CN108632748A - A kind of the assembly positioning system and method for large size timber structure - Google Patents

A kind of the assembly positioning system and method for large size timber structure Download PDF

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CN108632748A
CN108632748A CN201810442375.1A CN201810442375A CN108632748A CN 108632748 A CN108632748 A CN 108632748A CN 201810442375 A CN201810442375 A CN 201810442375A CN 108632748 A CN108632748 A CN 108632748A
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node
projection
positioning
reference mode
template
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何斌
王菲
王志鹏
周艳敏
沈润杰
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Tongji University
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

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  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a kind of the assembly positioning systems and method of large-scale timber structure, and Least Square Support Vector Regression (LSSVR) algorithm is combined with Zigbee sensor network techniques, improves the positioning accuracy of wireless sensor network node.Received signal strength indicator (RSSI) value that acquisition is 10 times, and cast out apparent undulating value, then input value of the arithmetic average as distance calculation formula is taken, increase serious forgiveness.Using improved RSSI location algorithms, increases known node to N number of, obtain corrected range calculation formula, reduce the error of shadowing signal propagation models.Using image projection fft algorithm, two data are converted to one-dimensional calculating by projection algorithm, and the time required to drastically reducing positioning, framing algorithm greatly improves positioning accuracy, and precision is up to millimeter rank.

Description

A kind of the assembly positioning system and method for large size timber structure
Technical field
The present invention relates to intelligent construction applications, the assembly positioning system and method for specifically a kind of large size timber structure.
Background technology
Modern wood structure compares by force as a kind of large scale, high intensity, low-quality, the material of homogenous nature, because its is environmentally protective, The prominent advantage such as heat preservation energy-saving, antidetonation worldwide becomes increasingly popular.Due to traditional artificial construction assembly method The demand of industrialization upgrading can not be adapted to, foundation becomes in Design of digital and digitlization wood structure technique on the basis of building technology The important support of modern wood structure industrial upgrading.Large-scale timber structure assembly localization method can quickly, position alignment measurement in real time Point, improves efficiency of assembling, has certain application value in digitlization construction applications.
Zigbee is a kind of low-power consumption, low cost, the wireless technology of short distance, easy networking, is suitable for that span is big, measuring point More, measuring point movement large-scale timber structure erecting yard.RSSI rangings based on ZigBee technology compared to AOA rangings for, nothing It needs additional hardware to support, be easily achieved, for TOA, TDOA ranging, avoids because of error caused by the time difference, carries High measurement accuracy.On this basis, the present invention has abandoned the localization method based on Zigbee chip positioning engines, utilizes upper meter The powerful computing capability of calculation machine is accurately positioned alignment measurement point in conjunction with improved RSSI telemetrys and LSSVR methods, greatly improves Positioning accuracy.
The positioning accuracy of image projection location algorithm takes up to millimeter rank, positioning and can be compressed to a few tens of milliseconds, can Meet the requirement of the precision and high speed when two timber structure alignment assembly.
A kind of positioning system based on ZigBee technology that patent [CN107333244A] is introduced, it includes reference mode mould Block, positioning node module, gateway and host computer-server；Gateway, reference mode, positioning node are established by ad hoc network ZigBee wireless networks；Positioning system system based on ZigBee technology carries out range measurement using wireless distance finding technology RSSI； By ZigBee wireless networks, the information between positioning node and reference mode is obtained by corresponding gateway, while will be corresponding Information passes to PC server, while being transmitted to gateway by the information of multilateration and location algorithm optimization processing, then by Gateway passes are to reference mode and positioning node, to realize the location determination to positioning node.The reference mode number setting It is 6, the position for determining positioning node is positioned using six sides.
Invention content
In order to make up the above deficiency, the present invention provides a kind of the assembly positioning system and method for large-scale timber structure：Pass through base In the wireless sensor network of ZigBee technology large-scale timber structure is calculated in conjunction with improved RSSI location algorithms and LSSVR algorithms Real-time coordinates, it is mobile its to target location；The position to be installed to replace the spare parts is accurately calculated by image projection location algorithm, is aligned Two parts are assembled.
