101, for obtaining the locator data of mobile platform;
Two-way gravity type inclinator module 102, for obtaining longitudinal direction and the transverse inclination data of mobile platform;
Wireless transport module 103, for transferring to synchronous data sampling and processing module 104 by locator data and inclination data;
Synchronous data sampling and processing module 104, for by arranging synchronous acquisition locator data and inclination data, and carrying out origin coordinate system transform to locator data, converting preset kind coordinate system to, and automatically data preserved with acquisition time name;
Realtime three dimensional animation and information display module 105, for showing described mobile platform 107 by three-dimensional modeling according to full-size(d) and shape, and locator data after processing according to synchronous data sampling and processing module 104 and inclination data show mobile platform 107 relative orientation and 3 d pose in real time dynamically in three-dimensional artificial mode.
According to the system in the present embodiment, it is by the locator data of Real-time dynamic GPS Positioning module 101 Real-time Obtaining mobile platform, by longitudinal direction and the transverse inclination data of two-way gravity type inclinator module 102 Real-time Obtaining mobile platform 107, and the coordinate system of preset kind is transformed into by the locator data of synchronous data sampling and processing module 104 pairs of synchronous acquisitions, the relative orientation of mobile platform 107 is shown in real time by the mode of three-dimensional modeling and emulation, the information such as 3 d pose, make the monitoring of floating and semisubmersible mobile platform directly perceived, efficiently, substantially increase construction safety and engineering efficiency.
Wherein, as shown in Figure 1, in the system of the present embodiment, can also include water-proof CCD camera 106, this water-proof CCD camera 106 is the true environments for taking in above-mentioned mobile platform 107 surrounding setting range.Now, based on the true environment captured by water-proof CCD camera 106, above-mentioned realtime three dimensional animation and information display module 105, can also be used for showing equal proportion true environment in mobile platform 107 surrounding setting range.
Wherein, above-mentioned water-proof CCD camera 106, can be provided with the number of more than one multiple, concrete water-proof CCD cameras 106, can according to specifically setting actual demands such as the coverages of surrounding environment,
Fig. 2 is the further refinement to Fig. 1, wherein, above-mentioned Real-time dynamic GPS Positioning module 101 comprises the RTK base station that is arranged at fixed position, bank and is located at respectively to measure two RTK movement stations 1011 that tower 109 and B measure tower 108 on mobile platform 107 and higher than the A of the water surface, described A measures tower 109 and B measures in tower 108 power supply and data acquisition interface integration module 1031 that are provided with and gather RTK movement station 1011 and inclinator data.
The schematic diagram of the set-up mode of above-mentioned Real-time dynamic GPS Positioning module 101 has been shown in Fig. 3.As shown in Figure 3, RTK base station is arranged, be erected at the fixed position on bank, two RTK movement stations 1011 be arranged at mobile platform 107 and higher than the water surface A measures tower 109, B measures on tower 108.
Wherein, as shown in Figure 3, Figure 4, above-mentioned wireless transport module 103 adopts point-to-point wireless bridging mode to realize, and specifically can comprise measuring tower 109 and B with A and measuring wireless data transmission antenna 1032 that power supply in tower 108 and data acquisition interface integration module 1031 be connected and be fixedly installed on the receive data by wireless antenna 1033 that bank is connected with processing module 104 with synchronous data sampling.Power supply and data acquisition interface integration module 1031, connects and expand each instrument and equipment data-interface, and the quantity of described data-interface can expand as required for ensureing the round-the-clock long time continuous working of instrument on mobile platform and providing.Wireless data transmission antenna 1032 and receive data by wireless antenna 1033 adopt omnidirectional or omnidirectional and the qualitative mode combined, the wireless transmission bandwidth of this wireless transport module 103 can reach more than 100,000,000, so that A can be measured tower 109 and B to measure real-time data transmission that power supply in tower 108 and data acquisition interface integration module 1031 gather to receive data by wireless antenna 1033(control center on the bank), data transmission is stablized, long transmission distance and time delay is low.
