CN110456392A - A kind of tower crane beam position precise positioning reliability verification method - Google Patents
A kind of tower crane beam position precise positioning reliability verification method Download PDFInfo
- Publication number
- CN110456392A CN110456392A CN201910781843.2A CN201910781843A CN110456392A CN 110456392 A CN110456392 A CN 110456392A CN 201910781843 A CN201910781843 A CN 201910781843A CN 110456392 A CN110456392 A CN 110456392A
- Authority
- CN
- China
- Prior art keywords
- tower crane
- transverse arm
- gnss receiver
- reliability
- gnss
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Classifications
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- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- 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
Abstract
The present invention relates to a kind of tower crane beam position precise positioning reliability verification method, the beam position is determined using the location data of the GNSS receiver on tower crane transverse arm end, which comprises receives the location data of the GNSS receiver；Determine the current motion state of tower crane；According to the current motion state of tower crane, determine that reliability demonstration constraint condition, the reliability demonstration constraint condition are determined according to the spatial movement rule of the motion state of tower crane；According to the reliability demonstration constraint condition, reliability demonstration decision model is established；And determine the reliability of GNSS receiver measurement result.
Description
Technical field
The present invention relates to tower crane beam position precise positioning reliability demonstrations.
Background technique
In order to avoid colliding or detecting the health status of tower body, it is sometimes desirable to using GNSS receiver to the end of tower arm
The position at place measures.
At present higher and higher for beam position positioning accuracy request, on the other hand, reliability of positioning is also required
Higher and higher, the purpose is to realize tower crane beam position precise positioning.Currently, all assuming that the measurement result of GNSS is essence
True, shortage carries out verifying link to the reliability of GNSS measurement result, this makes the lifting operation construction positioned based on GNSS
There are potential risks for process.
Summary of the invention
The present invention makes in view of the above situation of the prior art, to overcome or alleviated by the problem above of the prior art, until
A kind of beneficial selection is provided less.
According to an aspect of the invention, there is provided a kind of tower crane beam position precise positioning reliability demonstration side
Method, the beam position are determined using the location data of the GNSS receiver in tower crane moving trolley, which is characterized in that institute
The method of stating includes: to receive the location data of the GNSS receiver；Determine the current motion state of tower crane；According to building tower
The current motion state of machine determines reliability demonstration constraint condition, and the reliability demonstration constraint condition is according to tower crane
The spatial movement rule of motion state determines；According to the reliability demonstration constraint condition, reliability demonstration decision model is established；
And determine the reliability of GNSS receiver measurement result.
According to a kind of embodiment, the current motion state of the tower crane is one of following state: 1) building
The transverse arm not swing arm of tower crane；2) the transverse arm swing arm of tower crane.
According to a kind of embodiment, for the motion state of tower crane transverse arm not swing arm, reliability demonstration constraint condition
It is determined as condition equation:
For the motion state of tower crane transverse arm swing arm, reliability demonstration constraint condition is determined as condition equation:
Wherein,For transverse arm height, HnRefer to the elevation location number of n-th of the epoch-making moment measured according to GNSS receiver
According to the actual height of the transverse arm to convert, α is the grid azimuth of tower crane transverse arm swing arm, (Xn,Yn) refer to foundation
Plan-position under the topocentric coordinate system that the plan-position data for n-th of epoch-making moment that GNSS receiver measures convert
Data, D are the oblique distances of linear equation, are a constant, are determined by tower crane physique and GNSS receiver installation site, C
For transverse arm height correction multiplying factor, C=0.9999~1.0001, A are that transverse arm height correction adds coefficient, are determined as follows:
A=-tan (i) × R
Wherein, i is the small vertical inclination angle of transverse arm, and positive value is the elevation angle, and negative value is the angle of depression, can be by high-precision fast-response probe
Device measurement obtains, and R is the transverse arm length of junction of the GNSS receiver apart from tower body and transverse arm.
According to the method for the present invention, since the reliability for determining the GNSS receiver measurement result of beam position obtains
Verifying, can reject it is insecure as a result, thus may insure transverse arm end position positioning it is relatively reliable precisely.
