CN110542418B - 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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- 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
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- 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-dimensional codes and an inertial sensor, which belongs to the technical field of indoor pipeline positioning, wherein a database is built according to static information and dynamic information of a field pipeline, and position information of pipeline nodes for positioning correction is written into the two-dimensional codes for storage. The user holds the intelligent mobile terminal at the node, and positions the intelligent mobile terminal 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 utilizing the accurate position data in the two-dimension code, and is used for compensating the positioning error of the inertial sensor when no two-dimension code area exists, so that the continuous accurate position information of the handheld intelligent equipment indoors is obtained, the positioning position information is uploaded to a database, corresponding static and dynamic parameter information of the pipeline is found out through the position information in the database, and the parameter information is transmitted to the intelligent mobile terminal and displayed, thereby completing the positioning and parameter visualization functions of the pipeline.
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 pipeline equipment, artificial damage and other reasons, faults occur, and huge potential threats are caused to lives and properties of people. Therefore, a pipeline maintenance mechanism is established, maintenance fault points are detected in time, and economic losses can be reduced to the greatest extent.
Pipeline positioning is a core problem for pipeline maintenance and determining fault points. In the outdoor pipeline maintenance positioning, a GPS positioning technology is generally adopted, so that the approximate position of the pipeline can be directly determined, but for a relatively closed indoor environment, the acquisition and the reception of a common GPS signal in the indoor environment become very difficult due to various shielding, and the following other positioning methods 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 are mainly adopted indoors.
(1) WIFI positioning technology: the indoor positioning can be performed through the signal intensity change of a plurality of WIFI modules, but the application complexity is too high in a pipeline environment, and the application is difficult.
(2) Bluetooth positioning technology: bluetooth devices in the same local area network can realize the positioning function through communication and data exchange, are not interfered by the outer wall of a building, but are easily interfered by noise in a complex pipeline environment.
(3) The radio frequency identification technology uses a technology of automatically identifying in a non-contact manner, which is realized by using the radio frequency technology, so as to achieve the purposes of identification and positioning. Its advantages are high locating accuracy, high induction range, small size, convenient manufacture and low cost. The method has the defects that the identification can be carried out only in a fixed range, and the identification range is smaller and cannot be fused with other positioning methods.
(4) The Zig Bee is a technology of short-distance wireless communication, and the Zig Bee network mainly uses wireless sensors, and can build an internal network in a small area, thereby forming an self-organizing network system, and can realize positioning service in an indoor environment through communication among nodes in the network. This method has high anti-interference capability, and has the disadvantage of low data transmission speed.
(5) The positioning method of the inertial sensor uses the sensors such as acceleration and gyroscopes built in the smart phone to conduct direction calculation, and can obtain a positioning result with higher precision in a short time, but serious error accumulation effect can be generated, and the positioning method is not suitable for long-time positioning in a pipeline.
The prior art scheme is more or less susceptible to interference, has the problems of lower use reliability and transmission efficiency, high installation and maintenance cost and the like, is more dependent on external equipment, and is greatly influenced by environment. 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 the current position information of the user.