Two-way gravity type inclinator module 102 is installed in mobile platform 107 or on upper surface, and be arranged on A and measure tower 109 or B and measure power supply on 108 towers and data acquisition interface integration module 1031 is connected.
It is example shown in composition graphs 2, the longitudinal direction that two-way gravity type inclinator module 102 gathers and transverse inclination data send it back control center on the bank by wireless transport module 103, control center receives by synchronous data sampling and processing module 104 longitudinal direction and transverse inclination data that wireless transport module 103 sends, and receive the locator data of the mobile platform 107 that Real-time dynamic GPS Positioning module 101 transmits, and conversion process and preservation are carried out to the locator data received, data after process are supplied to the three-dimensional that realtime three dimensional animation and information display module 105 carry out relative orientation and attitude and show in real time.
All transmission equipments, circuit etc. all concentrate on inside caisson simultaneously, and waterproof also can work under the hot environment of 70 degrees Celsius.
In order to determine the orientation of mobile platform 107, position angle and attitude, need to measure by A the three-dimensional coordinate that tower 109 and B measure unique point on the coordinate of tower 108 and the vertical and horizontal angle of inclination inverse mobile platform 107 of whole platform.Need first to measure A and measure tower 109 and B measures the orientation of the RTK movement station 1011 on tower 108 relative to whole mobile platform 107, need here to measure its horizontal range xr with mobile platform 107 axis, with the distance horizontal range yr of side and the vertical height hr with mobile platform 107 upper surface.Thus due to the size of mobile platform 107 known (length, width and height), gps coordinate (the x1 of RTK movement station 1011 on tower 108 is measured by A measurement tower 109 and B two, y1, h1 and x2, y2 and h2), RTK movement station 1011 is relative to the relative orientation (xr1 of mobile platform 107, yr1, hr1 and xr2, yr2 and hr2) and the trim of whole mobile platform 107 and heel (q1 and q2) planimetric coordinates and the elevation of any point on whole mobile platform 107 can be gone out by inverse, thus the plan range of mobile platform 107 and other known points can be calculated further, the information such as the discrepancy in elevation and axis deviation.
As shown in Figure 2, described synchronous data sampling and processing module 104 comprise: arrange module 1041, for regulating data collection interval and the acquisition parameter of acquisition module 1044 on demand; Modular converter 1042, carries out origin coordinate system transform for the locator data gathered acquisition module 1044, converts preset kind coordinate system to; As be converted to 2000 national earth coordinates by WGS-84.Acquisition module 1044, for the locator data of the different baud rate received by receive data by wireless antenna 1033 and parameters and inclination data are carried out synchronous acquisition, guarantee that bearing data and degree of tilt data belong to synchronization, thus obtain accurate orientation and the attitude in mobile platform a certain moment; Memory module 1043, for the data after all collections and conversion being automatically stored in data file, data file presses acquisition time name automatically, is convenient to carry out historical data playback.
As shown in Figure 3, the course of work of this system is as follows: the locator data being obtained mobile platform 107 by the Real-time dynamic GPS Positioning module be made up of 2 the RTK movement stations be arranged on the RTK base station of fixed position, bank and mobile platform 107, simultaneously, longitudinal direction and the transverse pitch angle of mobile platform 107 is obtained by being arranged on the two-way gravity dip angle instrument in precalculated position on mobile platform 107, water-proof CCD camera 106 obtains the true environment data near mobile platform 107, wireless transport module 103 adopts point-to-point wireless bridging mode, by above-mentioned data by the wireless data transmission antenna remote wireless transmission with three orientations and omnidirectional antenna to the receive data by wireless antenna 110 being located at bank, the data received are delivered to synchronous data sampling and processing module 104 by receive data by wireless antenna 110, pass through the coordinate conversion to locator data and process, data after process are supplied to the three-dimensional that realtime three dimensional animation and information display module 105 carry out relative orientation and attitude and show in real time, this synchronous data sampling and processing module 104 can synchronous acquisition two RTK movement station 1011 locator datas and longitudinal direction and cross dip instrument data, invalid and abnormal data are filtered, origin coordinate system transform is carried out to the GPS locator data received, automatically the local local coordinate system adopted is converted to.Can regulate data collection interval and acquisition parameter on demand, all data are stored in data file automatically, and data file presses acquisition time name automatically, conveniently checks.