Detailed description of the invention
Embodiments of the present invention can be better described in conjunction with attached drawing.Attached drawing is only illustrative, not in proportion to draw
System, nor the limitation to protection scope of the present invention.In the accompanying drawings,
Fig. 1 shows a kind of tower crane beam position reliability of positioning verification method of embodiment according to the present invention
Schematic flow chart；
Fig. 2 shows a kind of schematic diagrames of the tower crane of embodiment according to the present invention.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment that the present invention will be described in detail.These embodiments are all exemplary, no
It is the limitation to protection scope of the present invention.
Now with a kind of method using the location data for the GNSS receiver being mounted on tower crane transverse arm end come really
Determine the position of transverse arm end, but it is accurately that this may not be inconsistent with actual conditions that current method, which all assumes that its measurement result,.
The present invention in response to this, further determines that the reliability of positioning of GNSS receiver, so that the determination of beam position is more
It is guaranteed.
Fig. 1 shows a kind of tower crane beam position reliability of positioning verification method of embodiment according to the present invention
Schematic flow chart.
As shown in Figure 1, a kind of tower crane beam position reliability of positioning authentication of embodiment according to the present invention
Method includes the following steps:
In step S101, the location data for the GNSS receiver being mounted on tower crane transverse arm end position is received, it is fixed
Position data are obtained after GNSS real-time accurate location technology (such as GNSSRTK technology) processing and are broadcast by data communication chain
Epoch-making moment t, the plan-position data (X of hairt,Yt), elevation location data (Ht) and positioning accuracy information.
Fig. 2 shows a kind of schematic diagrames of the tower crane of embodiment according to the present invention.The tower crane includes solid
Determine device 21, column (tower body) 22, transverse arm 23, moving trolley 24, movable pulley 25, the first lifting rope section 26, the second lifting rope section 27, with
And GNSS movement station 28.The end of transverse arm 23 is arranged in GNSS movement station 28.Fixed pulley is additionally provided in moving trolley 24.
In step S102, the current motion state of tower crane is determined.According to a kind of embodiment, by the fortune of tower crane
Dynamic state is divided into 2 kinds:
1, tower crane not swing arm；
2, tower crane swing arm.
Such as the fortune of tower crane lifting operation can be determined by way of determining the state of tower crane driver operation handle
Dynamic state.
Reliability demonstration constraint condition is determined according to the current motion state of tower crane in step S103.
According to a kind of embodiment, for tower crane not swing arm the case where, in view of transverse arm heightIt remains unchanged, can be based onGeometry constraint conditions construct the condition equation of transverse arm elevation geometrical constraint:Wherein,For transverse arm
Highly, HnRefer to the transverse arm that the elevation location data of n-th of the epoch-making moment measured according to GNSS receiver convert
Actual height, C are transverse arm height correction multiplying factor, and C=0.9999~1.0001, A are that transverse arm height correction adds coefficient, Ke Yiru
It is lowerly determining:
A=-tan (i) × R
Wherein, i is the small vertical inclination angle of transverse arm, and positive value is the elevation angle, and negative value is the angle of depression, can be by high-precision fast-response probe
Device measurement obtains, and R is the transverse arm length of junction of the GNSS receiver apart from tower body and transverse arm.
According to a kind of embodiment, for the motion state of tower crane swing arm, GNSS receiver motion state is one with tower
As the circular path in the center of circle, the condition equation of circular path geometrical constraint is constructed
Then, in step S104, according to constraint condition, according to the current motion state of tower crane and corresponding reliable
Property verifying constraint condition, establish reliability demonstration decision model.
It should be noted that step S103 simultaneously centainly needs to provide specific constraint condition in context of the invention.Constrain item
Part can be only the instruction to restricted model.Step S103 and S104 can be merged into a step, and finally provide judgement
Model, these are all within protection scope of the present invention.It include these that is, being described although being divided into two steps
Situation.
According to a kind of embodiment, operation action and tower crane state sensor data is lifted according to tower crane (such as to measure
The angular transducer of the grid azimuth of tower crane transverse arm swing arm), precise positioning reliability decision is constituted one and is based on facing
The algorithm criterion of boundary's threshold value early warning.