Disclosure of Invention
In view of the above, the present invention aims to provide an indoor pipeline positioning method for integrating a two-dimensional code and an inertial sensor, wherein the two-dimensional code is used as a carrier, the accurate coordinates of the position (node) where the two-dimensional code is pre-stored are used as coordinate corrections, and the position coordinates stored by the node are obtained at the node by scanning the two-dimensional code for positioning; and in the node-free position, indoor navigation positioning is performed through an inertial sensor on the intelligent mobile terminal, in order to eliminate accumulated errors of the inertial sensor navigation positioning method, the inertial device positioning coordinates and the two-dimensional code coordinates are compared and analyzed to obtain an inertial sensor positioning error model, and error correction is performed on the inertial sensor positioning error model, so that no two-dimensional code is arranged at the positioning position, and more accurate position information can be obtained only when the inertial device is used for positioning.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an indoor pipeline positioning method integrating two-dimension codes and inertial sensors comprises the following steps:
s1: determining the position of a placement point of a two-dimensional code for positioning correction on a pipeline according to positioning requirements, generating the two-dimensional code for positioning correction containing the position coordinates of the placement point, and 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, 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, wherein the pipeline parameter database comprises static information of a pipeline and pipeline dynamic information acquired by a sensor on the pipeline; the static information comprises pipeline space characteristic information and attribute characteristic information, wherein the space characteristic information comprises pipeline positions and lengths, and the attribute characteristic information comprises pipeline model materials and nameplate data; the dynamic information comprises conveying material flow, pressure and flow rate;
s3: when the positioning point is required to be a two-dimensional code placement point for positioning navigation correction, the intelligent mobile terminal is utilized to scan the two-dimensional code, the position information in the two-dimensional code is used as the current position information, meanwhile, the position information of the positioning point is acquired through an inertial sensor arranged in the intelligent mobile terminal, then the position information in the two-dimensional code is compared with the position information acquired through the inertial sensor for correction, the relevant parameters of an inertial sensor correction compensation model are acquired, and the correction compensation model is determined;
when the positioning point is not the two-dimensional code placement point for positioning guide correction, acquiring the position information of the current position through an inertial sensor of the intelligent mobile terminal, substituting the position information into a correction compensation model to carry out correction compensation, obtaining more accurate coordinates after error correction, and finishing positioning;
s4: after the current position information is acquired, the intelligent mobile terminal accesses the pipeline parameter database through the position information data, transmits the pipeline related information to the intelligent mobile terminal and displays the pipeline related information, provides the pipeline space characteristic information and the attribute characteristic information, and provides the visual support service for the pipeline operation and maintenance based on the pipeline space characteristic information and the attribute characteristic information.
Further, in step S1, in order to maintain high accuracy of positioning, a two-dimensional code for positioning correction is arranged at an important position (a special node, a pipeline indoor starting point position) of an indoor pipeline.
In step S3, the accurate coordinates of the position are obtained when the two-dimensional code is scanned, and the accurate coordinates are compared and corrected with the measured position coordinates obtained through the positioning of the inertial sensor at the moment to obtain the error model coefficient of the inertial positioning at the moment, wherein the correction mode is in a continuous iteration state, and the error model coefficient is updated every time the two-dimensional code is scanned;
wherein, let two-dimension code coordinates be (x 0 ,y 0 ) The inertial sensor measures coordinates (x ', y'), then the two coordinates have the following correspondence:
error model f x The expression of (2) is x 0 ＝a 1 x′+b 1 y′+c 1 x 'y' (including but not limited to) and obtaining error model coefficients from the measured coordinates and the accurate coordinates, thereby performing error correction on the inertial sensor measured position.
Further, in step S3,
(1) when a two-dimensional code node exists at the positioning position, acquiring the position information of the two-dimensional code node by scanning the two-dimensional code node, comparing and correcting the position information with the position information acquired by the inertial sensor, and determining an error correction compensation model;
(2) when no two-dimensional code node exists at the positioning position, acquiring position information of the point through an inertial sensor, wherein the acquisition of acceleration data of an accelerometer of the inertial sensor is performed to acquire acceleration change conditions of the intelligent mobile terminal in the directions of x, y and z, and integrating and twice integrating are performed to calculate speed information and displacement information; the angle change conditions of the intelligent mobile terminal in the x, y and z directions are obtained through the inertial sensor gyroscope, so that the initial position of the current intelligent mobile terminal, namely the pipeline, is calculated, and the accurate position of the pipeline is obtained through error correction and error drift compensation of an inertial device positioning method.
The invention has the beneficial effects that:
1) According to the indoor pipeline positioning method integrating the two-dimension code and the inertial sensor, the accurate coordinates provided by the two-dimension code are used as error correction, so that the inertial sensor can continuously and accurately position the navigation, and effective position service of the indoor and outdoor pipelines is provided.
2) The information of the two-dimensional 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 pipelines.
3) The two-dimensional code is easy to manufacture and low in cost, and compared with other positioning modes, the two-dimensional code is close to zero cost.
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 objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in the following preferred detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic flow chart of an indoor pipeline positioning method for integrating two-dimensional codes and an inertial sensor;
fig. 2 is a schematic diagram of a system for implementing the indoor pipeline positioning method for integrating the two-dimensional code and the inertial sensor.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present invention by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the invention; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated 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 numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present invention, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.
The invention provides an indoor pipeline positioning method integrating two-dimension codes and an inertial sensor, which takes the two-dimension codes as a carrier, pre-stores the accurate coordinates of the positions (nodes) where the two-dimension codes are located as coordinate correction, acquires the position coordinates stored by the nodes by scanning the two-dimension codes and the like, simultaneously combines the inertial sensor on an intelligent mobile terminal to perform indoor navigation positioning, obtains an error model of the positioning of the inertial sensor by comparing the two-dimension codes with the coordinates of the two-dimension codes, performs error correction on the error model, eliminates the accumulated error of the navigation positioning method of the inertial sensor, and acquires more accurate position information when the two-dimension codes are positioned only by the inertial sensor rather than the method proposed by the invention.
1. The positioning method comprises the following steps:
aiming at the positioning requirement of the pipeline, the invention adopts the inertial measurement positioning method based on the user-held intelligent mobile terminal device indoors, combines two-dimension code positioning to perform error correction, solves the problem of error accumulation in inertial sensor positioning, and realizes more accurate positioning of the pipeline.
1. Inertial measurement positioning:
for the intelligent mobile terminal, by acquiring acceleration data of the accelerometer of the inertial sensor, the acceleration change condition of the handheld device in the directions of x, y and z can be acquired, and the acceleration change condition is integrated and twice integrated, so that relevant speed information and displacement information can be calculated; through the inertial sensor gyroscope, the angle change condition of the intelligent mobile terminal in the x, y and z directions can be obtained. By using the information, the position of the current intelligent mobile terminal, namely the pipeline, can be calculated.
2. Positioning a two-dimensional code:
the two-dimensional code is adopted, has the advantages of strong encryption capability, convenience in scanning and the like, and is widely applied in current life. The invention divides the specific position coordinates of a certain point into two types for description, wherein the first type is the absolute position of the pipeline position, namely the space coordinates, the indoor pipeline starting point position is taken as an origin, and the three-dimensional coordinates x, y and z (namely the length, width and height) of the pipeline position based on the origin 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 the point on any indoor pipeline, thereby providing a foundation for the correction point.
The two kinds of information are stored in the two-dimensional code, a user uses the intelligent mobile terminal equipment to scan the two-dimensional code and analyze and acquire the more accurate position information stored in the two-dimensional code, so that indoor fixed-point positioning is realized, and then the information is used for error correction of an inertial sensor, and continuous navigation with less errors of an inertial measurement positioning method is realized.
2. Working process
The working process of the whole two-dimensional code fusion inertial sensor positioning is divided into two types:
1. correction procedure
The correction mode is to obtain the accurate coordinate of the position when the node two-dimensional code is scanned, compare and correct the accurate coordinate with the measured position coordinate obtained through the inertial sensor positioning at the moment, and obtain the error model coefficient of the inertial positioning at the moment 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 is schematically shown in fig. 1, wherein two-dimensional code coordinates are set as (x 0 ,y 0 ) The inertial sensor measures coordinates (x ', y'), then the two coordinates have the following correspondence:
error model f x The expression of (c) is more complex and is written herein for ease of understanding as follows (including but not limited to x 0 ＝a 1 x′+b 1 y′+c 1 And x 'y'), and obtaining an error model coefficient from the measured coordinate and the accurate coordinate, so as to correct the error of the measuring 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 meanwhile, comparing and correcting the position information in the two-dimensional code with the position information obtained by the inertial sensor in the mobile terminal, and determining a correction compensation model.
(2) When the positioning point position is not located 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 error model obtained before to carry out compensation correction, so that the more accurate coordinate after the error correction is obtained, and the positioning is completed.
(3) And scanning at each two-dimensional code to obtain accurate coordinates, continuously iterating and updating error model coefficients, controlling error drift of the inertial sensor positioning, and ensuring the accuracy of the positioning method.
3. Mobile terminal display
(1) The invention (including but not limited to) is developed for the client based on the intelligent mobile terminal equipment, and the PC is a database for storing related pipeline parameter information.
(2) And constructing a pipeline parameter database, and storing static and dynamic (obtained by a sensor) information of all pipeline nodes (namely, two-dimensional code positioning identifiers).
(3) And (3) carrying out position positioning according to position data (after two-dimensional code positioning correction) provided by an inertial sensor such as a gyroscope and the like, and finding out relevant parameters of a corresponding pipeline in a database through positioning information.
(4) And the database receives the request of the client, returns the intelligent mobile terminal equipment according to the result after the matching calculation and displays the intelligent mobile terminal equipment on a screen.
Examples:
as shown in fig. 2, a back-end database is built according to static information (information such as pipeline nameplate data) and dynamic information (information such as liquid flow, pressure and flow speed acquired by a sensor) of a field pipeline, and position information of pipeline nodes for positioning correction is written into a two-dimensional code for storage. The user holds the intelligent mobile terminal, the built-in inertial sensor measures position data and the two-dimensional code containing accurate position data of the node are integrated to position the indoor pipeline, the positioning position information is uploaded to a rear-end database, corresponding static and dynamic parameter information of the pipeline is found out through the position information in the rear-end database, and then the parameter information is transmitted to the intelligent mobile terminal and displayed, so that the positioning and parameter visualization functions of the pipeline are completed.
In the above embodiment, the method of the present invention includes the following steps:
1) And determining the position of a placement point of the two-dimensional code for positioning correction on the pipeline according to the positioning requirement, generating the two-dimensional code for positioning correction containing the position coordinates of the placement point, and placing the two-dimensional code at a corresponding position to form a two-dimensional code system for positioning error correction of the handheld equipment, wherein the two-dimensional code system is used for direct positioning and positioning navigation error correction of an inertial sensor of the handheld equipment. In the application, in order to keep high accuracy of positioning, positioning two-dimensional codes mentioned by the method are arranged at important positions (special nodes and indoor starting point positions of pipelines) of indoor pipelines.
2) And establishing a pipeline parameter database, and combining static information (spatial characteristic information such as pipeline position, length and the like, attribute characteristic information such as pipeline model materials, nameplate data and the like) of the pipeline with pipeline dynamic information (such as flow, pressure, flow rate and the like) acquired by a sensor on the pipeline.
3) In the positioning process, when a 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 current position information, and meanwhile, the position information in the two-dimensional code and the position information obtained by an inertial sensor in the terminal are compared and corrected to obtain relevant parameters of an inertial sensor correction compensation model, and the correction compensation model is determined;
when the positioning point does not have 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 acquired, the handheld device accesses the relevant static and dynamic databases through the position information data, transmits the pipeline relevant information to the mobile terminal and displays the pipeline relevant information, provides information such as pipeline type, material conveying flow rate and pressure, and the like, 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 personal computer, wherein the smart phone and the tablet personal computer comprise but are not limited to Android, IOS, windows and other systems.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (2)
1. An indoor pipeline positioning method integrating two-dimensional codes and inertial sensors is characterized by comprising the following steps of: the method comprises the following steps:
s1: determining the position of a placement point of a two-dimensional code for positioning correction on a pipeline according to positioning requirements, generating the two-dimensional code for positioning correction containing the position coordinates of the placement point, and 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, wherein the two-dimensional code system is used for direct positioning and positioning navigation error correction of an inertial sensor of the intelligent mobile terminal;
s2: establishing a pipeline parameter database, wherein the pipeline parameter database comprises static information of a pipeline and pipeline dynamic information acquired by a sensor on the pipeline; the static information comprises pipeline space characteristic information and attribute characteristic information, wherein the space characteristic information comprises pipeline positions and lengths, and the attribute characteristic information comprises pipeline model materials and nameplate data; the dynamic information comprises conveying material flow, pressure and flow rate;
s3: when the positioning point is required to be a two-dimensional code placement point for positioning navigation correction, the intelligent mobile terminal is utilized to scan the two-dimensional code, the position information in the two-dimensional code is used as the current position information, meanwhile, the position information of the positioning point is acquired through an inertial sensor arranged in the intelligent mobile terminal, then the position information in the two-dimensional code is compared with the position information acquired through the inertial sensor for correction, the relevant parameters of an inertial sensor correction compensation model are acquired, and the correction compensation model is determined;
when the positioning point is not the two-dimensional code placement point for positioning guide correction, acquiring the position information of the current position through an inertial sensor of the intelligent mobile terminal, substituting the position information into a correction compensation model to carry out correction compensation, obtaining more accurate coordinates after error correction, and finishing positioning;
obtaining accurate coordinates of the position when the two-dimensional code is scanned, comparing and correcting the accurate coordinates with the measured position coordinates obtained through the positioning of the inertial sensor at the moment to obtain error model coefficients of the inertial positioning at the moment, wherein the correction mode is in a continuous iteration state, and the error model coefficients of the two-dimensional code are updated every time the two-dimensional code is scanned;
wherein, let two-dimension code coordinates be (x 0 ,y 0 ) The inertial sensor measures coordinates (x ', y'), then the two coordinates have the following correspondence:
error model f x The expression of (2) is x 0 ＝a 1 x′+b 1 y′+c 1 x 'y', obtaining an error model coefficient by using the measured coordinate and the accurate coordinate, thereby carrying out error correction on the measuring position of the inertial sensor;
(1) when the two-dimensional code exists at the positioning position, the position information of the point is obtained by scanning the two-dimensional code, and the position information is compared and corrected with the position information obtained by the inertial sensor, so that an error correction compensation model is determined;
(2) when the two-dimensional code does not exist at the positioning position, acquiring position information of the positioning position through an inertial sensor, wherein the acquiring of acceleration data of an accelerometer of the inertial sensor is performed to acquire acceleration change conditions of the intelligent mobile terminal in the directions of x, y and z, and integrating and twice integrating are performed to calculate speed information and displacement information; acquiring the angle change conditions of the intelligent mobile terminal in the directions x, y and z through an inertial sensor gyroscope, so as to calculate and 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 more accurate position of the pipeline;
s4: after the current position information is acquired, the intelligent mobile terminal accesses the pipeline parameter database through the position information data, transmits the pipeline related information to the intelligent mobile terminal and displays the pipeline related information, provides the pipeline space characteristic information and the attribute characteristic information, and provides the visual support service for the pipeline operation and maintenance based on the pipeline space characteristic information and the attribute characteristic information.
2. The indoor pipeline positioning method for integrating two-dimensional codes and inertial sensors according to claim 1, wherein the indoor pipeline positioning method is characterized by comprising the following steps of: in step S1, in order to maintain high accuracy of positioning, a two-dimensional code for positioning correction is arranged at an important position of an indoor pipeline, including a special node and an indoor starting point position of the pipeline.
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| CN109813305B (en) * | 2018-12-29 | 2021-01-26 | 广州蓝海机器人系统有限公司 | Unmanned fork truck based on laser SLAM |
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