Described realtime three dimensional animation and information display module 105 comprise:
Data read module 1051, for reading the data of preserving in synchronous data sampling and processing module, as coordinate data, inclination data, video data, mobile platform position angle, with the distance of point of fixity and offsets in height value etc.;
Vision-control module 1052, for arranging the display parameter of three-dimensional animation, described display parameter comprise the Dynamic Announce time interval, playback speed, carry out playback by arbitrary time span and speed;
Display module 1053, the data that data read module reads show by setting means by the display parameter for arranging according to vision-control module 1052, described setting means comprises side direction, forward, skeleton view and privileged site feature etc., to carry out comprehensively accurate observation to each position of mobile platform 107.
Pass through three-dimensional modeling, realtime three dimensional animation and information display module 105 can not only according to full-size(d) and shape display mobile platforms 107, show equal proportion true environment in mobile platform 107 surrounding certain limit simultaneously, thus can according to receiving Monitoring Data shows relative orientation (such as the deviation distance of distance objective point or score of mobile platform 107 in real time, deviation angle etc.), 3 d pose (the position angle of mobile platform 107, longitudinal direction and cross dip, the discrepancy in elevation etc. at mobile platform 107 two ends) etc. information, and in the mode of emulation, real-time dynamic animated three dimensional is shown, three-dimensional artificial object keeps highly consistent with the motion of on-the-spot mobile platform 107.All historical datas are preserved in real time, can carry out the accurate playback of three-dimensional motion process, regulate playback speed arbitrarily, thus can carry out careful inspection and summary of experience to whole work progress after work progress to whole work progress.
Compared with prior art, native system has following beneficial effect:
The large-scale mobile platform 107 that native system can be less than 20 meters to the degree of depth of bubbling through the water column and dive beneath the water positions and obtains attitude data and pass through set up three-dimensional model Real time dynamic display out the relative orientation of mobile platform 107 and attitude (the two ends discrepancy in elevation and misalignment of axe etc.).Consider the difficulty that mobile platform in water 107 and control point data are on the bank transmitted, all data, comprising video flowing, GPS locator data and inclinator data etc. all adopts wireless two-way to transmit, with Time Bandwidth more than 100,000,000, ensure that the smoothness that data are transmitted, transmission range can reach 1.5 kilometers, considers that the orientation of mobile platform 107 may be in any direction simultaneously, therefore transmit antenna adopt 360 degree of omnidirectional antennas and directional antenna to combine mode to ensure the stability of wireless data.Data acquisition software system can gather two GPS bearing datas and vertical and horizontal inclination data simultaneously, carries out coordinate conversion so that the coordinate system adopted of locality keeps unified to GPS locator data simultaneously.Three-dimensional real-time animation display system can show relative orientation (such as the deviation distance of distance objective point or score of mobile platform 107 simultaneously, deviation angle etc.), 3 d pose (the position angle of mobile platform 107, longitudinal direction and cross dip, the discrepancy in elevation etc. at mobile platform 107 two ends) etc. information, and in the mode of emulation, real-time dynamic animated three dimensional is shown, three-dimensional artificial object keeps highly consistent with the motion of on-the-spot mobile platform 107, precision reaches centimetre-sized, simultaneously be sent in real time bank under water and water-proof CCD camera picture waterborne shown, both can check one against another, thus make monitoring means very directly perceived, efficiently.All historical datas are preserved all in real time, the accurate playback of three-dimensional motion process can be carried out to whole work progress after work progress, any adjustment playback speed, thus careful inspection and summary of experience can be carried out to whole work progress, river engineering construction (river-crossing tunnel as immersed tunnelling method construction), the location of surface vessel platform (as oil tanker, mobile drilling platform etc.) and other floating and semisubmersible (being no more than 20 meters the degree of depth) mobile platform 107, position angle and 3 d pose display and information observing and controlling etc. can be widely used in.The real-time status of mobile platform 107 can be shown intuitively, efficiently, accurately, greatly improve construction safety and engineering efficiency.