Specifically, according to a kind of embodiment, for the motion state of cross arm swing and moving trolley luffing, elevation is constructed
The reliability critical conditional (reliability decision model) of geometrical constraint
According to a kind of embodiment, for the motion state of tower crane swing arm, the reliability of circular path geometrical constraint is constructed
Critical condition formula (reliability decision model)
Formula more than utilization makes have certain elasticity for the judgement of reliability, avoids due to for example for cross
The accidental error of the vertical inclination angle measurement of arm leads to unnecessary false alarm.
Embodiment according to the present invention is that having been carried out using upper epoch positioning result and current epoch positioning result can
By the judgement of property verifying, the data used are simple, and accuracy is high.
It reasonably determines threshold parameter ξ and μ to be very important, the inventor of the present application discovered that identified parameter is necessary
Be it is conservative, it can guarantee to own " receive puppet " location aware epoch and all be dropped.
According to a kind of embodiment, the value of these three parameters is determined as follows.
Threshold parameter ξ following determination:
Wherein, av,bvIt is the fixed error measured vertically and proportional error of the GNSS receiver respectively；H is building tower
The tower body height of machine.
The threshold parameter μ following determination:
Wherein, ah,bhIt is the fixed error and proportional error of the plane survey of the GNSS rover station receiver respectively；L is
The distance between tower crane tower body position and GNSS benchmark station location.
In embodiments of the present invention,
ξ: the baseline length between GNSS rover station and GNSS base station is replaced using tower body height H, it is contemplated that GNSS connects
The fixed error measured vertically and proportional error of receipts machine；
μ: the baseline between GNSS rover station and GNSS base station is replaced using the distance between tower body and GNSS base station L
Length, and consider the fixed error and proportional error of the plane survey of GNSS receiver；
Compared to conventional method, dynamic parameter is become static parameter, thus the threshold value ginseng determined by the method that this case uses
Number is more conservative, can guarantee that " receive puppet " location aware epoch is dropped.
Then the reliable of GNSS rover station measurement result is determined according to above-mentioned reliability decision model in step S105
Property.Such as in practical applications, if the altitude data in location data is not able to satisfyThen show it
Measurement result is wrong.The reliability of GNSS rover station positioning result, In can be determined according to identified reliability decision model
When determining unreliable, the location data of the epoch-making moment can be given up, temporarily without the calculating of beam position, or reported
It is alert, it is ensured that GNSS rover station positioning result is relatively reliable precisely.
It will be apparent to those skilled in the art the sequence of the explanation of the invention to step is not intended to limit its practical execution
Sequence.
In the case where determining the reliable situation of location data of GNSS rover station, it can use the location data and determine transverse arm end
Position.
Above-mentioned detailed description of the invention is used only for providing further information to those skilled in the art, with
It is not to limit the scope of the present invention in implementing preferred aspect of the invention.For implementing in most broad range
The present invention is only used for illustrating this there may be some combinations for being not required feature and step in foregoing detailed description
The representative embodiment of invention being especially described in detail.Only claim is for determining protection scope of the present invention.In addition, being
Acquisition it is of the invention add useful embodiment, a variety of different features for providing introduction in the description can be in several ways
In conjunction with since these combinations will be understood by, thus these modes are not included specifically and.
Claims (7)
1. a kind of tower crane beam position precise positioning reliability verification method, the beam position utilizes tower crane transverse arm
The location data of GNSS receiver on end determines, which is characterized in that the described method includes:
Receive the location data of the GNSS receiver；
Determine the current motion state of tower crane；
According to the current motion state of tower crane, reliability demonstration constraint condition, the reliability demonstration constraint condition are determined
The spatial movement rule of motion state according to tower crane determines；
According to the reliability demonstration constraint condition, reliability demonstration decision model is established；And
Determine the reliability of the GNSS receiver measurement result.
2. tower crane beam position precise positioning reliability verification method according to claim 1, which is characterized in that institute
Stating location data is epoch-making moment that is obtaining after the processing of GNSS real-time accurate location technology and being broadcast by data communication chain
T, plan-position data (Xt,Yt), elevation location data (Ht) and positioning accuracy information.
3. tower crane beam position precise positioning reliability verification method according to claim 1, which is characterized in that institute
Stating the current motion state of tower crane is one of following state:
1) the transverse arm not swing arm of tower crane；
2) the transverse arm swing arm of tower crane.
4. tower crane beam position precise positioning reliability verification method according to claim 3, which is characterized in that
For the motion state of tower crane transverse arm not swing arm, reliability demonstration constraint condition is determined as condition equation:
For the motion state of tower crane transverse arm swing arm, reliability demonstration constraint condition is determined as condition equation:
Wherein,For transverse arm height, HnRefer to the elevation location data institute of n-th of the epoch-making moment measured according to GNSS receiver
The actual height for the transverse arm that conversion obtains, α are the grid azimuth of tower crane transverse arm swing arm, (Xn,Yn) refer to that foundation GNSS connects
Plan-position data under the topocentric coordinate system that the plan-position data for n-th of epoch-making moment that receipts machine measures convert, D
It is the oblique distance of linear equation, is a constant, determines that C is transverse arm by tower crane physique and GNSS receiver installation site
Height correction multiplying factor, C=0.9999~1.0001, A are that transverse arm height correction adds coefficient, are determined as follows:
A=-tan (i) × R
Wherein, i is the small vertical inclination angle of transverse arm, and positive value is the elevation angle, and negative value is the angle of depression, can be by high-precision fast-response probe device
Measurement obtains, and R is the transverse arm length of junction of the GNSS receiver position apart from tower body and transverse arm.
5. tower crane beam position precise positioning reliability verification method according to claim 3, which is characterized in that
For the motion state of tower crane transverse arm swing arm, establishing reliability demonstration decision model is critical condition formula:
Wherein, ξ and μ is the threshold parameter of critical condition formula,For transverse arm height, HnRefer to n-th measured according to GNSS receiver
The actual height for the transverse arm that the elevation location data of a epoch-making moment convert, (Xn,Yn) refer to and surveyed according to GNSS receiver
Plan-position data under the topocentric coordinate system that the plan-position data of n-th of the epoch-making moment obtained convert, (Xn-1,
Yn-1) refer to the topocentric coordinates that the plan-position data of (n-1)th epoch-making moment measured according to GNSS receiver convert
Plan-position data under system, C are transverse arm height correction multiplying factor, and C=0.9999~1.0001, A are that transverse arm height correction adds
Coefficient can determine as follows:
A=-tan (i) × R
Wherein, i is the small vertical inclination angle of transverse arm, and positive value is the elevation angle, and negative value is the angle of depression, R be GNSS receiver position away from
The transverse arm length of junction from tower body and transverse arm.
6. tower crane beam position precise positioning reliability verification method according to claim 5, which is characterized in that institute
State the following determination of threshold parameter ξ:
Wherein, av,bvIt is the fixed error measured vertically and proportional error of the GNSS receiver respectively；H is tower crane
Tower body height.
7. tower crane lift hook position precise positioning reliability verification method according to claim 5, which is characterized in that institute
State the following determination of threshold parameter μ:
Wherein, ah,bhIt is the fixed error and proportional error of the plane survey of the GNSS rover station receiver respectively；L is building
The distance between tower crane tower body position and GNSS benchmark station location.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781843.2A CN110456392B (en) | 2019-08-23 | 2019-08-23 | Method for verifying accurate positioning reliability of position of cross arm of building tower crane |
| CN202110635349.2A CN113376665B (en) | 2019-08-23 | 2019-08-23 | Reliability verification method for GNSS (global navigation satellite system) accurate positioning of position of cross arm of building tower crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781843.2A CN110456392B (en) | 2019-08-23 | 2019-08-23 | Method for verifying accurate positioning reliability of position of cross arm of building tower crane |
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| CN202110635349.2A Division CN113376665B (en) | 2019-08-23 | 2019-08-23 | Reliability verification method for GNSS (global navigation satellite system) accurate positioning of position of cross arm of building tower crane |
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| CN110456392B CN110456392B (en) | 2021-05-11 |
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| CN201910781843.2A Active CN110456392B (en) | 2019-08-23 | 2019-08-23 | Method for verifying accurate positioning reliability of position of cross arm of building tower crane |
| CN202110635349.2A Active CN113376665B (en) | 2019-08-23 | 2019-08-23 | Reliability verification method for GNSS (global navigation satellite system) accurate positioning of position of cross arm of building tower crane |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113376665B (en) | 2022-07-22 |
| CN113376665A (en) | 2021-09-10 |
| CN110456392B (en) | 2021-05-11 |
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