CN110160816A - Paver paving operation speed-measuring method - Google Patents

Paver paving operation speed-measuring method Download PDF

Info

Publication number
CN110160816A
CN110160816A CN201910488046.5A CN201910488046A CN110160816A CN 110160816 A CN110160816 A CN 110160816A CN 201910488046 A CN201910488046 A CN 201910488046A CN 110160816 A CN110160816 A CN 110160816A
Authority
CN
China
Prior art keywords
paver
time point
construction
coordinate system
plane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910488046.5A
Other languages
Chinese (zh)
Inventor
李升连
梁乃兴
李鑫
杨清华
林艳文
高志敏
曹源文
白丽萍
赵江
赵毅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yunnan Jiantuo Boxin Engineering Construction Center Test Co Ltd
Southwest Transport Development Group PLC
Chongqing Jiaotong University
Original Assignee
Yunnan Jiantuo Boxin Engineering Construction Center Test Co Ltd
Southwest Transport Development Group PLC
Chongqing Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yunnan Jiantuo Boxin Engineering Construction Center Test Co Ltd, Southwest Transport Development Group PLC, Chongqing Jiaotong University filed Critical Yunnan Jiantuo Boxin Engineering Construction Center Test Co Ltd
Priority to CN201910488046.5A priority Critical patent/CN110160816A/en
Publication of CN110160816A publication Critical patent/CN110160816A/en
Pending legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)

Abstract

A kind of paver paving operation speed-measuring method provided by the invention, comprising steps of S1: establishing construction with paving machine plane coordinate system；Initialize the sample frequency of GPS receiver；S2: during operating paver, GPS receiver successively acquires the latitude and longitude coordinates of paver position according to sample frequency；S3: under the Coordinate Transformation Based on Longitude-Latitude that present sample time point is obtained to construction with paving machine plane coordinate system, plane coordinates of currently constructing is obtained；S4: according to current construction plane coordinates, the construction plane coordinates and sample frequency of previous sampling time point, paver current work speed is calculated；S5: repeating step S2 to S4, until paver stops operation；The present invention establishes the model for accurate calculation of paver spreading speed, convenient for finding the variation of spreading speed in time to carry out the adjustment of paving operation speed, adaptable to guarantee spreading quality, accuracy is high by establishing construction with paving machine plane coordinates model.