Above-described is only the preferred embodiment of the present invention, the invention is not restricted to above case study on implementation.Be appreciated that the oher improvements and changes that those skilled in the art directly derive without departing from the spirit and concept in the present invention or associate, all should think and be included within protection scope of the present invention.
Claims (7)
1. floating and semisubmersible mobile platform orientation and a 3 d pose monitoring display system, is characterized in that, comprising:
Real-time dynamic GPS Positioning module, for obtaining the locator data of mobile platform, comprising the RTK base station of being located at bank constant bearing and to be located at respectively on mobile platform and to measure higher than the A more than water surface two RTK movement stations that tower and B measure tower;
Two-way gravity type inclinator module, for obtaining longitudinal direction and the transverse inclination data of mobile platform;
Wireless transport module, for transferring to synchronous data sampling and processing module by locator data and inclination data;
Synchronous data sampling and processing module, for by arranging synchronous acquisition locator data and inclination data, tower RTK station GPS coordinates, RTK movement station to go out any point on whole mobile platform planimetric coordinates and elevation relative to the relative orientation of mobile platform and the trim of whole mobile platform and heel inverse is measured by collect two, the plan range of further calculating mobile platform and other known points, the information such as the discrepancy in elevation and misalignment of axe, and determine the orientation of mobile platform, position angle and attitude;
Realtime three dimensional animation and information display module, for showing described mobile platform by three-dimensional modeling according to full-size(d) and shape, and show mobile platform relative orientation and 3 d pose dynamically according to the locator data after synchronous data sampling and processing module process and inclination data in real time in three-dimensional artificial mode;
Described wireless transport module adopts point-to-point wireless bridging mode, comprising:
Power supply and data acquisition interface integration module, be arranged at A respectively and measure in tower and B measurement tower, for carrying out instrument and equipment independently-powered and gathering related data, and data acquisition interface quantity is one or more;
Wireless data transmission antenna, is connected for sending data with power supply and data acquisition interface integration module;
Receive data by wireless antenna, is fixedly installed on bank and is connected with processing module with synchronous data sampling, for the data that receiving radio data emitting antenna sends.
2. floating according to claim 1 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, it is characterized in that: also comprise the more than one water-proof CCD camera be connected with wireless transport module, for taking the true environment around described mobile platform in setting range; Described realtime three dimensional animation and information display module, also for showing around described mobile platform equal proportion true environment in setting range.
3. floating according to claim 1 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, is characterized in that: described wireless data transmission antenna and receive data by wireless antenna adopt omnidirectional or omnidirectional and the qualitative mode combined.
4. floating according to claim 3 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, is characterized in that: the wireless transmission bandwidth of described wireless transport module is more than 100,000,000.
5. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, it is characterized in that, described synchronous data sampling and processing module comprise:
Module is set, for regulating data collection interval and the acquisition parameter of acquisition module on demand;
Acquisition module, for carrying out synchronous acquisition by the locator data of the different baud rate received by receive data by wireless antenna and parameters and inclination data;
Modular converter, for carrying out origin coordinate system transform to the locator data of acquisition module collection, converts preset kind coordinate system to;
Memory module, for the data after all collections and conversion being automatically stored in data file, data file presses acquisition time name automatically.
6. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, is characterized in that: described realtime three dimensional animation and information display module also for dynamic display mobile platform position angle in real time, with the distance of point of fixity and offsets in height value.
7. floating according to claim 6 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, it is characterized in that, described realtime three dimensional animation and information display module comprise:
Data read module, for reading the data of preserving in synchronous data sampling and processing module;
Vision-control module, for arranging the display parameter of three-dimensional animation, described display parameter comprise the Dynamic Announce time interval, playback speed;
The data that data read module reads are shown by setting means for the display parameter according to vision-control module installation by display module, and described setting means comprises side direction, forward, skeleton view and privileged site feature.
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