To achieve the above object, the present invention takes following technical scheme：It is a kind of large size timber structure assembly positioning system and Method, including Zigbee wireless sensor network positioning system and image projection positioning system.
Further, Zigbee wireless sensor network positioning system includes the wireless sensor based on ZigBee technology Network, Zigbee gateways and host computer locating and displaying system.
Wireless sensor network based on ZigBee technology obtains RF signal strength for emitting, receiving radiofrequency signal Indicating RSSI value；The data such as RSSI value are sent to Zigbee gateways by Zigbee protocol.
Zigbee gateways are the media that information is transmitted between each sensor node and host computer for serving as coordinator； Zigbee gateways carry out serial communication by RS232 buses and host computer, and the configuration information of each node is sent to sensor Network；The data that each network node is sent are received, host computer locating and displaying system is uploaded to.
Host computer locating and displaying system, the received signal strength indicator i.e. RSSI value uploaded using Zigbee gateways Data such as (Received Signal Strength Indication), using based on the minimum two for improving RSSI location algorithms Multiply support vector regression i.e. LSSVR (Least Squares SVM and SVR) three-dimensional nodes location algorithm, calculates assembly and survey The three-dimensional coordinate of point is simultaneously shown in control interface.
Further, image projection positioning system, including wireless camera image capturing system and alignment assembly positioning system System.
Wireless camera image capturing system, including one group of mutually perpendicular wireless camera, are placed in the assembly section of girder Point both sides, the location information for recording three dimensions jointly；Including characteristic pattern used for positioning, corresponding camera shooting side To the both sides for being marked on secondary beam, inputted as template.
Alignment assembly positioning system, collects the image information of this group of camera, using image projection fft algorithm, high speed, essence The position of timber structure to be assembled is really calculated, two parts of alignment are assembled.
The beneficial effects of the invention are as follows：The real-time coordinates that large-scale timber structure is calculated by RSSI value move it to target position It sets；The position of secondary beam is accurately calculated by image, two alignment girder, secondary beam parts are assembled.
Further, the wireless sensor network based on ZigBee technology includes reference mode and positioning node.Institute It states reference mode to be fixed in large-scale timber structure assembly construction site, the positioning node is placed in the survey of large-scale timber structure to be assembled Measure control point.
The position coordinates of the reference mode are known, fixed, can be by being manually specified or using total station survey；Quantity is according to dress The communication range setting of area and selection chip with construction site.The reference mode is used for positioning node transmitting radio frequency letter Number and own coordinate information.
The positioning node position coordinates are unknown, removable, and the radiofrequency signal for receiving reference mode transmitting is believed Number intensity indicating RSSI value.
Advantageous effect using above-mentioned further scheme is：Distance is obtained according to received signal strength RSSI value, is not necessarily to volume Outer hardware supported is easily achieved, and is avoided because of error caused by the time difference, raising measurement accuracy；Using host computer into Row node locating calculates, and abandons the method calculated using chip positioning engine, reduces the complexity of hardware configuration, improves The precision of positioning.
Further, the reference mode, positioning node, gateway chip select CC2430 chips, which possesses industry The leading RF receiving and transmission module in boundary, low consumption circuit design, serial communication modular, ADC module and powerful developing instrument.
Advantageous effect using above-mentioned further scheme is：Select CC2430 integrated chips that wireless sensor network is had Have low-power consumption, low cost, easy networking, it is safe the features such as, the timber structure assembly suitable for possessing a large amount of, traverse measurement control point is existing .
Further, reference mode is numbered, self ID is sent simultaneously when sending radiofrequency signal to positioning node；In system When there are multiple positioning nodes, positioning node is numbered, includes the ID of itself when to gateway transmission data.
Further, the positioning node receives the radiofrequency signal that reference mode is sent, and collects 10 RSSI values, gives up bright It is averaged after aobvious undulating value, as the RSSI value sent to gateway.