Description

Paver paving operation speed-measuring method
Technical field
The present invention relates to technical field of paver control, and in particular to a kind of paver paving operation speed-measuring method.
Background technique
Current high-grade highway construction speed is getting faster, key equipment of the paver as the various standard highways of build, High production efficiency is not only required, also to there is higher spreading quality.In the work progress that actually paves, paver is applied Work efficiency rate and construction quality are influenced by multiple factors, and such as the body structure parameter of paver, construction operation parameter, pave speed It spends, the track that paves, the productivity of paver, the temperature of mixture etc..Wherein, spreading speed directly affects the flatness on road surface. Spreading speed should remain a constant speed, and range is in 2~6m/min.If spreading speed is unstable or exceeds normal spreading speed range, just It is uneven to will lead to mixture laying, road surface is caused wavy fluctuating occur and influence flatness.Under normal conditions, paver exists When construction operation, spreading speed is determined by driver, and spreading speed cannot get in due course feedback, cannot be in time to paving Machine, spreading speed monitoring and adjustment, so that making the spreading quality on road surface cannot be guaranteed.
It is, therefore, desirable to provide a kind of new paver trace tracking method.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of paver paving operation speed-measuring methods, by establishing paver Construction plane coordinates model, using the trajectory coordinates position of continuous acquisition paver, and is converted into construction with paving machine plane Coordinate establishes the model for accurate calculation of paver spreading speed, convenient for finding the variation of spreading speed in time to carry out the work that paves The adjustment of industry speed, adaptable to guarantee spreading quality, accuracy is high.
The present invention provides a kind of paver paving operation speed-measuring method, and the paver is equipped with GPS receiver；The side Method comprising steps of
S1: using ironing Board position is origin on the left of the starting point that paves, pave construct row of the paver when paving starting point Vehicle direction is ordinate direction, is abscissa direction with longitudinal perpendicular direction, establishes construction with paving machine plane coordinate system；Just The sample frequency of beginningization GPS receiver；
S2: during operating paver, GPS receiver successively acquires the longitude and latitude of paver position according to sample frequency Coordinate；
S3: it under the Coordinate Transformation Based on Longitude-Latitude that present sample time point is obtained to construction with paving machine plane coordinate system, obtains Current construction plane coordinates；
S4: according to current construction plane coordinates, the construction plane coordinates and sample frequency of previous sampling time point, booth is calculated Paving machine current work speed；
S5: repeating step S2 to S4, until paver stops operation.
Further, the calculation formula of the operating paver speed are as follows:
Wherein,WithThe construction plane coordinates vector of respectively i-th and (i-1)-th sampling time point, x2i And y2iRespectively abscissa and ordinate of the paver position at ith sample time point under plane coordinate system of constructing；x2(i-1) And y2(i-1)Abscissa and ordinate of the paver position of respectively (i-1)-th sampling time point under plane coordinate system of constructing； F is the sample frequency of GPS receiver.
Further, the step S3 comprising steps of
S31: the latitude and longitude coordinates that present sample time point obtains are projected under 80 plane coordinate system of Xi'an, are obtained current Plane coordinates I；
S32: current plane coordinate I is transformed under construction with paving machine plane coordinate system, obtains plane coordinates of currently constructing； Wherein, formula plane coordinates I being transformed under construction with paving machine plane coordinate system are as follows:
Wherein, x2iAnd y2iRespectively horizontal seat of the paver position at ith sample time point under plane coordinate system of constructing Mark and ordinate, (x2i, y2i) be ith sample time point paver position construction plane coordinates, x1iAnd y1iRespectively i-th Abscissa and ordinate of the paver position of a sampling time point under 80 plane coordinate system of Xi'an, (x1i, y1i) it is i-th The plane coordinates I of sampling time point paver position, m are the dimension scale of construction plane coordinate system and 80 plane coordinate system of Xi'an Coefficient；For Plane Rotation parameter；X' and y' is respectively abscissa translation parameters and the ordinate translation of construction plane coordinate system Parameter.
Further, the latitude and longitude coordinates that current time obtains are projected into the formula under 80 plane coordinate system of Xi'an are as follows:
