CN110542418A - Indoor pipeline positioning method integrating two-dimensional code and inertial sensor - Google Patents
Indoor pipeline positioning method integrating two-dimensional code and inertial sensor Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention relates to an indoor pipeline positioning method integrating two-dimension codes and an inertial sensor, which belongs to the technical field of indoor pipeline positioning. A user holds the intelligent mobile terminal at a node, and the intelligent mobile terminal is positioned through accurate position data contained in the two-dimensional code of the node; meanwhile, the invention determines the error model coefficient of the inertial sensor by using the accurate position data in the two-dimensional code, and is used for realizing the compensation of the positioning error of the inertial sensor when no two-dimensional code area exists, thereby obtaining the continuous and more accurate position information of the handheld intelligent equipment indoors, uploading the positioning position information to the database, finding the corresponding static and dynamic parameter information of the pipeline in the database through the position information, and then transmitting and displaying the parameter information to the intelligent mobile terminal, thereby completing the functions of positioning the pipeline and visualizing the parameters.
Description
Technical Field
The invention belongs to the technical field of indoor pipeline positioning, and relates to an indoor pipeline positioning method integrating two-dimensional codes and an inertial sensor.
background
with the aging of the pipeline equipment, the artificial damage and other reasons, faults occur sometimes, and great potential threats are caused to the lives and properties of people. Therefore, a pipeline maintenance mechanism is established, the maintenance fault point is detected in time, and the economic loss can be reduced to the maximum extent.
Pipeline positioning is a core problem for pipeline maintenance and fault point determination. When the outdoor pipeline is maintained and positioned, a GPS positioning technology is usually adopted, and the approximate position of the pipeline can be directly determined, but for a relatively closed indoor environment, due to various shelters, acquisition and reception of a common GPS signal in the indoor environment become very difficult, so that the following other positioning methods are mainly adopted indoors, such as a WIFI positioning technology, a bluetooth positioning technology, a radio frequency technology, a Zig Bee technology, an inertial sensor positioning technology, and the like.
The WIFI positioning technology comprises the following steps: the signal intensity of a plurality of WIFI modules can be changed indoors to position, but the application complexity in the pipeline environment is too high, and the application is difficult.
The Bluetooth positioning technology comprises the following steps: bluetooth devices in the same local area network can realize a positioning function through communication and data exchange, are not interfered by the outer wall of a building, and are easily interfered by noise in a complex pipeline environment.
The radio frequency identification technology uses the radio frequency technology to realize the technology of automatic identification in a non-contact mode so as to achieve the purposes of identification and positioning. Its advantages are high locating accuracy, wide induction range, small size, convenient manufacture and low cost. The method has the defects that the method can only carry out identification in a fixed range, and meanwhile, the identification range is small and cannot be fused with other positioning methods.
The Zig-Bee is a technology of near-distance wireless communication, a Zig-Bee network mainly uses wireless sensors, and can build an internal network in a small area, so that a self-organized network system is formed, and positioning service in an indoor environment can be realized through communication among nodes in the network. The method has high interference resistance and has the disadvantage of low data transmission speed.
The inertial sensor positioning method uses built-in acceleration and gyro sensors of a smart phone to calculate the direction, and can obtain a high-precision positioning result in a short time, but has a serious error accumulation effect and is not suitable for long-term positioning in a pipeline.
Above-mentioned prior art scheme all has more or less all to be easily disturbed, uses reliability, transmission efficiency lower, and the installation maintenance cost scheduling problem relies on external equipment more, and receives the environmental impact big. The inertial positioning is to calculate the speed, position and direction information of the user according to the parameters acquired by the inertial sensor (accelerometer and gyroscope) so as to calculate and obtain the current position information of the user.
disclosure of Invention
in view of the above, the present invention provides an indoor pipeline positioning method that integrates a two-dimensional code and an inertial sensor, in which the two-dimensional code is used as a carrier, an accurate coordinate of a position (node) where the two-dimensional code is located is prestored is used as a coordinate correction, and a position coordinate stored by the node is obtained in a form of scanning the two-dimensional code at the node to perform positioning; in the non-node position, indoor navigation positioning is carried out through an inertial sensor on the intelligent mobile terminal, in order to eliminate accumulated errors of the inertial sensor navigation positioning method, an error model for positioning the inertial sensor is obtained through comparison analysis of the positioning coordinates of the inertial device and the coordinates of the two-dimensional code, and error correction is carried out on the error model, so that the situation that no two-dimensional code exists in the positioning position is achieved, and more accurate position information can be obtained when positioning is carried out only through the inertial device.
In order to achieve the purpose, the invention provides the following technical scheme:
An indoor pipeline positioning method integrating two-dimensional codes and an inertial sensor comprises the following steps:
S1: determining the placement position of a two-dimensional code for positioning correction on a pipeline according to positioning needs, generating a two-dimensional code for positioning correction containing the coordinates of the placement position, placing the two-dimensional code at a corresponding position, and forming a two-dimensional code system for positioning error correction of an intelligent mobile terminal, wherein the two-dimensional code system is used for positioning navigation error correction of an inertial sensor of the intelligent mobile terminal;
S2: establishing a pipeline parameter database which comprises static information of a pipeline and dynamic information of the pipeline acquired by a sensor on the pipeline; the static information comprises pipeline spatial characteristic information and attribute characteristic information, the spatial characteristic information comprises pipeline position and length, and the attribute characteristic information comprises pipeline model material and nameplate data; the dynamic information comprises the flow, pressure and flow rate of the conveyed materials;
S3: when the positioning point is required to be a two-dimensional code placing point for positioning and navigation correction, scanning the two-dimensional code by using the intelligent mobile terminal, taking position information in the two-dimensional code as current position information, acquiring the position information of the positioning point through an inertial sensor arranged in the intelligent mobile terminal, comparing and correcting the position information in the two-dimensional code with the position information acquired by the inertial sensor, acquiring relevant parameters of a correction and compensation model of the inertial sensor, and determining the correction and compensation model;
When the required locating point is not a two-dimensional code placing point for positioning guide correction, the position information of the current position is obtained through an inertial sensor of the intelligent mobile terminal, and the position information is substituted into a correction compensation model to carry out correction compensation, so that more accurate coordinates after error correction are obtained, and the locating is finished;
s4: after the current position information is obtained, the intelligent mobile terminal accesses the pipeline parameter database through the position information data, transmits and displays the pipeline related information to the intelligent mobile terminal, provides pipeline spatial characteristic information and attribute characteristic information, and provides visual support service for pipeline operation and maintenance based on the pipeline spatial characteristic information and the attribute characteristic information.
further, in step S1, in order to keep the positioning with high accuracy, a two-dimensional code for positioning correction is arranged at an important position (a special node, a pipe indoor start point position) of the indoor pipe.
Further, in step S3, the precise coordinates of the position are obtained when the two-dimensional code is scanned, and the coordinates of the measured position obtained by the positioning of the inertial sensor are compared and corrected to obtain the error model coefficient of the inertial positioning at that time, the correction mode is in a continuous iteration state, and the error model coefficient of the two-dimensional code is updated every time the two-dimensional code is scanned;
Wherein, the two-dimensional code coordinate is (x0, y0), and the inertial sensor measures the coordinate (x ', y'), then the two coordinates have the following correspondence: the expression of the error model fx is x0 ═ a1x '+ b1 y' + c1x 'y' (including but not limited to this), and error model coefficients are found from the measurement coordinates and the accurate coordinates, thereby performing error correction on the measurement position of the inertial sensor.
further, in step S3,
When a two-dimensional code node exists at a positioning position, the position information of the node is obtained by scanning the two-dimensional code, and is compared and corrected with the position information obtained by the inertial sensor to determine an error correction compensation model;
when no two-dimensional code node exists at the positioning position, acquiring the position information of the point through an inertial sensor, including acquiring the acceleration data of an accelerometer of the inertial sensor to acquire the acceleration change condition of the intelligent mobile terminal in the directions of three axes of x, y and z, integrating the acceleration change condition and performing secondary integration on the acceleration change condition, and calculating speed information and displacement information; the method comprises the steps of obtaining the angle change conditions of the intelligent mobile terminal in the x direction, the y direction and the z direction through an inertial sensor gyroscope, calculating to obtain the initial position of the current intelligent mobile terminal, namely the pipeline, and compensating the error drift of the inertial device positioning method through error correction to obtain the accurate position of the pipeline.
The invention has the beneficial effects that:
1) The method for positioning the indoor pipeline by integrating the two-dimensional code and the inertial sensor is provided, and accurate coordinates provided by the two-dimensional code are used as error correction, so that navigation of the inertial sensor can be continuously and accurately positioned, and effective position service of the indoor and outdoor pipelines is provided.
2) The information of the two-dimension code label can be used as an index of accurate position information, is associated with related pipeline parameter information in a database, and can provide related dynamic and static data about the pipeline.
3) The two-dimensional code is easy to manufacture and low in cost, and is close to zero cost compared with other positioning modes.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
for the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic flow chart of an indoor pipeline positioning method of an integrated two-dimensional code and an inertial sensor according to the present invention;
fig. 2 is a schematic diagram of a system implemented by the indoor pipeline positioning method of the integrated two-dimensional code and inertial sensor according to the present invention.
Detailed Description
the embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
The invention provides an indoor pipeline positioning method integrating two-dimensional codes and an inertial sensor, which takes the two-dimensional codes as a carrier, prestores accurate coordinates of positions (nodes) where the two-dimensional codes are located as coordinate correction, acquires the position coordinates stored by the nodes in a mode of scanning the two-dimensional codes and the like, simultaneously performs indoor navigation positioning by combining the inertial sensor on an intelligent mobile terminal, obtains an error model for positioning the inertial sensor through comparison and analysis with the coordinates of the two-dimensional codes, performs error correction on the error model, eliminates accumulated errors of the navigation positioning method of the inertial sensor, so as to acquire position information which is more accurate when no two-dimensional codes exist in the positioning position and is positioned only by the inertial sensor than when the method provided by the invention is not utilized.
The positioning method comprises the following steps:
Aiming at the positioning requirement of the pipeline, the invention adopts an inertial measurement positioning method based on the intelligent mobile terminal equipment held by the user indoors, and combines the two-dimensional code positioning to correct the error, thereby solving the problem of error accumulation in the positioning of the inertial sensor and realizing more accurate positioning of the pipeline.
1. Inertial measurement positioning:
For the intelligent mobile terminal, by acquiring acceleration data of an accelerometer of an inertial sensor, the acceleration change conditions of the handheld device in the directions of three axes of x, y and z can be acquired, and the acceleration change conditions are subjected to integral and quadratic integral, so that the related speed information and displacement information can be calculated; and the angle change conditions of the intelligent mobile terminal in the x direction, the y direction and the z direction can be obtained through the inertial sensor gyroscope. By utilizing the information, the position of the current intelligent mobile terminal, namely the position of the pipeline can be obtained through calculation.
2. and (3) positioning the two-dimensional code:
The invention adopts the two-dimensional code, has the advantages of strong encryption capability, convenient scanning and the like, and is widely applied in the current life. The method divides the specific position coordinate of a certain point into two types for description, wherein the first type is the absolute position of the pipeline position, namely a space coordinate, the initial point position of the indoor pipeline is taken as an original point, and three-dimensional coordinates x, y and z (namely length, width and height) of the pipeline position based on the original point are described and recorded; the relative position of the second pipeline is the relative length of a certain point on the pipeline from the starting point of the pipeline along the pipeline direction, and the position information fusion of the two modes can accurately position the position of any point on the indoor pipeline, so that a foundation is provided for the correction point serving as the correction point.
the two kinds of information are stored in the two-dimensional code, a user scans the two-dimensional code by using intelligent mobile terminal equipment and analyzes and obtains more accurate position information stored in the two-dimensional code, indoor fixed-point positioning is achieved, and then the method is used for error correction of an inertial sensor, and continuous navigation with few errors in an inertial measurement positioning method is achieved.
second, the working process
The whole working process of the two-dimensional code fusion inertial sensor positioning is divided into two types:
1. correction procedure
In the correction mode, the accurate coordinates of the position are obtained when the node two-dimensional code is scanned, the measured position coordinates obtained through the positioning of the inertial sensor are compared and corrected, and the error model coefficient of the inertial positioning at the moment is obtained through error separation. The correction mode is in a continuous iteration state, and the error model coefficient of the two-dimensional code is updated every time the two-dimensional code is scanned. The specific working process schematic diagram is shown in fig. 1, wherein the two-dimensional code coordinates are (x0, y0), and the inertial sensor measures coordinates (x ', y'), so that the two coordinates have the following correspondence: the expression of the error model fx is complex, and for convenience of understanding, the expression (including but not limited to x0 ═ a1x '+ b1 y' + c1x 'y') is written as follows, and the error model coefficients can be obtained from the measured coordinates and the accurate coordinates, so as to correct the error of the measurement position of the inertial sensor.
2. Positioning process
(1) when the positioning point is positioned at the two-dimensional code node, the two-dimensional code can be scanned to obtain the stored accurate coordinates, and the position information in the two-dimensional code is used as the current position information to finish positioning. And simultaneously, comparing and correcting the position information in the two-dimensional code with the position information obtained by an inertial sensor in the mobile terminal to determine a correction compensation model.
(2) And when the position of the fixed point is not positioned at the two-dimensional code node, the measurement coordinate information of the current position is obtained through the positioning of the inertial sensor, and is substituted into the obtained error model for compensation and correction to obtain more accurate coordinates after error correction, so that the positioning is completed.
(3) and scanning each two-dimensional code to obtain accurate coordinates, continuously iterating and updating the error model coefficient, controlling the error drift of the inertial sensor positioning, and ensuring the accuracy of the positioning method.
third, mobile terminal display
(1) The invention (including but not limited to) is developed for the client based on the intelligent mobile terminal device, and the PC is a database for storing the related pipeline parameter information.
(2) And (3) building a pipeline parameter database, and storing static and dynamic (obtained by a sensor) information of all pipeline nodes (namely the two-dimension code positioning identification positions).
(3) And carrying out position positioning according to position data (after two-dimensional code positioning correction) provided by inertial sensors such as a gyroscope and the like, and finding out related parameters of the corresponding pipeline in a database through positioning information.
(4) and the database receives the request of the client, returns to the intelligent mobile terminal device according to the result after calculation and matching and displays the result on a screen.
Example (b):
As shown in fig. 2, a back-end database is established according to static information (information such as data of a pipeline nameplate) and dynamic information (information such as liquid flow, pressure and flow velocity obtained by a sensor) of a field pipeline, and position information of a pipeline node for positioning correction is written into a two-dimensional code for storage. A user holds the intelligent mobile terminal in a hand mode, the built-in inertial sensor is integrated to measure position data and the two-dimensional code containing node accurate position data to position an indoor pipeline, positioning position information is uploaded to the back-end database, corresponding pipeline static and dynamic parameter information is found in the back-end database through the position information, then the parameter information is transmitted to the intelligent mobile terminal and displayed, and the functions of pipeline positioning and parameter visualization are achieved.
In the above embodiment, the method proposed by the patent of the present invention has the following application process steps:
1) the method comprises the steps of determining the placement position of a two-dimensional code for positioning correction on a pipeline according to positioning needs, generating a two-dimensional code for positioning correction containing the coordinates of the placement position, placing the two-dimensional code at a corresponding position, forming a two-dimensional code system for positioning error correction of handheld equipment, and performing positioning navigation error correction on an inertial sensor of the handheld equipment. In application, in order to keep the positioning with higher accuracy, the positioning two-dimensional code mentioned by the method should be arranged at an important position (a special node and an indoor starting point position of the pipeline) of the indoor pipeline.
2) And establishing a pipeline parameter database, and acquiring static information (spatial characteristic information such as pipeline position and length, attribute characteristic information such as pipeline model material and nameplate data) of the pipeline and dynamic information (such as flow, pressure, flow rate and the like) of the pipeline acquired by a sensor on the pipeline.
3) In the positioning process, when the positioning point has a two-dimensional code for positioning navigation correction, the handheld mobile terminal takes the position information in the two-dimensional code as the current position information, and meanwhile, the position information in the two-dimensional code is compared and corrected with the position information obtained by an inertial sensor in the terminal to obtain the relevant parameters of a correction compensation model of the inertial sensor and determine the correction compensation model;
When the positioning point is not provided with the two-dimensional code for positioning navigation correction, the handheld device completes positioning by using the position data acquired by the inertial sensor of the handheld device and the correction compensation model thereof.
4) After the current position information is obtained, the handheld device accesses the relevant static and dynamic databases through the position information data, transmits and displays the relevant information of the pipeline to the mobile terminal, provides information such as pipeline type, flow rate and pressure of conveyed materials and provides visual support service for pipeline operation and maintenance based on the relevant information.
the mobile terminal comprises a smart phone or a tablet computer, and the smart phone and the tablet computer comprise but are not limited to Android, IOS, Windows and other systems.
finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (4)
1. An indoor pipeline positioning method integrating two-dimensional codes and an inertial sensor is characterized in that: the method comprises the following steps:
s1: determining the placement position of a two-dimensional code for positioning correction on a pipeline according to positioning requirements, generating a two-dimensional code for positioning correction containing the coordinates of the placement position, placing the two-dimensional code at a corresponding position to form a two-dimensional code system for positioning error correction of an intelligent mobile terminal, and using the two-dimensional code system for direct positioning and positioning navigation error correction of an inertial sensor of the intelligent mobile terminal;
s2: establishing a pipeline parameter database which comprises static information of a pipeline and dynamic information of the pipeline acquired by a sensor on the pipeline; the static information comprises pipeline spatial characteristic information and attribute characteristic information, the spatial characteristic information comprises pipeline position and length, and the attribute characteristic information comprises pipeline model material and nameplate data; the dynamic information comprises the flow, pressure and flow rate of the conveyed materials;
S3: when the positioning point is required to be a two-dimensional code placing point for positioning and navigation correction, scanning the two-dimensional code by using the intelligent mobile terminal, taking position information in the two-dimensional code as current position information, acquiring the position information of the positioning point through an inertial sensor arranged in the intelligent mobile terminal, comparing and correcting the position information in the two-dimensional code with the position information acquired by the inertial sensor, acquiring relevant parameters of a correction and compensation model of the inertial sensor, and determining the correction and compensation model;
When the required locating point is not a two-dimensional code placing point for positioning guide correction, the position information of the current position is obtained through an inertial sensor of the intelligent mobile terminal, and the position information is substituted into a correction compensation model to carry out correction compensation, so that more accurate coordinates after error correction are obtained, and the locating is finished;
S4: after the current position information is obtained, the intelligent mobile terminal accesses the pipeline parameter database through the position information data, transmits and displays the pipeline related information to the intelligent mobile terminal, provides pipeline spatial characteristic information and attribute characteristic information, and provides visual support service for pipeline operation and maintenance based on the pipeline spatial characteristic information and the attribute characteristic information.
2. The indoor pipeline positioning method integrating two-dimensional codes and an inertial sensor according to claim 1, characterized in that: in step S1, in order to maintain high accuracy of positioning, two-dimensional codes for positioning correction are arranged at important positions of the indoor pipeline, including the positions of the special nodes and the indoor starting point of the pipeline.
3. The indoor pipeline positioning method integrating two-dimensional codes and an inertial sensor according to claim 1, characterized in that: in step S3, obtaining accurate coordinates of the position when scanning the two-dimensional code, and comparing and correcting the measured position coordinates obtained by positioning through the inertial sensor to obtain an error model coefficient of the inertial positioning at that time, wherein the correction mode is in a continuous iteration state, and the error model coefficient of the two-dimensional code is updated every time the two-dimensional code is scanned;
Wherein, the two-dimensional code coordinate is (x0, y0), and the inertial sensor measures the coordinate (x ', y'), then the two coordinates have the following correspondence: the expression of the error model fx includes, but is not limited to, x0 ═ a1x '+ b1 y' + c1x 'y', and error model coefficients are found from the measured coordinates and the exact coordinates, thereby performing error correction on the inertial sensor measurement position.
4. The indoor pipeline positioning method integrating two-dimensional codes and an inertial sensor according to claim 1, characterized in that: in the step S3, in the step S,
When a two-dimensional code exists at a positioning position, the position information of the point is obtained by scanning the two-dimensional code, and is compared and corrected with the position information obtained by the inertial sensor to determine an error correction compensation model;
When no two-dimensional code exists at the positioning position, acquiring the position information of the positioning position through an inertial sensor, including acquiring the acceleration data of an accelerometer of the inertial sensor to acquire the acceleration change condition of the intelligent mobile terminal in the directions of three axes of x, y and z, integrating the acceleration change condition and performing secondary integration on the acceleration change condition, and calculating speed information and displacement information; the method comprises the steps of obtaining the angle change conditions of the intelligent mobile terminal in the x direction, the y direction and the z direction through an inertial sensor gyroscope, calculating to obtain the initial position of the current intelligent mobile terminal, namely the pipeline, and compensating the error drift of the inertial device positioning method through error correction to obtain the accurate position of the pipeline.
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| CN116153135A (en) * | 2023-04-04 | 2023-05-23 | 湖南桅灯机器人有限公司 | Map navigation method and system applied to underground parking garage |
| CN117215305A (en) * | 2023-09-12 | 2023-12-12 | 北京城建智控科技股份有限公司 | Travel auxiliary system |
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