Advantageous effect using above-mentioned further scheme is：The method for taking mean value by repeatedly collecting RSSI value, reduces Error.
Further, using improved RSSI location algorithms, there is N number of known node1≤n≤N, reference mode SjIt arrives Known nodeDistance be respectivelyIts arithmetic average is asked to obtain corrected rangeIts Calculation formula is：
In formula：For reference mode SjTo known nodeBetween reception power, XσnIt is stochastic variable.
The reference mode SjTo known nodeDistanceAnd reference mode SjTo known nodeBetween connect Receive powerDistance can be can be obtained by once communicating with positioning node later by measuring to obtain in advance
Advantageous effect using above-mentioned further scheme is：Positioning node is calculated to reference node according to RSSI signal strength values The distance of point；The variance of noise random error is reduced, corrected range algorithm the convergence speed is fast, measurement period is short, and it is fixed to be suitable for Position node is in the scene of mobile status.
Further, the host computer locating and displaying system is used based on the LSSVR three-dimensional sections for improving RSSI location algorithms Point location algorithm, using the corrected rangeAs input vector, it includes following implementation steps：
S1：Obtain sampling set：Stereoscopic grid is divided by step-length of t in the Q of three-dimensional localization region, grid intersection, which is constituted, to be handed over Crunode set Ck′(xk′、yk′、zk') sampling of (k=1,2 ... K) as Least Square Support Vector Regression training pattern Collection；
S2：Obtain training sample set：Sj(j=1,2 ..., M) is reference mode, Si(i=1,2 ..., L) is positioning node, Intersect point set Ck' each element to reference mode SjDistance be dkj', obtain distance vector v '=(d 'k1、d′k2、…, dkM'), by distance vector v ' and intersect point set Ck' three-dimensional coordinate (xk′、yk′、zk') composition training sample set Ux=(v ', xk') | k=1,2 ... K }, Uy={ (v ', yk') | k=1,2 ... K }, Uz={ (v ', zk') | k=1,2 ... K }；
S3：Training pattern：Select radial basis function RBF as the kernel function of LSSVR, the kernel function ginseng in radial basis function Number σ and regularisation parameter γ is optimized using particle cluster algorithm, by training sample set Ux、Uy、UzLSSVR methods are used after input Training obtains location model X-LSSVR, Y-LSSVR, Z-LSSVR；
S4：Node locating：Positioning node S is calculated with the improvement RSSI location algorithmsiTo reference mode SjDistance, Obtain distance vectorIt as the input vector of LSSVR learning machines, is input in location model, obtains Obtain three output valve xi、yi、ziThe as D coordinates value of positioning node.
Advantageous effect using above-mentioned further scheme is：Using the method training pattern of machine learning, reduce minimum Square law estimates error when node location；Optimize LSSVR model parameters with particle cluster algorithm, reduces to chip communication half The requirement of diameter, range accuracy, reference mode quantity ensures positioning accuracy, cost-effective.
Further, positioning system, including following implementation steps are assembled in the alignment：
S1：Calculation template projection value：The characteristic pattern for being marked on secondary beam both sides is inputted as template, is M × M's to size Template image g (nx,ny) carry out a project, i.e., it adds up, obtains to the grey scale pixel value of same a line or same row One-dimensional data gx(nx) it is template projection value；
S2：The subgraph projection value of calculating source figure：Source figure size is N × N, to a certain pixel (i, j) in the figure of source, with This pixel is that the column data that the length of starting point is M does cumulative projection to the pixel, and there are the pixels to correspond to position result of calculation It sets in a new matrix of (i, j), if the projection function of source figure isTo reduce calculation amount, when calculating new function The result of previous coordinate position can be utilized to be iterated；
S3：Calculation template projects the correlation function between the projection of each subgraph：After the figure projection of source, with FFT respectively projection The projection of every a line and template of matrix carries out correlation computations, and formula is：
In formula, PTIt is the energy of template projection, and (i, j) unrelated, it can basisDirectly calculate It obtains；
It is the cross-correlation function of capped subgraph and template, to the projection function of source figureExpand zero padding, makes The length of 2 integral number power；To the projection function g of templatex(nx) expansion zero padding is carried out, make itself and extension opisthogenesis figure projection one The size of sample；One-dimensional FFT is carried out to source figure and template respectively, obtains Fi,j(kx) and G (kx)；Calculate Rfg(kx)=Fi,j(kx)G (kx)；To Rfg(kx) IFFT is carried out, obtain the correlation function r to source figure, templatefg(nx), which is equivalent to
It is the energy of that block subgraph projection function under template covering, can be carried out using the result obtained in the past Iteration improves arithmetic speed；
S4：Find out the coordinate points of maximal correlation, as real-time location coordinates.