Wherein, x1iAnd y1iRespectively cross of the paver position at ith sample time point under 80 plane coordinate system of Xi'an Coordinate and ordinate；BiAnd NiThe respectively latitude and longitude of ith sample time point collected paver position；X0iFor warp Cross position (Bi,Ni) meridian be located at (Bi,Ni) and equator between segmental arc arc length；ηiFor ith sample time point meter Calculate the intermediate variable of 80 plane coordinates of paver Xi'an, ηi 2=e'2cos2Bi, e'2For carat Paderewski the second eccentricity of ellipsoid； tiFor the tangent value of the latitude of ith sample time point paver position, i.e. ti=tanBi；ρ is earth polar radius；liFor the earth Projection zone's central meridian difference of longitude of the paver position at longitude and ith sample time point, i.e. li=L-Loi, L is the earth Longitude, LoiFor projection zone's central meridian longitude of the paver position at ith sample time point；R is west circle radius of curvature, Cos is cosine function, and sin is SIN function.
Further, the calculation formula of projection zone's central meridian longitude of the paver position are as follows:
L0i=6 × (ni+1)-3 (4)
Wherein, LoiFor projection zone's central meridian longitude of the paver position at ith sample time point, niIt is i-th The longitude of the collected paver position of sampling time point is divided by the integer part after 6, ni+ 1 acquires for ith sample time point The reel number of 6 degree of bands of the paver position arrived.
Further, the m,The determination method of x' and y' is as follows:
S321: two common points are randomly selected on the ground；Wherein, the common point, which refers to, can both use construction plane coordinates Indicates coordinate position, and the point of 80 plane coordinates indicates coordinate position of Xi'an can be used；
S322: the calculating for bringing the construction plane coordinates of two common points and 80 plane coordinates of Xi'an into four parameters respectively is public Formula, is calculated four parameters, four parameter include m,X' and y'；The calculation formula of four parameter are as follows:
X=(BTPB)-1·BTPC (5)
Beneficial effects of the present invention: the present invention is spread out by establishing construction with paving machine plane coordinates model using continuous acquisition The trajectory coordinates position of paving machine, and it is converted into construction with paving machine plane coordinates, establish the accurate meter of paver spreading speed Model is calculated, convenient for finding the variation of spreading speed in time to carry out the adjustment of paving operation speed, to guarantee spreading quality, is adapted to Property it is strong, accuracy is high.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is flow diagram of the invention；
Fig. 2 is construction with paving machine plane coordinate system schematic diagram；
Fig. 3 is the positioning examination for verifying the ordinate correctness of construction plane coordinates for the paver position that context of methods obtains Test traveling schematic diagram.
Specific embodiment
As shown in Figure 1, a kind of paver paving operation speed-measuring method provided by the invention, the paver are equipped with GPS Receiver；The paver is additionally provided with for connecting with GPS receiver, for handling the collected paver of GPS receiver The processor of paving operation latitude and longitude coordinates.The processor preferably 51 single-chip microcontrollers；The paver is additionally provided with display equipment, It is convenient that it is compared and is analyzed for showing paver expectation paving operation track and practical paving operation track.It is described Method comprising steps of
S1: as shown in Fig. 2, using the ironing Board position that paves on the left of starting point as origin, paver is when paving starting point It paves and constructs direction of traffic as ordinate direction, be abscissa direction with longitudinal perpendicular direction, it is flat to establish construction with paving machine Areal coordinate system；Further, the construction driving side that paves in construction with paving machine plane coordinate system with paver when paving starting point To the positive direction for ordinate, be directed toward on the left of the slave paver when paving starting point using paver on the right side of direction as abscissa Positive direction.Initialize the sample frequency of GPS receiver.The construction with paving machine plane coordinate system of foundation is sat relative to Xi'an 80 Mark system can observe the starting point of the track of paver paving operation well, it is convenient be compared with the desired operation track that paves and Analysis.Specifically, other existing plane coordinate system starting points are not overlapped with the starting point of paving operation, in some instances it may even be possible to which difference is very Far, such as: Xi'an1980 coordinate system using the eternally happy town in Shaanxi Jingyang County as coordinate origin, height datum be 56 years the Huanghai Sea it is extra large every year Plane, and the operating location of paver and the eternally happy town in Shaanxi Jingyang County and 56 years Huanghai Sea year means level of the sea do not ensure that one It causes, differs distant in most cases, if directly characterizing paving operation track, position coordinates with Xi'an1980 coordinate system Display is complicated, needs the further comparison calculation of staff just to will appreciate that the track situation that paves toward contact, is unfavorable for work people The open-and-shut observation of member and analysis pave track, increase the subsequent workload for calculating paving operation speed and time.With booth Spreading ironing Board position on the left of starting point is origin, and paver paving when paving starting point constructs direction of traffic as ordinate side To, it is abscissa direction with longitudinal perpendicular direction, establishes construction with paving machine plane coordinate system, specify the starting point that paves, side Just intuitive to obtain the track that paves, convenient for observing and calculating paving operation speed.In Fig. 2,1 indicates GPS receiver, and 2 indicate to pave Machine.Wherein, lengthwise position of the paver in paving process changes with the time, then the construction plane coordinates of paver position Ordinate can use time function representation, specifically:
S=F (t) (6)
Wherein, S indicates ordinate position, and t indicates the operating paver time, and F (t) indicates the function of time.S is namely herein Y in method2i, y2iIt is obtained by (2-1) formula.If the sample frequency of paver is f, then sampling period T are as follows:
So in k-th of sampling instant, the discrete function of the lengthwise position of paver are as follows:
S (k)=G (kT) k=0,1 ..., n (8)
Wherein, n indicates a shared n sampling time point during entire paving operation.
S2: during operating paver, GPS receiver successively acquires the longitude and latitude of paver position according to sample frequency Coordinate (terrestrial coordinate system that latitude and longitude coordinates use)；In the present embodiment, in order to improve the precision of paving operation position positioning, need GPS receiver is arranged in the position of the close screed in paver of paver, the paver of such GPS receiver measurement Latitude and longitude coordinates are closer to the position of paver paving operation.GPS receiver acquires position during paver paving operation Latitude and longitude coordinates be the prior art, this will not be repeated here.
S3: it under the Coordinate Transformation Based on Longitude-Latitude that present sample time point is obtained to construction with paving machine plane coordinate system, obtains Current construction plane coordinates；Latitude and longitude coordinates are the coordinate under terrestrial coordinate system, and terrestrial coordinate system is elliptical coordinate system, is not easy to The paver position that paves is observed and calculated, the coordinate under elliptic coordinates is transformed under plane coordinate system, after facilitating Continue and form the actual job track that paves under plane coordinate system of constructing, precision is high, convenient for observation and calculating speed.
S4: according to current construction plane coordinates, the construction plane coordinates and sample frequency of previous sampling time point, booth is calculated Paving machine current work speed.
S5: repeating step S2 to S4, and until paver stops operation, realization is continuously to the continuous survey of operating paver speed Amount.By the above method, construction with paving machine plane coordinates model is established, using the trajectory coordinates position of continuous acquisition paver, And it is converted into construction with paving machine plane coordinates, the model for accurate calculation of paver spreading speed is established, convenient for discovery in time The variation of spreading speed is adaptable to guarantee spreading quality to carry out the adjustment of paving operation speed, and accuracy is high.
Further, the calculation formula of the operating paver speed are as follows:
Wherein,WithThe construction plane coordinates vector of respectively i-th and (i-1)-th sampling time point, x2i And y2iRespectively abscissa and ordinate of the paver position at ith sample time point under plane coordinate system of constructing；x2(i-1) And y2(i-1)Abscissa and ordinate of the paver position of respectively (i-1)-th sampling time point under plane coordinate system of constructing； F is the sample frequency of GPS receiver.By above-mentioned formula, velocity vector (including the speed of paving operation can be precisely calculated Spend size and Orientation), also, this calculating process is that dynamic is continuous, it is adaptable.
Further, the step S3 comprising steps of