A kind of the assembly positioning system and method for large-scale timber structure are proposed to present system, by being based on ZigBee technology Wireless sensor network calculate the real-time coordinates of large-scale timber structure in conjunction with improved RSSI location algorithms and LSSVR algorithms, It is mobile its to target location, the position to be installed to replace the spare parts is accurately calculated by image projection location algorithm, two parts of alignment into Luggage is matched.Advantageous effect using above-mentioned further scheme is：Using one-dimensional FFT, multiplying number when source images element is very big It will greatly reduce, and improve arithmetic speed, positioning takes and is compressed to tens milliseconds；The accurate positioning of projection algorithm, precision can Up to millimeter rank, meet the requirement of large-scale timber structure two parts alignment assembly.
Description of the drawings
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical scheme of the present invention The attached drawing used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, right For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings Other attached drawings.
Fig. 1 is the Zigbee network structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the reference mode work flow diagram of the embodiment of the present invention.
Fig. 3 is the positioning node work flow diagram of the embodiment of the present invention.
Fig. 4 is the host computer locating and displaying system flow chart of the embodiment of the present invention.
The image projection positioning system flow chart of the positions Fig. 5 embodiment of the present invention.
Specific implementation mode
It further illustrates the present invention in the following with reference to the drawings and specific embodiments.
The present invention provides a kind of the assembly positioning systems and method of large-scale timber structure, including Zigbee wireless sensor net Network positioning system and image projection positioning system.
As shown in Figure 1, Zigbee wireless sensor network positioning system includes the wireless sensor based on ZigBee technology Network, Zigbee gateways and host computer locating and displaying system.
Wireless sensor network based on ZigBee technology obtains RF signal strength for emitting, receiving radiofrequency signal Indicating RSSI value；The data such as RSSI value are sent to Zigbee gateways by Zigbee protocol.Zigbee gateways, for serving as association Device is adjusted, is the medium that information is transmitted between each sensor node and host computer；Zigbee gateways pass through RS232 buses and upper Machine carries out serial communication, and the configuration information of each node is sent to sensor network；Receive the number that each network node is sent According to being uploaded to host computer locating and displaying system.Host computer locating and displaying system, the number such as RSSI value uploaded using Zigbee gateways According to using based on the LSSVR three-dimensional nodes location algorithms for improving RSSI location algorithms, the three-dimensional coordinate of calculating assembly measuring point is simultaneously shown Show in control interface.
Image projection positioning system, including wireless camera image capturing system and alignment assembly positioning system.
Wireless camera image capturing system, including one group of mutually perpendicular wireless camera, are placed in the assembly section of girder Point both sides, the location information for recording three dimensions jointly, including characteristic pattern used for positioning, corresponding camera shooting side To the both sides for being marked on secondary beam, inputted as template；Alignment assembly positioning system, collects the image information of this group of camera, uses Image projection fft algorithm, high speed, the position for accurately calculating timber structure to be assembled, two parts of alignment are assembled.
In above-described embodiment, the real-time coordinates of large-scale timber structure are calculated by RSSI value, move it to target location；Pass through Image accurately calculates the position of secondary beam, and two alignment girder, secondary beam parts are assembled.