S31: the latitude and longitude coordinates that present sample time point obtains are projected under 80 plane coordinate system of Xi'an, are obtained current Plane coordinates I；In the present embodiment, the latitude and longitude coordinates under terrestrial coordinate system are transformed under plane coordinate system, are facilitated to booth The calculating and tracking of operation track are spread, to facilitate the subsequent calculating to spreading speed.Beijing 54 Coordinate System and Xi'an1980 coordinate system It is all the relatively conventional earth coordinates in China, but the geodesic point of coordinate origin of Beijing 54 Coordinate System is located at the former Soviet Union, and height anomaly Reckoning standard is inconsistent, and there are certain errors；Xi'an1980 coordinate system solves some scarce in Beijing 54 Coordinate System vertical error Point, and using more perfect international earth ellipsoid parameters in 1975 are developed, coordinate origin is located at Shaanxi Province, China, compares Beijing 54 coordinate system precision are higher, therefore context of methods is using 80 safety coordinate system of Xi'an.
S32: current plane coordinate I is transformed under construction with paving machine plane coordinate system, obtains plane coordinates of currently constructing； Construction plane coordinate system is established according to actual construction site, relative to 80 coordinate of Xi'an, more can intuitively react paving operation Track situation facilitates the subsequent calculating to spreading speed.Wherein, plane coordinates I is transformed into construction with paving machine plane coordinate system Under formula are as follows:
Wherein, x2iAnd y2iRespectively horizontal seat of the paver position at ith sample time point under plane coordinate system of constructing Mark and ordinate, (x2i, y2i) be ith sample time point paver position construction plane coordinates, x1iAnd y1iRespectively i-th Abscissa and ordinate of the paver position of a sampling time point under 80 plane coordinate system of Xi'an, (x1i, y1i) it is i-th The plane coordinates I of sampling time point paver position, m are the dimension scale of construction plane coordinate system and 80 plane coordinate system of Xi'an Coefficient；For Plane Rotation parameter；X' and y' is respectively abscissa translation parameters and the ordinate translation of construction plane coordinate system Parameter.The construction with paving machine plane coordinate system of foundation can observe paver paving operation relative to Xi'an1980 coordinate system well Track starting point, it is convenient to be compared and analyze with the desired operation track that paves.Specifically, Xi'an1980 coordinate system is with Shaanxi The eternally happy town in Jingyang County is coordinate origin, and height datum is 56 years Huanghai Sea year means level of the sea, and the operating location of paver with The eternally happy town in Shaanxi Jingyang County did not ensured that consistent with 56 years Huanghai Sea year means level of the sea, differed distant in most cases, If directly characterizing paving operation track with Xi'an1980 coordinate system, position coordinates display is complicated, needs work people toward contact The further comparison calculation of member just will appreciate that the track situation that paves, and is unfavorable for the open-and-shut observation of staff and analysis paves Track.Using ironing Board position is origin on the left of the starting point that paves, pave construct direction of traffic of the paver when paving starting point For ordinate direction, it is abscissa direction with longitudinal perpendicular direction, establishes construction with paving machine plane coordinate system, specify booth Starting point is spread, it is convenient intuitively to obtain the track that paves, convenient for observation.In Fig. 2,1 indicates GPS receiver, and 2 indicate paver.
Further, the latitude and longitude coordinates that current time obtains are projected into the formula under 80 plane coordinate system of Xi'an are as follows:
Wherein, x1iAnd y1iRespectively cross of the paver position at ith sample time point under 80 plane coordinate system of Xi'an Coordinate and ordinate；BiAnd NiThe respectively latitude and longitude of ith sample time point collected paver position；X0iFor warp Cross position (Bi,Ni) meridian be located at (Bi,Ni) and equator between segmental arc arc length；ηiFor ith sample time point meter Calculate the intermediate variable of 80 plane coordinates of paver Xi'an, ηi 2=e'2cos2Bi, e'2For carat Paderewski the second eccentricity of ellipsoid； tiFor the tangent value of the latitude of ith sample time point paver position, i.e. ti=tanBi；ρ is earth polar radius；liFor the earth Projection zone's central meridian difference of longitude of the paver position at longitude and ith sample time point, i.e. li=L-Loi, L is the earth Longitude, LoiFor projection zone's central meridian longitude of the paver position at ith sample time point；R is west circle radius of curvature, Cos is cosine function, and sin is SIN function.It, can be by the seat of the collected terrestrial coordinate system of GPS receiver by the above method Mark is transformed under 80 plane coordinate system of Xi'an, that is, the coordinate under elliptic coordinates is transformed under plane coordinate system, is facilitated Subsequent formed under plane coordinate system of constructing paves actual job track to accurately calculate paving operation speed.
Further, the calculation formula of projection zone's central meridian longitude of the paver position are as follows:
L0i=6 × (ni+1)-3 (4)
Wherein, LoiFor projection zone's central meridian longitude of the paver position at ith sample time point, niIt is i-th The longitude of the collected paver position of sampling time point is divided by the integer part after 6, ni+ 1 acquires for ith sample time point The reel number of 6 degree of bands of the paver position arrived.(4) n in formulaiFor radian format.It is, the original warp that GPS receiver obtains Latitude is each to need degree of being converted to every minute and second and radian format, can just bring into context of methods and calculate.Such as: original longitude and latitude format It is as follows:
Longitude unprocessed form: AAABB.CCCCC
Latitude unprocessed form: DDEE.FFFFF
Transformational relation between original longitude and latitude and radian is as follows:
Longitude: AAA+BB/60+CCCCC/600000
Latitude: DD+EE/60+FFFFF/600000
It is degree value by obtained numerical value round numbers, it is fractional value that decimal is rounded multiplied by 60, is continued with remaining decimal It is number of seconds value multiplied by 60.In the present embodiment, gauss projection is identical as 80 plane coordinate system reference ellipsoid parameter of Xi'an, and Gauss The deflection of projection is small, therefore chooses Gauss-Ke Lvge projection pattern herein and carry out projection conversion.
Further, the m,The determination method of x' and y' is as follows:
S321: two common points are randomly selected on the ground；Wherein, the common point, which refers to, can both use construction plane coordinates Indicates coordinate position, and the point of 80 plane coordinates indicates coordinate position of Xi'an can be used；
S322: the calculating for bringing the construction plane coordinates of two common points and 80 plane coordinates of Xi'an into four parameters respectively is public Formula, is calculated four parameters, four parameter include m,X' and y'；The calculation formula of four parameter are as follows:
X=(BTPB)-1·BTPC (5)
Wherein,P is unit matrix,(x1j,y1j) For 80 plane coordinates of Xi'an of j-th of common point；(x2j,y2j) be j-th of common point construction plane coordinates, j=1,2；T is Transposition symbol, cos are cosine functions, and sin is SIN function.By the above method, obtains and booth is transformed by Xi'an1980 coordinate system Four parameters of paving machine construction plane coordinate system, facilitate the subsequent conversion to 80 coordinate of Xi'an.
One, in order to verify the paver paving operation speed accuracy that context of methods measures, any stadium conduct is chosen Test site.As datum mark on the outside of using the tenth runway straight way initial position of stadium, GPS receiver is mounted on notebook electricity On brain, the tenth runway is close to friction speed respectively using small-sized carrier and the 9th runway leftmost outer travels, from datum It starts running, driving direction is to the south, stops in the place set in advance, and it is 52.0m that operating range, which is measured with meter scale out,.GPS connects Receipts machine received a RMC data (data format of GPS technology) every one second, obtained two groups of initial data.Test traveling Schematic diagram is as shown in Figure 3.
It is as shown in table 1 below to test the tenth real time positioning data obtained.In table 1, latitude under 84 coordinate system of WGS-, Longitude and speed data are the original coordinates under the world geodetic system that GPS receiver receives.
The real-time location test tables of data of table 1 the tenth
Similarly, the 9th real time positioning data for testing acquisition is as shown in table 2 below.In table 2, under 84 coordinate system of WGS- Latitude, longitude and speed data are the original coordinates under the world geodetic system that GPS receiver receives.
The 9th real time positioning data table of table 2
The the tenth and the 9th spreading speed difference obtained using context of methods is as shown in Table 3 and Table 4.
The tenth travel speed table of table 3
The 9th travel speed table of table 4
Maximum value, the minimum value, average value of the tenth and the 9th travel speed are sought respectively, and comparison is as shown in table 5 below.
5 travel speed contrast table of table
Tenth travel speed 9th travel speed
Maximum value (m/s) 0.963 1.394
Minimum value (m/s) 0.308 0.013
Average value (m/s) 0.775 1.058
Operating range x can be approximate by average speedIt is acquired with running time t, relational expression is as shown in (9) formula.
GPS receiver one data of reception per second, the tenth and the 9th running time is respectively 66s and 49s, by (9) operating range that average speed acquires the tenth and the 9th in formula and table 5 is respectively 51.150m and 51.842m, and practical Distance is 52m, and error is respectively 0.850m and 0.158m.Therefore the Computational Method of Velocity Measurement error is smaller, can be applied to the booth of paver Spread speed measuring and calculating.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this In the scope of the claims of invention.