It can as an embodiment of the present invention, as shown in Figure 1, the wireless sensor network based on ZigBee technology Network includes reference mode and positioning node；The reference mode is fixed in large-scale timber structure assembly construction site, the positioning Node is placed in the measurement control point of large-scale timber structure to be assembled；The position coordinates of the reference mode are known, fixed, can be by artificial Specified or use total station survey, quantity is according to the area of assembly construction site and selects the communication range setting of chip；The ginseng Node is examined for emitting radiofrequency signal and own coordinate information to positioning node；The positioning node position coordinates are unknown, removable Dynamic, the radiofrequency signal for receiving reference mode transmitting obtains signal strength indicating RSSI value；The reference mode, positioning section Point, gateway chip select CC2430 chips.
In above-described embodiment, distance is obtained according to received signal strength RSSI value, supported without additional hardware, be easy to real It is existing, it avoids because of error caused by the time difference, raising measurement accuracy；Node locating calculating is carried out using host computer, and The method calculated using chip positioning engine is abandoned, the complexity of hardware configuration is reduced, improves the precision of positioning.
It can as an embodiment of the present invention, as shown in Fig. 2, after being numbered to reference mode, reference mode is to positioning Node sends radiofrequency signal and self ID；As shown in figure 3, the positioning node receives the radiofrequency signal that reference mode is sent, The RSSI value for collecting 10 times, is averaged, as the RSSI value sent to gateway, there have in system to be multiple fixed after giving up apparent undulating value When the node of position, positioning node is numbered, includes the id information of itself when to gateway transmission data.
In above-described embodiment, the method for taking mean value by repeatedly collecting RSSI value reduces error.
As shown in figure 4, using improved RSSI location algorithms, can have N number of known as an embodiment of the present invention Node1≤n≤N, reference mode SjTo known nodeDistance be respectivelyAsk it Arithmetic average obtains corrected rangeIts calculation formula is：
In formula：For reference mode SjTo known nodeBetween reception power, XσnIt is stochastic variable；
The reference mode SjTo known nodeDistanceAnd reference mode SjTo known nodeBetween connect Receive powerDistance can be can be obtained by once communicating with positioning node later by measuring to obtain in advance
In above-described embodiment, the variance of noise random error is reduced, corrected range algorithm the convergence speed is fast, measurement period It is short, it is suitable for the scene that positioning node is in mobile status.
It can be based on changing as shown in figure 4, the host computer locating and displaying system uses as an embodiment of the present invention Into the LSSVR three-dimensional nodes location algorithms of RSSI location algorithms, using the corrected rangeAs input vector, it is wrapped Include following implementation steps：
S1：Obtain sampling set：Stereoscopic grid is divided by step-length of t in the Q of three-dimensional localization region, grid intersection, which is constituted, to be handed over Crunode set Ck′(xk′、yk′、zk') sampling of (k=1,2 ... K) as Least Square Support Vector Regression training pattern Collection；
S2：Obtain training sample set：Sj(j=1,2 ..., M) is reference mode, Si(i=1,2 ..., L) is positioning node, Intersect point set Ck' each element to reference mode SjDistance be dkj', obtain distance vector v '=(d 'k1、d′k2、…, dkM'), by distance vector v ' and intersect point set Ck' three-dimensional coordinate (xk′、yk′、zk') composition training sample set Ux=(v ', xk') | k=1,2 ... K }, Uy={ (v ', yk') | k=1,2 ... K }, Uz={ (v ', zk') | k=1,2 ... K }；
S3：Training pattern：Select radial basis function RBF as the kernel function of LSSVR, the kernel function ginseng in radial basis function Number σ and regularisation parameter γ is optimized using particle cluster algorithm, by training sample set Ux、Uy、UzLSSVR methods are used after input Training obtains location model X-LSSVR, Y-LSSVR, Z-LSSVR；
S4：Node locating：Positioning node S is calculated with the improvement RSSI location algorithmsiTo reference mode SjDistance, Obtain distance vectorAs the input vector of LSSVR learning machines, it is input to location model X- In LSSVR, Y-LSSVR, Z-LSSVR, three output valve x are obtainedi、yi、ziThe as D coordinates value of positioning node.