Claims (6)

1. a kind of paver paving operation speed-measuring method, it is characterised in that: the paver is equipped with GPS receiver；The side Method comprising steps of
S1: using ironing Board position on the left of the starting point that paves as origin, pave construction driving side of the paver when paving starting point To for ordinate direction, it is abscissa direction with longitudinal perpendicular direction, establishes construction with paving machine plane coordinate system；Initialization The sample frequency of GPS receiver；
S2: during operating paver, the longitude and latitude that GPS receiver successively acquires paver position according to sample frequency is sat Mark；
S3: it under the Coordinate Transformation Based on Longitude-Latitude that present sample time point is obtained to construction with paving machine plane coordinate system, obtains current Construction plane coordinates；
S4: according to current construction plane coordinates, the construction plane coordinates and sample frequency of previous sampling time point, paver is calculated Current work speed；
S5: repeating step S2 to S4, until paver stops operation.
2. paver paving operation speed-measuring method according to claim 1, it is characterised in that: the operating paver speed Calculation formula are as follows:
Wherein,WithThe construction plane coordinates vector of respectively i-th and (i-1)-th sampling time point, x2iAnd y2i Respectively abscissa and ordinate of the paver position at ith sample time point under plane coordinate system of constructing；x2(i-1)With y2(i-1)Abscissa and ordinate of the paver position of respectively (i-1)-th sampling time point under plane coordinate system of constructing；f For the sample frequency of GPS receiver.
3. paver paving operation speed-measuring method according to claim 2, it is characterised in that: the step S3 comprising steps of
S31: the latitude and longitude coordinates that present sample time point obtains are projected under 80 plane coordinate system of Xi'an, current plane is obtained Coordinate I；
S32: current plane coordinate I is transformed under construction with paving machine plane coordinate system, obtains plane coordinates of currently constructing；Its In, plane coordinates I is transformed into the formula under construction with paving machine plane coordinate system are as follows:
Wherein, x2iAnd y2iRespectively abscissa of the paver position at ith sample time point under plane coordinate system of constructing and Ordinate, (x2i, y2i) be ith sample time point paver position construction plane coordinates, x1iAnd y1iIt adopts for respectively i-th Abscissa and ordinate of the paver position at sample time point under 80 plane coordinate system of Xi'an, (x1i, y1i) it is ith sample The plane coordinates I of time point paver position, m are the dimension scale system of construction plane coordinate system and 80 plane coordinate system of Xi'an Number；For Plane Rotation parameter；X' and y' is respectively the abscissa translation parameters and ordinate translation ginseng of construction plane coordinate system Number.
4. paver paving operation speed-measuring method according to claim 3, it is characterised in that: the longitude and latitude for obtaining current time Spend the formula under coordinate projection to 80 plane coordinate system of Xi'an are as follows:
Wherein, x1iAnd y1iRespectively abscissa of the paver position at ith sample time point under 80 plane coordinate system of Xi'an And ordinate；BiAnd NiThe respectively latitude and longitude of ith sample time point collected paver position；X0iFor by position Set (Bi,Ni) meridian be located at (Bi,Ni) and equator between segmental arc arc length；ηiIt calculates and spreads out for ith sample time point The intermediate variable of 80 plane coordinates of paving machine Xi'an, ηi 2=e'2cos2Bi, e'2For carat Paderewski the second eccentricity of ellipsoid；tiFor The tangent value of the latitude of ith sample time point paver position, i.e. ti=tanBi；ρ is earth polar radius；liFor geodetic longitude With projection zone's central meridian difference of longitude of the paver position at ith sample time point, i.e. li=L-Loi, L is geodetic longitude, LoiFor projection zone's central meridian longitude of the paver position at ith sample time point；R is west circle radius of curvature, and cos is remaining String function, sin are SIN functions.
5. paver paving operation speed-measuring method according to claim 4, it is characterised in that: the projection of the paver position Calculation formula with central meridian longitude are as follows:
L0i=6 × (ni+1)-3 (4)
Wherein, LoiFor projection zone's central meridian longitude of the paver position at ith sample time point, niFor ith sample The longitude of time point collected paver position is divided by the integer part after 6, ni+ 1 is collected for ith sample time point The reel number of 6 degree of bands of paver position.
6. paver paving operation speed-measuring method according to claim 3, it is characterised in that: the m,The determination of x' and y' Method is as follows:
S321: two common points are randomly selected on the ground；Wherein, the common point refers to and can both be indicated with construction plane coordinates Coordinate position, and the point of 80 plane coordinates indicates coordinate position of Xi'an can be used；
The construction plane coordinates of two common points and 80 plane coordinates of Xi'an: being brought into the calculation formula of four parameters by S322 respectively, Be calculated four parameters, four parameter include m,X' and y'；The calculation formula of four parameter are as follows:
X=(BTPB)-1·BTPC (5)
Wherein,P is unit matrix,(x1j,y1j) it is the 80 plane coordinates of Xi'an of j common point；(x2j,y2j) be j-th of common point construction plane coordinates, j=1,2；T is transposition Symbol, cos are cosine functions, and sin is SIN function.
CN201910488046.5A 2019-06-05 2019-06-05 Paver paving operation speed-measuring method Pending CN110160816A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910488046.5A CN110160816A (en) 2019-06-05 2019-06-05 Paver paving operation speed-measuring method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910488046.5A CN110160816A (en) 2019-06-05 2019-06-05 Paver paving operation speed-measuring method