In above-described embodiment, using the method training pattern of machine learning, reduce Least Square Method node location When error；Optimize LSSVR model parameters with particle cluster algorithm, reduces to chip communication radius, range accuracy, reference mode The requirement of quantity ensures positioning accuracy, cost-effective.
It can as an embodiment of the present invention, as shown in figure 5, positioning system, including following reality are assembled in the alignment Apply step：
S1：Calculation template projection value：The characteristic pattern for being marked on secondary beam both sides is inputted as template, is M × M's to size Template image g (nx,ny) carry out a project, i.e., it adds up, obtains to the grey scale pixel value of same a line or same row One-dimensional data gx(nx) it is template projection value；
S2：The subgraph projection value of calculating source figure：Source figure size is N × N, to a certain pixel (i, j) in the figure of source, with This pixel is that the column data that the length of starting point is M does cumulative projection to the pixel, and there are the pixels to correspond to position result of calculation It sets in a new matrix of (i, j), if the projection function of source figure isTo reduce calculation amount, when calculating new function The result of previous coordinate position can be utilized to be iterated；
S3：Calculation template projects the correlation function between the projection of each subgraph：After the figure projection of source, with FFT respectively projection The projection of every a line and template of matrix carries out correlation computations, and formula is：
In formula, PTIt is the energy of template projection, and (i, j) unrelated, it can basisDirectly calculate It obtains；
It is the cross-correlation function of capped subgraph and template, to the projection function of source figureExpand zero padding, makes The length of 2 integral number power；To the projection function g of templatex(nx) expansion zero padding is carried out, make itself and extension opisthogenesis figure projection one The size of sample；One-dimensional FFT is carried out to source figure and template respectively, obtains Fi,j(kx) and G (kx)；Calculate Rfg(kx)=Fi,j(kx)G (kx)；To Rfg(kx) IFFT is carried out, obtain the correlation function r to source figure, templatefg(nx), which is equivalent to
It is the energy of that block subgraph projection function under template covering, can be carried out using the result obtained in the past Iteration improves arithmetic speed；
S4：Find out the coordinate points of maximal correlation, as real-time location coordinates.
In above-described embodiment, using one-dimensional FFT, multiplying number will greatly reduce when source images element is very big, improve Arithmetic speed, positioning take and are compressed to tens milliseconds；The accurate positioning of projection algorithm, precision meet big up to millimeter rank The requirement of two part of type timber structure alignment assembly.
Technical solution provided by the invention realizes application scenarios innovation, is applied to intelligent construction applications.By least square Support vector regression (LSSVR) algorithm is combined with Zigbee sensor network techniques, improves wireless sensor network node Positioning accuracy.The RSSI value that acquisition is 10 times, and cast out apparent undulating value, then take arithmetic average as distance calculation formula Input value increases serious forgiveness.Using improved RSSI location algorithms, increase known node to N number of, obtain corrected range calculate it is public Formula reduces the error of shadowing signal propagation models.Using image projection fft algorithm, projection algorithm converts two data At one-dimensional calculating, the time required to drastically reducing positioning, framing algorithm greatly improves positioning accuracy, and precision is up to millimeter Rank has positive promotion for this field.
The basic principles and main features and advantages of the present invention of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (10)

1. a kind of assembly positioning system of large size timber structure, including Zigbee wireless sensor network positioning system and image projection Positioning system.
2. the assembly positioning system of large size timber structure as described in claim 1, Zigbee wireless sensor network positioning system, Include wireless sensor network, Zigbee gateways and host computer locating and displaying system based on ZigBee technology.
Wireless sensor network based on ZigBee technology obtains RF signal strength instruction for emitting, receiving radiofrequency signal RSSI value；The data such as RSSI value are sent to Zigbee gateways by Zigbee protocol.
Zigbee gateways are the media that information is transmitted between each sensor node and host computer for serving as coordinator； Zigbee gateways carry out serial communication by RS232 buses and host computer, and the configuration information of each node is sent to sensor Network；The data that each network node is sent are received, host computer locating and displaying system is uploaded to.
Host computer locating and displaying system, the data such as received signal strength indicator i.e. RSSI value uploaded using Zigbee gateways, is adopted With based on the Least Square Support Vector Regression, that is, LSSVR three-dimensional nodes location algorithms for improving RSSI location algorithms, dress is calculated Three-dimensional coordinate with measuring point is simultaneously shown in control interface.
3. the assembly positioning system of large size timber structure as described in claim 1, image projection positioning system, including wireless camera Head image capturing system and alignment assembly positioning system.
Wireless camera image capturing system, including one group of mutually perpendicular wireless camera, are placed in the assembly node two of girder Side, the location information for recording three dimensions jointly；Including characteristic pattern used for positioning, corresponding camera shooting direction mark In the both sides of secondary beam, inputted as template.
Alignment assembly positioning system, collects the image information of this group of camera, using image projection fft algorithm, high speed, accurate meter The position of timber structure to be assembled is calculated, two parts of alignment are assembled.
4. the assembly positioning system of large size timber structure as claimed in claim 2, the wireless sensing based on ZigBee technology Device network includes reference mode and positioning node.The reference mode is fixed in large-scale timber structure assembly construction site, described Positioning node is placed in the measurement control point of large-scale timber structure to be assembled.
The position coordinates of the reference mode are known, fixed, can be by being manually specified or using total station survey；Quantity is applied according to assembly The area at work scene and the communication range setting for selecting chip.The reference mode be used for positioning node transmitting radiofrequency signal and Own coordinate information.
The positioning node position coordinates are unknown, removable, and it is strong to obtain signal for the radiofrequency signal for receiving reference mode transmitting Spend indicating RSSI value.
5. the assembly positioning system of large size timber structure as claimed in claim 4, the reference mode, positioning node, gateway core Piece selects CC2430 chips, which possesses leading RF receiving and transmission module, low consumption circuit design, serial communication mould Block, ADC module and powerful developing instrument.
6. a kind of assembly localization method of large size timber structure, is applied to Claims 1 to 5 any one of them large size timber structure Positioning system is assembled, reference mode is numbered, self ID is sent simultaneously when sending radiofrequency signal to positioning node；Have in system more When a positioning node, positioning node is numbered, includes the ID of itself when to gateway transmission data.
7. the assembly localization method of large size timber structure as claimed in claim 6, the positioning node receive reference mode and send Radiofrequency signal, collect 10 RSSI values, be averaged after giving up apparent undulating value, as the RSSI value sent to gateway.
8. the assembly localization method of large size timber structure as claimed in claim 7 is had N number of using improved RSSI location algorithms Known node1≤n≤N, reference mode SjTo known nodeDistance be respectivelyIt asks Its arithmetic average obtains corrected rangeIts calculation formula is：
In formula：Pj nFor reference mode SjTo known nodeBetween reception power, XσnIt is stochastic variable.
The reference mode SjTo known nodeDistanceAnd reference mode SjTo known nodeBetween reception work( Rate Pj nDistance can be can be obtained by once communicating with positioning node later by measuring to obtain in advance
9. the assembly localization method of large size timber structure as claimed in claim 6, the host computer locating and displaying system use base In the LSSVR three-dimensional nodes location algorithms for improving RSSI location algorithms, using the corrected rangeAs input vector, Including following implementation steps：
S1：Obtain sampling set：Stereoscopic grid is divided by step-length of t in the Q of three-dimensional localization region, grid intersection constitutes crosspoint Set Ck′(xk′、yk′、zk') sampling set of (k=1,2 ... K) as Least Square Support Vector Regression training pattern；
S2：Obtain training sample set：Sj(j=1,2 ..., M) is reference mode, Si(i=1,2 ..., L) is positioning node, is intersected Point set Ck' each element to reference mode SjDistance be dkj', obtain distance vector v '=(d 'k1、d′k2、…,dkM'), By distance vector v ' and intersect point set C 'kThree-dimensional coordinate (xk′、yk′、zk') composition training sample set Ux={ (v ', xk′)|k =1,2 ... K }, Uy={ (v ', yk') | k=1,2 ... K }, Uz={ (v ', zk') | k=1,2 ... K }；
S3：Training pattern：Select radial basis function RBF as the kernel function of LSSVR, the kernel functional parameter σ in radial basis function It is optimized using particle cluster algorithm with regularisation parameter γ, by training sample set Ux、Uy、UzIt is trained with LSSVR methods after input Obtain location model X-LSSVR, Y-LSSVR, Z-LSSVR；
S4：Node locating：Positioning node S is calculated with the improvement RSSI location algorithmsiTo reference mode SjDistance, obtain Distance vectorIt as the input vector of LSSVR learning machines, is input in location model, obtains three A output valve xi、yi、ziThe as D coordinates value of positioning node.
10. the assembly localization method of large size timber structure as claimed in claim 6, the alignment assembly positioning system, including with Lower implementation steps：
S1：Calculation template projection value：The characteristic pattern for being marked on secondary beam both sides is inputted as template, to the template that size is M × M Image g (nx,ny) carry out a project, i.e., it adds up, obtains one-dimensional to the grey scale pixel value of same a line or same row Data gx(nx) it is template projection value；
S2：The subgraph projection value of calculating source figure：Source figure size is N × N, to a certain pixel (i, j) in the figure of source, with this picture Element is that the column data that the length of starting point is M does cumulative projection to the pixel, and result of calculation there are the pixel corresponding position (i, J) in the new matrix of one, if the projection function of source figure isIt, can profit when calculating new function to reduce calculation amount It is iterated with the result of previous coordinate position；
S3：Calculation template projects the correlation function between the projection of each subgraph：After the figure projection of source, with FFT respectively projection matrix The projection of every a line and template carry out correlation computations, formula is：
In formula, PTIt is the energy of template projection, and (i, j) unrelated, it can basisDirectly it is calculated；
It is the cross-correlation function of capped subgraph and template, to the projection function of source figureExpand zero padding, makes its length For 2 integral number power；To the projection function g of templatex(nx) carry out expansion zero padding, make its with extension opisthogenesis figure projection it is big It is small；One-dimensional FFT is carried out to source figure and template respectively, obtains Fi,j(kx) and G (kx)；Calculate Rfg(kx)=Fi,j(kx)G(kx)；It is right Rfg(kx) IFFT is carried out, obtain the correlation function r to source figure, templatefg(nx), which is equivalent to
It is the energy of that block subgraph projection function under template covering, the result obtained in the past can be utilized to be iterated, Improve arithmetic speed；
S4：Find out the coordinate points of maximal correlation, as real-time location coordinates.
CN201810442375.1A 2018-05-10 2018-05-10 A kind of the assembly positioning system and method for large size timber structure Pending CN108632748A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110794763A (en) * 2019-11-20 2020-02-14 航天科技控股集团股份有限公司 Motor assembly in-place determination system and method based on intelligent camera
CN112469120A (en) * 2021-02-04 2021-03-09 江西农业大学 Smart park system based on ZigBee network

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110794763A (en) * 2019-11-20 2020-02-14 航天科技控股集团股份有限公司 Motor assembly in-place determination system and method based on intelligent camera
CN110794763B (en) * 2019-11-20 2021-01-29 航天科技控股集团股份有限公司 Motor assembly in-place determination system and method based on intelligent camera
CN112469120A (en) * 2021-02-04 2021-03-09 江西农业大学 Smart park system based on ZigBee network

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