Publications (1)

Publication Number Publication Date
CN110160816A true CN110160816A (en) 2019-08-23

Family

ID=67627544

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910488046.5A Pending CN110160816A (en) 2019-06-05 2019-06-05 Paver paving operation speed-measuring method

Country Status (1)

Country Link
CN (1) CN110160816A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101672639B (en) * 2009-10-13 2011-07-06 江苏大学 System and method based on GPS for measuring farmland working area
CN104536329A (en) * 2014-11-12 2015-04-22 潘若愚 Automatic paving monitoring system and implement method thereof
CN105549060A (en) * 2015-12-15 2016-05-04 大连海事大学 Object positioning system based on position and attitude of airborne photoelectric gondola
CN106292601A (en) * 2016-08-31 2017-01-04 江苏中路信息科技有限公司 Paving operation state supervisory systems based on RTK and method
CN106717330A (en) * 2016-11-16 2017-05-31 山东理工大学 A kind of adaptive dependent variable no-tillage seeding control system of spacing in the rows based on Big Dipper observing and controlling
US20170242439A1 (en) * 2016-02-24 2017-08-24 Topcon Corporation Control System For Construction Machine
CN108982903A (en) * 2018-07-20 2018-12-11 长安大学 A kind of speed measuring device and speed-measuring method improving paver spreading quality

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101672639B (en) * 2009-10-13 2011-07-06 江苏大学 System and method based on GPS for measuring farmland working area
CN104536329A (en) * 2014-11-12 2015-04-22 潘若愚 Automatic paving monitoring system and implement method thereof
CN105549060A (en) * 2015-12-15 2016-05-04 大连海事大学 Object positioning system based on position and attitude of airborne photoelectric gondola
US20170242439A1 (en) * 2016-02-24 2017-08-24 Topcon Corporation Control System For Construction Machine
CN106292601A (en) * 2016-08-31 2017-01-04 江苏中路信息科技有限公司 Paving operation state supervisory systems based on RTK and method
CN106717330A (en) * 2016-11-16 2017-05-31 山东理工大学 A kind of adaptive dependent variable no-tillage seeding control system of spacing in the rows based on Big Dipper observing and controlling
CN108982903A (en) * 2018-07-20 2018-12-11 长安大学 A kind of speed measuring device and speed-measuring method improving paver spreading quality

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
孙伟 等: "GPS单点测速方法的比较分析", 《导航定位学报》 *
张军: "基于GPS技术的压路机压实过程实时监控技术研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 *

Similar Documents

Publication Publication Date Title
CN102661736B (en) Highway reorganization and expansion surveying method
CN104562899A (en) Measuring system and measuring method for continuous compaction
CN102721371B (en) Method for calculating sag of power transmission line
CN102495413B (en) Method for acquiring transmission line tower coordinate
CN104931990A (en) Golf course navigation map surveying and mapping method
CN106469505B (en) Floating car track deviation rectifying method and device
CN104790283A (en) Quick road surface roughness detection system based on vehicle-mounted accelerometer
CN104864858B (en) The distribution method and device of a kind of engineering control network
CN106292698A (en) Accurate operation method and system for plant protection unmanned aerial vehicle
CN103605135A (en) Road feature extracting method based on fracture surface subdivision
WO2021218152A1 (en) Navigation control method for track laying machine, track laying machine, and track laying machine system
CN109115147A (en) Full depth array inclinometer and method for measuring deep displacement
CN110260840A (en) The measurement method and system of long bridge bridge pier absolute settlement amount over strait
CN107907134A (en) A kind of mileage information aids in the matched Vehicle positioning system of earth magnetism and method
CN105046046B (en) A kind of Ensemble Kalman Filter localization method
CN106568412A (en) Area measurement method for irregularly-shaped plot
CN109975880A (en) A kind of orientation method based on characteristic vector, apparatus and system
CN104931987A (en) Golf terminal equipment course navigation method
CN105138738A (en) Calculation method of three-dimensional permeability tensor
CN106292601B (en) Paving operation state supervisory systems and method based on RTK
CN101266153B (en) Mapping engineering top total station accuracy assessment method
CN101581583B (en) Navigation positioning system for moving object
CN110160816A (en) Paver paving operation speed-measuring method
CN110300385A (en) A kind of indoor orientation method based on adaptive particle filter
CN110111421A (en) A kind of method and device of mobile mapping point cloud

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination