CN111336981A - Internet of things tower deformation monitoring device integrating Beidou and inertial sensor - Google Patents
Internet of things tower deformation monitoring device integrating Beidou and inertial sensor Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention provides an Internet of things pole tower deformation monitoring device integrating Beidou and an inertial sensor, which comprises Beidou satellite monitoring point equipment, an Internet of things sensing monitoring device, a spatial data preprocessing platform, an NB-IoT communication module, a solar battery, a power supply management module, an input/output panel and a background data monitoring platform. The Beidou satellite monitoring point equipment and the Internet of things sensing monitoring device are fixed on a monitored rod body, are connected with the spatial data preprocessing platform through the NB-IoT communication module and are used for automatically measuring the health states of the towers such as tower foundation settlement, tower inclination angle, structural wind load analysis and the like; the device has the advantages of good performance, small volume and low power consumption, can utilize solar energy for power supply, and combines a low-power consumption monitoring device and the Internet of things equipment to realize unattended long-term automatic monitoring to the maximum extent.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to an Internet of things tower deformation monitoring device integrating a Beidou and an inertial sensor.
Background
The development of the satellite navigation technology has wide social, economic, scientific and technological and national defense significance. With the competition and the updating of navigation technology among the large countries, the satellite positioning precision is continuously improved, the application range is wider and wider, and the satellite positioning system becomes an indispensable space information infrastructure in social life and national economy in the information era gradually. The Beidou satellite navigation system is developed for years, the latest Beidou satellite three constellation makes two major adjustments compared with the second generation at present, firstly, an independently developed hydrogen atomic clock is used for replacing a rubidium atomic clock imported from abroad, the precision is improved by 10 times, more fine application scenes can be supported, and sufficient service capability is provided for accurate time service and accurate positioning which cannot be realized by the previous generation system; and secondly, in order to realize the convenience of overseas satellite monitoring and injection, an inter-satellite communication measurement link is creatively used in the Beidou to realize a phased array inter-satellite link, so that the interconnection and intercommunication of satellites are realized, and the independent ranging, navigation and communication capabilities of the satellites which do not depend on a ground system are further improved. Besides the two-way short message service, the Beidou positioning system has a unique characteristic function compared with other navigation systems.
The NB-IoT (Narrow Band Internet of Things) technology has the characteristics of wide coverage area, low power consumption of equipment, multiple node support, more mature technology and low application cost, and is widely supported by the industry as a new technology in the field of Internet of Things. NB-IoT has good technical convergence with existing networks, and with the maturity of related industries and the falling of policy support, it has become an important branch of internet of everything at present, and has been applied to fields such as smart agriculture, logistics storage, smart cities, medical health, and smart power. The NB-IoT can be smoothly upgraded on the existing cellular network, can fully utilize original network equipment and other assets, reduces the repeated construction of the network, shortens the deployment period and reduces the construction cost. The NB-IoT equipment has extremely low power consumption level, is particularly suitable for the requirement of the Internet of things of unattended equipment, and can meet the efficient connection of equipment with higher network connection requirement on extremely small bandwidth.
The Beidou high-precision positioning technology is adopted, information transmission of an NB-IoT network is combined, all-weather automatic monitoring is carried out on the health state of the tower, the precision can reach millimeter level including changes such as displacement, deformation and settlement, and meanwhile safety accidents caused by deformation of the tower are effectively reduced or prevented through a system warning and early warning mechanism. The precision of the current civil Beidou positioning is about 10 meters, and the civil Beidou positioning cannot be directly used for high-precision monitoring scenes. The auxiliary positioning of the inertial sensor technology can realize high-precision attitude positioning, motion capture, direction detection and the like, and is widely applied to the fields of automatic driving, three-dimensional modeling, motion detection and the like. The method is realized by relying on differential precision correction, a wide area enhancement technology and a sensor fusion navigation technology to realize millimeter-scale accurate monitoring of tower deformation. The differential algorithm for satellite positioning mainly depends on multiple measurements and joint processing of displacement data, such as regression processing, averaging and other methods, to eliminate the influence of measurement errors on the results as much as possible. Obviously, the accuracy of the satellite positioning in this process is highly dependent on the number of measurements and the time. Except the influence of artificial damage and strong natural disasters, the deformation process of the tower is quite slow, and the tower which is correctly installed and used can be completely positioned by fusion of a satellite and an inertial sensor to carry out high-precision measurement. The Beidou satellite monitoring point equipment and the Internet of things sensing monitoring device are fixed on a monitored rod body, connected with the spatial data preprocessing platform through the NB-IoT communication module and used for automatically measuring the health states of the towers such as tower foundation settlement, tower inclination angles and structural wind load analysis. After a large amount of continuously measured positioning data is accumulated to an available degree, fusion calculation is carried out, and the positioning data with the precision below millimeters is calculated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the Internet of things tower deformation monitoring device integrating the Beidou and the inertial sensor. Particularly, the continuous automatic monitoring and analysis of the operation states and the posture conditions of communication, electric power, municipal administration, tower cranes and other tower facilities are realized, effective bases for quick identification and problem solving are provided for engineering construction and operation and maintenance personnel through the application of space data processing and background data monitoring platform quantitative monitoring services, the wide area interconnection among the rod body monitoring devices is realized through the NB-IoT network, the transmission mechanism of monitoring data is optimized, and the errors and the cost of manual monitoring are reduced. The device has the advantages of good performance, small volume and low power consumption, can utilize solar energy for charging, and combines a low-power consumption monitoring device and the Internet of things equipment to realize unattended long-term automatic monitoring to the maximum extent.
The purpose of the invention is realized by the following technical scheme: an Internet of things pole tower deformation monitoring device integrating Beidou and an inertial sensor comprises Beidou satellite monitoring point equipment, an Internet of things sensing monitoring device, a spatial data preprocessing platform, an NB-IoT communication module, a background data monitoring platform and a power management module;
the Beidou satellite monitoring point equipment is arranged on the measured object, and the Beidou satellite monitoring point equipment positions the measured object according to measured satellite differential data, wherein the measured object comprises a tower;
the sensing and monitoring device of the Internet of things is arranged on the measured object and used for acquiring inertial attitude data of the measured object; the sensing and monitoring device of the Internet of things is developed by adopting a micro-mechanical gyroscope;
the spatial data preprocessing platform is respectively connected with Beidou satellite monitoring point equipment, an Internet of things sensing monitoring device and an NB-IoT communication module; the spatial data preprocessing platform performs fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by the Internet of things sensing monitoring device to obtain preprocessed data;
the NB-IoT communication module transmits the data preprocessed by the spatial data preprocessing platform to the background data monitoring platform through the narrowband Internet of things network;
the background data monitoring platform receives data transmitted by the NB-IoT communication module and remotely processes the data at the background by a computer to obtain tower deformation monitoring data subjected to background fusion processing, so that the health state of the tower is judged;
the power management module is respectively connected with the Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform and supplies power to the Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform.
The sensing and monitoring device of the Internet of things comprises an inertial sensor, wherein the inertial sensor is used for acquiring inertial attitude data of a measured object;
the spatial data preprocessing platform carries out fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by the Internet of things sensing monitoring device to obtain preprocessed data, and the spatial data preprocessing platform specifically comprises: beidou satellite monitoring point equipment and an Internet of things sensing and monitoring device which are attached to a tower are directly powered by external solar energy, and positively correlated position movement occurs along with the deformation of the tower; the Beidou satellite monitoring point equipment continuously measures tower positioning data, and differential calculation is carried out by using mass data, so that the precision of positioning tower displacement reaches millimeter level; meanwhile, acquiring original data through a micromechanical gyroscope in the sensing and monitoring device of the Internet of things, wherein the original data comprises tower footing settlement, a tower inclination angle and a structural wind load, and the spatial data preprocessing platform is used for cleaning the original data;
the spatial data preprocessing platform only carries out simple data cleaning on original data, roughly carries out attitude analysis to judge tower deformation, and does not carry out complex mathematical calculation;
the background data monitoring platform receives data transmitted by the NB-IoT communication module and remotely processes the data at the background by means of a computer to obtain tower deformation monitoring data subjected to background fusion processing, so that the health state of the tower is judged, and the method comprises the following steps: the background data monitoring platform obtains four quaternion differential equations according to the preprocessed data, resolves a quaternion matrix by using a classic 4-order Runge Kutta method to conduct attitude resolution, and fuses satellite differential data and inertial attitude data to judge the health state of the tower, and the method specifically comprises the following steps:
step a1, respectively representing the raw data collected by the micromechanical gyroscope of the inertial sensor as four time-varying functions q0,q1,q2,q3The expression corresponding to the quaternion matrix Q is:
at a certain initial moment, the four time-varying functions directly output a set of determined real numbers by the inside of the gyroscope according to the rotation, the acceleration and the geomagnetic variable of the gyroscope. If the first order differential equation Q' of the quaternion matrix Q is found, the corresponding function Q is found0,q1,q2,q3Differential equation q'0,q′1,q′2,q′3That is, four time-varying functions q can be obtained0,q1,q2,q3。
Setting two coordinate systems, namely an n system and a b system, wherein the n system is a geographic world navigation coordinate system, the b system is a coordinate system used for internal calculation of the micromechanical gyroscope, and the rotation change of each axial direction from the n system to the b system is expressed as a matrix
Matrix array
After multiplication with the quaternion matrix Q, the differential expression reflecting the deformation of the tower is
Order to
The initial quaternion matrix derivative squareProgram for programming
Wherein q is0′,q1′,q′2,q3' are respectively four time-varying functions q in the raw data of the gyroscope0,q1,q2,q3The differential of (a), namely:
step a2, using ωx,ωy,ωzThe angular velocity components of the b system coordinate system used for internal calculation of the micromechanical gyroscope along the x, y and z axial directions relative to the n system geographic world navigation coordinate system are respectively expressed and directly output by the micromechanical gyroscope
Matrix conversion is performed as follows:
finally, the transformed quaternion matrix differential equation is obtained as follows:
step a3, the transformed quaternion matrix differential equation corresponds to four first order differential equations by updating the changing ω of the micromechanical gyroscope output in an algorithmic routine (e.g., MATLAB)x,ωy,ωzNumerical values, i.e. the ability to find four time-varying functions q0,q1,q2,q3The method has small calculation amount and is easy to realize programming in engineering. According to known ωx,ωy,ωzDetermining the time-dependent q0,q1,q2,q3Then, mapping the attitude deformation of the tower to a micromechanical gyroscope, and calculating a coordinate system to obtain the displacement variable information of the attitude deformation of the tower along the x, y and z axial directions
Representing a displacement in three-dimensional coordinates;
step a4, pole tower differential positioning displacement variables included in satellite differential data output by the Beidou satellite monitoring point equipment are collected, and in an inertial sensor micro-mechanical gyroscope coordinate system, pole tower displacement variables of the Beidou satellite monitoring point equipment in the directions of x, y and z in differential positioning are counted as
A correction factor of
The value range is 0.8-1.2, and when the micromechanical gyroscope moves along with the deformation of the tower at the same time and in positive correlation, the micromechanical gyroscope is calculated by the background data monitoring platform to obtain a displacement variable
A correction factor of
The value range is between 0.9 and 1.1. Combining the two measurement data to obtain the fusion data of the tower deformation
The background data monitoring platform provides background fusion processing capacity and algorithm support at a far end, four quaternion differential equations are obtained by reflecting the deformation of the tower in the change of inertial attitude data output by the gyroscope before and after the deformation of the tower, the initial attitude data and the ending attitude data of the deformation of the tower collected by the sensing and monitoring device of the Internet of things are sent only by the spatial data preprocessing platform through the NB-IoT communication module, the background data monitoring platform relies on strong computing capacity to solve the first derivative of the differential equations in a programming mode to obtain q changing along with time0,q1,q2,q3The value of (2) can solve the attitude change information of the tower, and can be accurateAnalyzing the results of tower footing settlement, tower inclination angle and structural wind load; the algorithm mainly carries out attitude analysis by resolving a quaternion matrix, fuses satellite positioning differential positioning data and attitude resolving data, completes the complementary rectification of inertial navigation micro-motion data at the near end of the tower and satellite remote differential positioning information, and realizes the automatic measurement of the health state of the unattended tower; the monitoring system does not need to feed back data changes in real time, so that the load of a spatial data preprocessing platform is reduced, and the power consumption of data acquisition and transmission is reduced, inertial attitude data contained in the preprocessed data adopts a quaternion Runge Tower attitude resolving method through background computer software, and Beidou third-generation satellite differential data are fused to perform accurate tower deformation measurement and calculation. For example, when a micromechanical gyroscope moves along with the deformation of a tower at a certain monitoring moment and a positively correlated position is generated, a 16-bit high-precision Analog-to-Digital Converter (ADC) is integrated in the sensor to instantly obtain changed rotation, acceleration and geomagnetic variables in the x, y and z axial directions respectively, attitude calculation data of the nine-axis sensor is directly output by an internal Digital motion processor, and then the variable is calculated by a background data monitoring platform to obtain the variable
A correction factor of
At the same moment, the Beidou satellite monitoring point equipment carries out differential positioning on the tower displacement variable as
A correction factor of
The fusion data of the tower deformation is obtained as
Substituting numerical value to obtain
At the next monitoring moment, the variables are calculated and obtained through a background data monitoring platform
A correction factor of
The pole tower displacement variable of the Beidou satellite monitoring point equipment for differential positioning is
A correction factor of
The fusion data of the tower deformation is obtained as
The tower displacement and inclination angle results directly related to the changes of tower foundation settlement, tower inclination angle and structural wind load can be obtained by calculating the front and back changes of gyroscope and satellite differential data, and the size of tower deformation displacement
Change of inclination angle of tower
The Beidou satellite monitoring point equipment comprises a satellite receiver and a satellite receiving antenna; the satellite receiver is used for receiving and processing Beidou No. three satellite positioning data; the satellite receiving antenna is used for gathering satellite signals to improve the quality of received signals;
the background data monitoring platform comprises a background server, wherein software for resolving inertial attitude data and software for processing satellite differential data are operated in the background server, and an algorithm for realizing fusion processing of the two data is realized.
The intelligent terminal comprises a Beidou satellite monitoring point device, an Internet of things sensing monitoring device and a power management module, and is characterized by further comprising an input and output panel, wherein the input and output panel is respectively connected with the Beidou satellite monitoring point device, the Internet of things sensing monitoring device and the power management module, and is used for manually controlling the Internet of things pole and tower deformation monitoring device through keys and indicating the current working state of the Internet of things pole and tower deformation monitoring device through the intelligent terminal.
The power management module comprises a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electric interface, a solar battery, a two-stage electric protection device and an energy storage battery pack;
the solar charging and discharging circuit is connected with the solar charging and discharging controller, the solar charging and discharging circuit is a single-phase bridge rectifier circuit, and the single-phase bridge rectifier circuit is connected with the solar battery and the energy storage battery pack and is positioned at the charging end of the energy storage battery pack; the discharge end of the energy storage battery pack is connected with the two-stage electric protection device;
the solar charging and discharging circuit adopts a single-phase bridge rectifier circuit to ensure the single direction of charging the energy storage battery pack by the solar battery, and adopts a two-stage electric protection device to prevent the damage of sudden current increase to the battery or electronic elements; the high-efficiency boost conversion chip is adopted to ensure the power supply effect in rainy weather, and the boost conversion chip uses the MC33063A-Q1 of TI company, can meet the operating environment of-40 to 125 ℃, and has the characteristics of high efficiency, high output current, low quiescent current and the like.
The solar charge and discharge controller is used for controlling the solar charge and discharge circuit to work;
one end of the solar interface is connected with the solar battery, and the other end of the solar interface is connected with the solar charging and discharging circuit;
the solar battery charges the energy storage battery pack through the solar charging and discharging circuit;
the lithium battery pack interface is connected with the energy storage battery pack and is also provided with an interface for connecting with an external charging power supply;
one end of the load interface is connected with an external electrical interface, and the other end of the load interface is connected with the Beidou satellite monitoring point equipment, the Internet of things sensing and monitoring device, the spatial data preprocessing platform and the input and output panel;
the external electric interface is respectively connected with an external power supply and a load interface and can charge a load and the energy storage battery pack;
the solar battery is used for energy conversion, and supplies power to the solar charging and discharging circuit through the solar interface, so that the requirement of the later-stage electric energy is met;
the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel.
The solar charging and discharging circuit and the solar charging and discharging controller form a solar charging and discharging module, the solar charging and discharging module can simultaneously and independently perform charging and discharging work, and the solar charging and discharging module does not influence the charging and discharging process.
The spatial data preprocessing platform comprises a main control module and a universal peripheral equipment interface module; the NB-IoT communication module comprises a radio frequency core module and an antenna;
the main control module is respectively connected with the radio frequency core module and the universal peripheral equipment interface module through wires;
the main control module is used for receiving and storing inertial attitude data and differential data acquired by the Internet of things sensing and monitoring device and Beidou satellite monitoring point equipment, and transmitting the preprocessed data to the radio frequency core module after preprocessing the data and when the data needs to be transmitted to the outside;
the Universal peripheral equipment interface module comprises a USIM interface, a UART (Universal asynchronous receiver Transmitter/Transmitter) serial port and an ADC (Analog to digital converter) interface;
the USIM interface is used for installing an operator Internet of things card; the UART serial port is used for communicating detection data of the sensing and monitoring device of the Internet of things; the ADC interface is used for being connected with an ADC converter in the sensing and monitoring device of the Internet of things;
the main control module comprises a main controller, a Joint Test Action Group (JTAG) interface, a Read-Only Memory (ROM), a flash Memory and a Static Random Access Memory (SRAM) which are connected through a lead;
the main controller adopts a low-power processor and is used for controlling the work and the signal processing of the main control module; the JTAG interface is used for debugging the main control module; the ROM stores a program of the main control module; the flash memory stores internal and external data of the main control module; the SRAM is used for accessing serial data in the main control module;
the radio frequency core module comprises a digital phase-locked loop, a DSP modem, an SRAM, a ROM and an amplifier, wherein the amplifier is connected with an antenna;
the digital phase-locked loop is used for realizing the modulation of an input signal; the DSP modem is responsible for carrying out digital signal processing on the transmitting and receiving signals of the communication of the Internet of things; the SRAM is used for accessing wireless communication serial data; the ROM stores a program of a radio frequency core module; the amplifier is used for carrying out power amplification on the radio-frequency signal;
the radio frequency core module is used for receiving data transmitted by the main control module when the data needs to be transmitted outwards and transmitting the data outwards through the antenna;
the antenna is used for sending the preprocessing signal to a communication base station and transmitting the preprocessing signal to a background, and receiving remote control information transmitted by the background data monitoring platform through an NB-IoT network; the preprocessing signal is a processing signal of the original tower deformation data acquired by the Beidou satellite monitoring point equipment and the Internet of things sensing and monitoring device through the main control module.
The sensing and monitoring device of the Internet of things comprises a sensor monitoring unit, a sensor interface module and a coprocessor module;
the sensor monitoring unit comprises an attitude reference system, an inertial measurement unit and a calculation unit;
the attitude reference system is used for initializing attitude reference of measurement data of the sensing and monitoring device of the Internet of things;
the inertia measurement unit is used for measuring tower deformation data by the sensing and monitoring device of the Internet of things;
the resolving unit is used for preprocessing the deformation data of the tower measured by the sensing and monitoring device of the Internet of things and then carrying out attitude estimation;
the sensor interface module comprises a sensor controller, an ADC and a comparator;
the sensor controller is used for sensing the working state of an inertial sensor in the sensing and monitoring device of the Internet of things;
the ADC is used for converting and cleaning the detection data of the sensing and monitoring device of the Internet of things;
the comparator is used for judging the voltage in the power management module;
the coprocessor module comprises a ROM, an SRAM and a coprocessor;
the ROM stores programs of the coprocessor module; the SRAM is used for accessing serial data in the coprocessor module; the coprocessor is a core processing unit of the coprocessor module;
the coprocessor module is respectively connected with the sensor monitoring unit, the universal peripheral equipment interface module and the sensor interface module, processes the interactive data of the Internet of things sensing and monitoring device connected with the NB-IoT communication module, and performs clock synchronization management.
The main control module is developed by adopting an MSP430F169 microcontroller of TI company, and the NB-IoT communication module adopts a BC28 NB-IoT wireless module.
The sensor monitoring unit is developed by using an MEMS inertial sensor;
the solar cell adopts an energy-efficient perovskite cell;
the energy storage battery pack adopts an industrial 18650 lithium titanate battery pack.
The main control module is developed by adopting an MSP430F169 microcontroller of TI company, and the NB-IoT communication module adopts a BC28 NB-IoT wireless module.
The background data monitoring platform comprises a background server and is used for operating inertial navigation and satellite differential fusion positioning software.
The Beidou satellite monitoring point equipment and the Internet of things sensing and monitoring device are fixed on a monitored rod body through a galvanized U-shaped bolt, and Beidou satellite monitoring data and attitude data collected by an MEMS (Micro-Electro-Mechanical System) inertial sensor are original data used for calculating tower base settlement, tower inclination angle, structural wind load analysis and other tower health states; the NB-IoT communication Module is connected with the spatial data preprocessing platform, original data are transmitted to the NB-IoT communication Module through a sensor interface of the measuring device and a universal peripheral equipment interface Module of the communication Module, the NB-IoT communication Module is communicated with the spatial data preprocessing platform through an interface connected with a lead, and the transparently transmitted original data are transmitted to the outside through a USIM (Universal subscriber Identity Module) interface and a radio frequency core Module after being preprocessed by the spatial data preprocessing platform of which the main control Module is an MSP430F169 microcontroller; the background data monitoring platform is connected with the spatial data preprocessing platform and is used for performing background fusion processing on data sent after front-end preprocessing, the background server has strong computing capacity and can efficiently finish a large amount of data returned by the embedded system, and a final accurate result is obtained through inertial navigation and resolving of satellite differential fusion positioning software; the solar battery is connected with the power management module and used for supplying power to Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform in the monitoring device, and the unattended automatic monitoring time is prolonged by using a high-performance and high-safety industrial 18650 lithium titanate battery pack and a third-generation perovskite solar battery with high photoelectric conversion efficiency in combination with the use of low-power-consumption devices, chips and modules; the input and output panel is used for manual control during equipment installation, debugging and maintenance, and can indicate the current working state of the tower deformation monitoring device through the LED lamp.
The external electric interface is connected with an external power supply and supplies power to the load when the solar power supply is insufficient or the energy storage battery pack cannot work; therefore, the standby time and the service time of the device can be prolonged, and the uninterrupted operation is realized.
The solar cell adopts a third-generation perovskite solar cell, and has high photoelectric conversion efficiency, high efficiency and high safety; the energy storage battery pack is characterized in that an industrial 18650 lithium titanate battery pack with high performance and high safety suitable for outdoor environment is used; the time of unattended automatic monitoring is prolonged by combining the use of low-power-consumption devices, chips and modules.
After the signal is preprocessed and transmitted to the radio frequency core module, the main control module enters a sleep state until new data or other awakening instructions are received next time, and therefore power consumption of the spatial data preprocessing platform can be greatly reduced.
Furthermore, the sensor controller is used for sensing the working state of the sensor, and if no signal acquisition is carried out, the NB-IoT communication module is controlled to automatically enter a sleep state, so that the power consumption of the NB-IoT communication module is reduced, and the BC28 NB-IoT wireless module is adopted by the NB-IoT communication module.
The sensor monitoring unit is developed by adopting a nine-axis MEMS inertial sensor MPU9250 of InvenSense company, a 16-bit high-precision ADC and a digital motion processor are integrated inside, and complete nine-axis sensor fusion calculation data can be directly output outwards, so that attitude calculation is conveniently realized; the sensor has the main advantages of small volume, light weight, low power consumption, high reliability, high sensitivity, easy integration and the like, is the main force of a micro sensor, and has the tendency of replacing the traditional mechanical sensor.
The invention realizes continuous automatic monitoring and analysis of the operation state and posture condition of tower facilities such as communication, electric power, municipal administration, tower crane and the like, provides effective basis for quick identification and problem solving for engineering construction and operation and maintenance personnel through the application of space data processing and background data monitoring platform quantitative monitoring service, realizes wide area interconnection among rod body monitoring devices through NB-IoT network, optimizes the transmission mechanism of monitoring data and reduces the error and cost of manual monitoring. The device has the advantages of good performance, small volume and low power consumption, can utilize solar energy for charging, and combines a low-power consumption monitoring device and the Internet of things equipment to realize unattended long-term automatic monitoring to the maximum extent.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the Beidou satellite monitoring point equipment adopted by the invention belongs to the latest Beidou three-satellite positioning equipment at present and supports a single-system working mode and a multi-system combined resolving mode, in technical realization, the Beidou has the advantages which are not possessed by other navigation systems, ① space sections adopt different numbers of high, medium and low orbit satellites to form a mixed constellation, and the mixed constellation has more high orbit satellites with strong anti-blocking capability, ② can provide multi-frequency navigation signals and improve service precision by using the multi-frequency signals in a combined mode, ③ innovatively integrates satellite navigation and two-way communication capability, and can provide functions of accurate positioning, high-speed navigation, position reporting, accurate time service, short message service and the like.
(2) The satellite navigation system and the equipment which are independently researched and developed in China are adopted, so that the safety risk of other navigation systems is overcome, and the advantages of information safety and independent controllability are achieved.
(3) According to the tower deformation monitoring device, the NB-IoT internet of things communication is used for replacing a communication mode based on GPRS network connection in the traditional old monitoring equipment, so that the limitation caused by backward chips, systems and methods in the monitoring device is overcome, under the condition that the current 2G network quit and 5G are preferential, the tower deformation monitoring device based on the GPRS network connection has the risks of high power consumption and incapability of being used normally, the communication method used in the invention can ensure that the network communication of the device keeps running in a long life cycle, and meanwhile, the wide coverage, long-time and low-power operation of the device are realized.
(4) The power management module of the invention adopts an external power supply and solar energy mode to supply power simultaneously, thus being beneficial to reducing the influence of power failure on the device, reducing energy consumption and ensuring stable operation. The solar battery adopts a third-generation perovskite solar battery, has high photoelectric conversion efficiency, high efficiency and high safety, and compared with the prior art, when the reserve electric quantity obtained by a solar charging mode is exhausted or the external power supply fails, the solar battery can automatically start another power supply scheme, thereby breaking through the limitation that the monitoring device in the existing single power supply system is limited by the electric quantity of the battery or the power supply stability. The use of perovskite solar cells can also greatly reduce the cost and increase the market competitiveness of the invention.
(5) According to the power management module, the solar charging mode adopts the structure and the working mode that the charging module and the discharging module are independent from each other, the charging process and the discharging process are not influenced by each other and are not required to be carried out simultaneously, and compared with the prior art, the stability of the device is improved.
(6) The energy storage battery pack overcomes the defects of the traditional storage batteries such as lead-acid batteries, lithium iron batteries, nickel hydrogen batteries and the like in the aspects of environmental adaptability, safety performance, recycling service life, price and the like, and ensures the lasting power supply performance of the energy storage battery pack by adopting the industrial 18650 lithium titanate battery pack with high performance and high safety and combining the use of low-power-consumption devices, chips and modules, prolongs the time of unattended automatic monitoring and realizes automatic operation.
(7) The energy storage battery pack adopts the highly standardized 18650 batteries, has mature production process and cost advantage, and is favorable for quick maintenance and replacement.
(8) The sensing and monitoring device of the Internet of things uses the ultra-low power consumption coprocessor, the MEMS inertial sensor and the high-precision ADC, overcomes the defects that an acquisition sensing system in the traditional monitoring equipment is complex, has a plurality of electronic elements, is not easy to realize portability, and signals are easy to be interfered by the outside to introduce noise, and has high integration, so that the signal processing efficiency is improved and the stability is obviously enhanced.
(9) The spatial data preprocessing platform provided by the invention uses the low-power-consumption microcontroller to preprocess front-end data, so that the signal transmission and processing efficiency is improved.
(10) The background data monitoring platform of the invention completes the complex algorithm of fusion positioning in the background server, which is beneficial to ensuring the system efficiency. The principal algorithm for analyzing the attitude of the inertial gyroscope is to analyze the rotation process represented by four hypercomplex numbers, and actually, three-dimensional spatial data of the deformation of the tower is collected by the gyroscope and mapped to a four-dimensional space. Quaternions are generally represented by Q (x, y, z, w) ═ w + xi + yj + zk. In the four parameters, x, y and z represent the axial direction of rotation, and w is the angle of rotation. Four quaternion differential equations are obtained by using a classical 4-order Runge-Kutta method, and the first derivative of the differential equations is solved, so that the tower posture corresponding to the quaternion matrix can be calculated.
Drawings
The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Fig. 1a is a hardware block diagram of the present embodiment.
Fig. 1b is a schematic view of an installation of the present embodiment.
Fig. 2 is a diagram of the power management module according to the present embodiment.
Fig. 3 is a reverse connection protection circuit diagram of the energy storage battery pack of the solar charging controller in the power management module of the present embodiment.
Fig. 4 is a charging circuit diagram of the solar charging and discharging circuit in the power management module of the present embodiment.
Fig. 5 is a discharge circuit diagram of the solar charge-discharge circuit in the power management module of the present embodiment.
Fig. 6 is a block diagram of the connection between the spatial data preprocessing platform and the NB-IoT communication module according to this embodiment.
Fig. 7 is a composition diagram of the internet of things sensing and monitoring device according to the embodiment.
FIG. 8 is a schematic diagram of the change in tower displacement and tilt angle.
Detailed Description
The invention provides an Internet of things pole tower deformation monitoring device integrating Beidou and an inertial sensor, which comprises Beidou satellite monitoring point equipment, an Internet of things sensing monitoring device, a spatial data preprocessing platform, an NB-IoT communication module, a background data monitoring platform and a power supply management module;
the Beidou satellite monitoring point equipment is arranged on the measured object, and the Beidou satellite monitoring point equipment positions the measured object according to measured satellite differential data, wherein the measured object comprises a tower;
the sensing and monitoring device of the Internet of things is arranged on the measured object and used for acquiring inertial attitude data of the measured object; the sensing and monitoring device of the Internet of things is developed by adopting a micro-mechanical gyroscope;
the spatial data preprocessing platform is respectively connected with Beidou satellite monitoring point equipment, an Internet of things sensing monitoring device and an NB-IoT communication module; the spatial data preprocessing platform performs fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by the Internet of things sensing monitoring device to obtain preprocessed data;
the NB-IoT communication module transmits the data preprocessed by the spatial data preprocessing platform to the background data monitoring platform through the narrowband Internet of things network;
the background data monitoring platform receives data transmitted by the NB-IoT communication module and remotely processes the data at the background by a computer to obtain tower deformation monitoring data subjected to background fusion processing, so that the health state of the tower is judged;
the power management module is respectively connected with the Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform and supplies power to the Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform.
The sensing and monitoring device of the Internet of things comprises an inertial sensor, wherein the inertial sensor is used for acquiring inertial attitude data of a measured object;
the spatial data preprocessing platform carries out fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by the Internet of things sensing monitoring device to obtain preprocessed data, and the spatial data preprocessing platform specifically comprises: beidou satellite monitoring point equipment and an Internet of things sensing and monitoring device which are attached to a tower are directly powered by external solar energy, and positively correlated position movement occurs along with the deformation of the tower; the Beidou satellite monitoring point equipment continuously measures tower positioning data, and differential calculation is carried out by using mass data, so that the precision of positioning tower displacement reaches millimeter level; meanwhile, acquiring original data through a micromechanical gyroscope in the sensing and monitoring device of the Internet of things, wherein the original data comprises tower footing settlement, a tower inclination angle and a structural wind load, and the spatial data preprocessing platform is used for cleaning the original data;
the spatial data preprocessing platform only carries out simple data cleaning on original data, roughly carries out attitude analysis to judge tower deformation, and does not carry out complex mathematical calculation;
the background data monitoring platform receives data transmitted by the NB-IoT communication module and remotely processes the data at the background by means of a computer to obtain tower deformation monitoring data subjected to background fusion processing, so that the health state of the tower is judged, and the method comprises the following steps: the background data monitoring platform obtains four quaternion differential equations according to the preprocessed data, resolves a quaternion matrix by using a classic 4-order Runge Kutta method to conduct attitude resolution, and fuses satellite differential data and inertial attitude data to judge the health state of the tower, and the method specifically comprises the following steps:
step a1, respectively representing the raw data collected by the micromechanical gyroscope of the inertial sensor as four time-varying functions q0,q1,q2,q3The expression corresponding to the quaternion matrix Q is:
at a certain initial moment, the four time-varying functions can directly output a set of determined real numbers by the inside of the gyroscope according to the rotation, the acceleration and the geomagnetic variable of the gyroscope. If the first order differential equation Q' of the quaternion matrix Q is found, the corresponding function Q is found0,q1,q2,q3Differential equation q'0,q′1,q′2,q′3That is, four time-varying functions q can be obtained0,q1,q2,q3。
Setting two coordinate systems, namely an n system and a b system, wherein the n system is a geographic world navigation coordinate system, the b system is a coordinate system used for internal calculation of the micromechanical gyroscope, and the rotation change of each axial direction from the n system to the b system is expressed as a matrix
Matrix array
After multiplication with the quaternion matrix Q, the differential expression reflecting the deformation of the tower is
Order to
Then the initial quaternion matrix differential equation
Wherein q'0,q′1,q′2,q′3Respectively four time-varying functions q in the raw data of the gyroscope0,q1,q2,q3The differential of (a), namely:
step a2, using ωx,ωy,ωzThe angular velocity components of the b system coordinate system used for internal calculation of the micromechanical gyroscope along the x, y and z axial directions relative to the n system geographic world navigation coordinate system are respectively expressed and directly output by the micromechanical gyroscope
Matrix conversion is performed as follows:
finally, the transformed quaternion matrix differential equation is obtained as follows:
step a3, the transformed quaternion matrix differential equation corresponds to four first order differential equations by updating the changing ω of the micromechanical gyroscope output in an algorithmic routine (e.g., MATLAB)x,ωy,ωzNumerical values, i.e. the ability to find four time-varying functions q0,q1,q2,q3The method has small calculation amount and is easy to realize programming in engineering. According to known ωx,ωy,ωzDetermining the time-dependent q0,q1,q2,q3Then, mapping the attitude deformation of the tower to a micromechanical gyroscope, and calculating a coordinate system to obtain the displacement variable information of the attitude deformation of the tower along the x, y and z axial directions
Representing a displacement in three-dimensional coordinates;
step a4, acquiring tower differential positioning displacement variables output by Beidou satellite monitoring point equipment, and calculating the tower displacement variables of the Beidou satellite monitoring point equipment in the x, y and z axial directions as
A correction factor of
The value range is 0.8-1.2, and when the micromechanical gyroscope moves along with the deformation of the tower at the same time and in positive correlation, the micromechanical gyroscope is calculated by the background data monitoring platform to obtain a displacement variable
A correction factor of
The value range is between 0.9 and 1.1. Combining the two measurement data to obtain the fusion data of the tower deformation
The background data monitoring platform provides background fusion processing capability and algorithm support at a far end, and the tower deformation are reflected in the change of inertial attitude data output by the gyroscope to obtainThe four quaternion differential equations only need to be transmitted by a spatial data preprocessing platform through an NB-IoT communication module, initial and end attitude data of tower deformation acquired by the Internet of things sensing monitoring device are sent, a background data monitoring platform relies on strong computing power to solve the first derivative of the differential equations in a programming mode to obtain q variable along with time0,q1,q2,q3The value of the tower attitude change information can be solved, and the results of tower foundation settlement, tower inclination angle and structural wind load can be accurately analyzed; the algorithm mainly carries out attitude analysis by resolving a quaternion matrix, fuses satellite positioning differential positioning data and attitude resolving data, completes the complementary rectification of inertial navigation micro-motion data at the near end of the tower and satellite remote differential positioning information, and realizes the automatic measurement of the health state of the unattended tower; the monitoring system does not need to feed back data changes in real time, so that the load of a spatial data preprocessing platform is reduced, and the power consumption of data acquisition and transmission is reduced, inertial attitude data contained in the preprocessed data adopts a quaternion Runge Tower attitude resolving method through background computer software, and Beidou third-generation satellite differential data are fused to perform accurate tower deformation measurement and calculation.
When a pole tower using the monitoring device tests the process and data in a certain period of time, after a micromechanical gyroscope moves along with the deformation of the pole tower at a certain monitoring moment and the position of positive correlation is generated, a 16-bit high-precision ADC (Analog-to-Digital Converter) is integrated in a sensor to instantly obtain the changed rotation, acceleration and geomagnetic variables in the x, y and z axial directions respectively, and after the attitude calculation data of the nine-axis sensor is directly output by an internal Digital motion processor, the variable is obtained by calculation of a background data monitoring platform
A correction factor of
At the same moment, the Beidou satellite monitoring point equipment carries out differential positioning on the tower displacement variable as
A correction factor of
The fusion data of the tower deformation is obtained as
Substituting numerical value to obtain
At the next monitoring moment, the variables are calculated and obtained through a background data monitoring platform
A correction factor of
The pole tower displacement variable of the Beidou satellite monitoring point equipment for differential positioning is
A correction factor of
The fusion data of the tower deformation is obtained as
The tower displacement and inclination angle results directly related to the changes of tower foundation settlement, tower inclination angle and structural wind load can be obtained by calculating the changes before and after the fusion of the gyroscope and satellite differential data, and the size of tower deformation displacement
Change of inclination angle of tower
Sequentially collecting the front and back changes of the difference data of the gyroscope and the satellite, and calculating by a background data monitoring platform to obtain the inertial sensing of the nth time pointMicromechanical gyroscope variables
A correction factor of
The pole tower displacement variable of the Beidou satellite monitoring point equipment for differential positioning is
A correction factor of
The fusion data of the tower deformation is obtained as
At this time, the data is fused from the starting point
Fusing data to the n-1 st point
And fused data of the nth point
All the obtained values are calculated by the formula of easily obtaining the deformation displacement of the tower
The calculation expression of the change size of the tower inclination angle is easily obtained as
The data actually measured are shown in table 1 below and fig. 8:
TABLE 1
The Beidou satellite monitoring point equipment comprises a satellite receiver and a satellite receiving antenna; the satellite receiver is used for receiving and processing Beidou No. three satellite positioning data; the satellite receiving antenna is used for gathering satellite signals to improve the quality of received signals;
the background data monitoring platform comprises a background server, wherein software for resolving inertial attitude data and software for processing satellite differential data are operated in the background server, and an algorithm for realizing fusion processing of the two data is realized.
The intelligent terminal comprises a Beidou satellite monitoring point device, an Internet of things sensing monitoring device and a power management module, and is characterized by further comprising an input and output panel, wherein the input and output panel is respectively connected with the Beidou satellite monitoring point device, the Internet of things sensing monitoring device and the power management module, and is used for manually controlling the Internet of things pole and tower deformation monitoring device through keys and indicating the current working state of the Internet of things pole and tower deformation monitoring device through the intelligent terminal.
The power management module comprises a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electric interface, a solar battery, a two-stage electric protection device and an energy storage battery pack;
the solar charging and discharging circuit is connected with the solar charging and discharging controller, the solar charging and discharging circuit is a single-phase bridge rectifier circuit, and the single-phase bridge rectifier circuit is connected with the solar battery and the energy storage battery pack and is positioned at the charging end of the energy storage battery pack; the discharge end of the energy storage battery pack is connected with the two-stage electric protection device;
the solar charging and discharging circuit adopts a single-phase bridge rectifier circuit to ensure the single direction of charging the energy storage battery pack by the solar battery, and adopts a two-stage electric protection device to prevent the damage of sudden current increase to the battery or electronic elements; the high-efficiency boost conversion chip is adopted to ensure the power supply effect in rainy weather, and the boost conversion chip uses the MC33063A-Q1 of TI company, can meet the operating environment of-40 to 125 ℃, and has the characteristics of high efficiency, high output current, low quiescent current and the like.
The solar charge and discharge controller is used for controlling the solar charge and discharge circuit to work;
one end of the solar interface is connected with the solar battery, and the other end of the solar interface is connected with the solar charging and discharging circuit;
the solar battery charges the energy storage battery pack through the solar charging and discharging circuit;
the lithium battery pack interface is connected with the energy storage battery pack and is also provided with an interface for connecting with an external charging power supply;
one end of the load interface is connected with an external electrical interface, and the other end of the load interface is connected with the Beidou satellite monitoring point equipment, the Internet of things sensing and monitoring device, the spatial data preprocessing platform and the input and output panel;
the external electric interface is respectively connected with an external power supply and a load interface and can charge a load and the energy storage battery pack;
the solar battery is used for energy conversion, and supplies power to the solar charging and discharging circuit through the solar interface, so that the requirement of the later-stage electric energy is met;
the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel.
The solar charging and discharging circuit and the solar charging and discharging controller form a solar charging and discharging module, the solar charging and discharging module can simultaneously and independently perform charging and discharging work, and the solar charging and discharging module does not influence the charging and discharging process.
The spatial data preprocessing platform comprises a main control module and a universal peripheral equipment interface module; the NB-IoT communication module comprises a radio frequency core module and an antenna;
the main control module is respectively connected with the radio frequency core module and the universal peripheral equipment interface module through wires;
the main control module is used for receiving and storing inertial attitude data and differential data acquired by the Internet of things sensing and monitoring device and Beidou satellite monitoring point equipment, and transmitting the preprocessed data to the radio frequency core module after preprocessing the data and when the data needs to be transmitted to the outside;
the Universal peripheral equipment interface module comprises a USIM interface, a UART (Universal asynchronous receiver Transmitter/Transmitter) serial port and an ADC (Analog to digital converter) interface;
the USIM interface is used for installing an operator Internet of things card; the UART serial port is used for communicating detection data of the sensing and monitoring device of the Internet of things; the ADC interface is used for being connected with an ADC converter in the sensing and monitoring device of the Internet of things;
the main control module comprises a main controller, a Joint Test Action Group (JTAG) interface, a Read-Only Memory (ROM), a flash Memory and a Static Random Access Memory (SRAM) which are connected through a lead;
the main controller adopts a low-power processor and is used for controlling the work and the signal processing of the main control module; the JTAG interface is used for debugging the main control module; the ROM stores a program of the main control module; the flash memory stores internal and external data of the main control module; the SRAM is used for accessing serial data in the main control module;
the radio frequency core module comprises a digital phase-locked loop, a DSP modem, an SRAM, a ROM and an amplifier, wherein the amplifier is connected with an antenna;
the digital phase-locked loop is used for realizing the modulation of an input signal; the DSP modem is responsible for carrying out digital signal processing on the transmitting and receiving signals of the communication of the Internet of things; the SRAM is used for accessing wireless communication serial data; the ROM stores a program of a radio frequency core module; the amplifier is used for carrying out power amplification on the radio-frequency signal;
the radio frequency core module is used for receiving data transmitted by the main control module when the data needs to be transmitted outwards and transmitting the data outwards through the antenna;
the antenna is used for sending the preprocessing signal to a communication base station and transmitting the preprocessing signal to a background, and receiving remote control information transmitted by the background data monitoring platform through an NB-IoT network; the preprocessing signal is a processing signal of the original tower deformation data acquired by the Beidou satellite monitoring point equipment and the Internet of things sensing and monitoring device through the main control module.
The sensing and monitoring device of the Internet of things comprises a sensor monitoring unit, a sensor interface module and a coprocessor module;
the sensor monitoring unit comprises an attitude reference system, an inertial measurement unit and a calculation unit;
the attitude reference system is used for initializing attitude reference of measurement data of the sensing and monitoring device of the Internet of things;
the inertia measurement unit is used for measuring tower deformation data by the sensing and monitoring device of the Internet of things;
the resolving unit is used for preprocessing the deformation data of the tower measured by the sensing and monitoring device of the Internet of things and then carrying out attitude estimation;
the sensor interface module comprises a sensor controller, an ADC and a comparator;
the sensor controller is used for sensing the working state of an inertial sensor in the sensing and monitoring device of the Internet of things;
the ADC is used for converting and cleaning the detection data of the sensing and monitoring device of the Internet of things;
the comparator is used for judging the voltage in the power management module;
the coprocessor module comprises a ROM, an SRAM and a coprocessor;
the ROM stores programs of the coprocessor module; the SRAM is used for accessing serial data in the coprocessor module; the coprocessor is a core processing unit of the coprocessor module;
the coprocessor module is respectively connected with the sensor monitoring unit, the universal peripheral equipment interface module and the sensor interface module, processes the interactive data of the Internet of things sensing and monitoring device connected with the NB-IoT communication module, and performs clock synchronization management.
The main control module is developed by adopting an MSP430F169 microcontroller of TI company, and the NB-IoT communication module adopts a BC28 NB-IoT wireless module.
The sensor monitoring unit is developed by using an MEMS inertial sensor;
the solar cell adopts an energy-efficient perovskite cell;
the energy storage battery pack adopts an industrial 18650 lithium titanate battery pack.
The main control module is developed by adopting an MSP430F169 microcontroller of TI company, and the NB-IoT communication module adopts a BC28 NB-IoT wireless module.
The background data monitoring platform comprises a background server and is used for operating inertial navigation and satellite differential fusion positioning software.
The Beidou satellite monitoring point equipment and the Internet of things sensing and monitoring device are fixed on a monitored rod body through a galvanized U-shaped bolt, and Beidou satellite monitoring data and attitude data collected by an MEMS (Micro-Electro-Mechanical System) inertial sensor are original data used for calculating tower base settlement, tower inclination angle, structural wind load analysis and other tower health states; the NB-IoT communication Module is connected with the spatial data preprocessing platform, original data are transmitted to the NB-IoT communication Module through a sensor interface of the measuring device and a universal peripheral equipment interface Module of the communication Module, the NB-IoT communication Module is communicated with the spatial data preprocessing platform through an interface connected with a lead, and the transparently transmitted original data are transmitted to the outside through a USIM (Universal subscriber Identity Module) interface and a radio frequency core Module after being preprocessed by the spatial data preprocessing platform of which the main control Module is an MSP430F169 microcontroller; the background data monitoring platform is connected with the spatial data preprocessing platform and is used for performing background fusion processing on data sent after front-end preprocessing, the background server has strong computing capacity and can efficiently finish a large amount of data returned by the embedded system, and a final accurate result is obtained through inertial navigation and resolving of satellite differential fusion positioning software; the solar battery is connected with the power management module and used for supplying power to Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform in the monitoring device, and the unattended automatic monitoring time is prolonged by using a high-performance and high-safety industrial 18650 lithium titanate battery pack and a third-generation perovskite solar battery with high photoelectric conversion efficiency in combination with the use of low-power-consumption devices, chips and modules; the input and output panel is used for manual control during equipment installation, debugging and maintenance, and can indicate the current working state of the tower deformation monitoring device through the LED lamp.
The external electric interface is connected with an external power supply and supplies power to the load when the solar power supply is insufficient or the energy storage battery pack cannot work; therefore, the standby time and the service time of the device can be prolonged, and the uninterrupted operation is realized.
The solar cell adopts a third-generation perovskite solar cell, and has high photoelectric conversion efficiency, high efficiency and high safety; the energy storage battery pack is characterized in that an industrial 18650 lithium titanate battery pack with high performance and high safety suitable for outdoor environment is used; the time of unattended automatic monitoring is prolonged by combining the use of low-power-consumption devices, chips and modules.
After the signal is preprocessed and transmitted to the radio frequency core module, the main control module enters a sleep state until new data or other awakening instructions are received next time, and therefore power consumption of the spatial data preprocessing platform can be greatly reduced.
Furthermore, the sensor controller is used for sensing the working state of the sensor, and if no signal acquisition is carried out, the NB-IoT communication module is controlled to automatically enter a sleep state, so that the power consumption of the NB-IoT communication module is reduced, and the BC28 NB-IoT wireless module is adopted by the NB-IoT communication module.
The sensor monitoring unit is developed by adopting a nine-axis MEMS inertial sensor MPU9250 of InvenSense company, a 16-bit high-precision ADC and a digital motion processor are integrated inside, and complete nine-axis sensor fusion calculation data can be directly output outwards, so that attitude calculation is conveniently realized; the sensor has the main advantages of small volume, light weight, low power consumption, high reliability, high sensitivity, easy integration and the like, is the main force of a micro sensor, and has the tendency of replacing the traditional mechanical sensor.
Example 1
As shown in fig. 1a, the hardware of the embodiment includes a Beidou satellite monitoring point device, an internet of things sensing and monitoring device, a spatial data preprocessing platform, an NB-IoT communication module, a solar battery, a power management module, an input/output panel and a background data monitoring platform. The Beidou satellite monitoring data and tower deformation fusion data collected by the Internet of things sensor monitoring device are forwarded to a spatial data preprocessing platform in wired connection through an NB-IoT communication module for preprocessing. The transparently transmitted original data is preprocessed by a spatial data preprocessing platform of which the main control module is an MSP430F169 microcontroller, and then is transmitted to the outside through a USIM interface and a radio frequency core module. The solar battery is connected with the power management module and used for supplying power to the Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform in the monitoring device. The input and output panel is used for manual control during equipment installation, debugging and maintenance, and can indicate the current working state of the monitoring device through the LED lamp. The background data monitoring platform is connected with the spatial data preprocessing platform and used for carrying out fusion processing on data sent after front-end preprocessing, the background server has strong computing capacity and obtains a final accurate result of tower deformation through calculation of fusion positioning software after inertial navigation data measured by the internet of things sensing monitoring device and satellite differential data measured by Beidou satellite monitoring point equipment are checked. In fig. 1a, the solid black arrows indicate current flow, the dashed arrows indicate control command flow, and the hollow arrows indicate data signal flow.
Specifically, in the embodiment, the Beidou satellite monitoring point equipment uses a Beidou third satellite receiver and a satellite receiving antenna, the sensing and monitoring device of the Internet of things is developed by adopting an MEMS nine-axis gyroscope, and the equipment is fixed on a monitored rod body through a galvanized U-shaped bolt so as not to be influenced by vibration, sliding, abrasion and the like; the NB-IoT communication module adopts a BC28 NB-IoT wireless module, can be installed with Beidou satellite monitoring point equipment in a split or combined mode, but needs to meet the condition that good receiving and sending of signals are not affected. As shown in fig. 1b, in the embodiment, if the main hardware modules are installed in a combined manner, the NB-IoT communication module, the power management module, the beidou satellite monitoring point device and the internet of things sensing and monitoring device may be integrated into a rectangular box suitable for the external environment, and the conditions of heat dissipation, insulation, installation of the solar cell panel, stability of the radio frequency signal and the like of the device need to be satisfied, and the device is fixed on the monitored rod body by the galvanized U-shaped bolt.
As shown in fig. 2, the power management module of this embodiment adopts an external power supply and a solar power supply to supply power at the same time, which is beneficial to reducing the influence of power failure on the device. The power management module has a structure shown in fig. 2, and is composed of a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electrical interface, a solar battery and an energy storage battery pack. Solar cell and solar energy interface connection, lithium cell group interface and energy storage battery group are connected, and lithium cell group interface still is equipped with the interface that is used for being connected with outside charging source and charge-discharge test, load interface and external electric interface connection. The solar charge-discharge controller controls the solar charge-discharge circuit to work; the external electric interface is connected with an external power supply and can supply power to the load and charge the energy storage battery pack; the solar battery charges the energy storage battery pack through the solar charging and discharging circuit; the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel. The solar charging and discharging processes are independently carried out, so that the power consumption can be greatly reduced, and the service life is further prolonged.
Specifically, fig. 3 is a diagram of a reverse connection protection circuit for an energy storage battery pack of a solar charging controller in a power management module according to the present embodiment, where a diode plays a role in reverse connection protection of the energy storage battery pack, and when the polarity is reversed, a fuse is blown, thereby avoiding a safety accident caused by damage to the rest of the circuit.
Specifically, the charging method of the solar charging and discharging circuit is as shown in fig. 4, the filtering unit is composed of a single-phase bridge rectifier circuit D and an inductance L filtering circuit, the single-phase bridge rectifier circuit D has the function of ensuring that the solar battery can be charged to the energy storage battery pack all the time, and the energy storage battery pack cannot discharge the solar battery, and meanwhile, the unstable current condition of the circuit when the light suddenly changes or the circuit is reversely connected with the energy storage battery pack is avoided.
Specifically, the discharging method of the solar charging and discharging circuit is shown in fig. 5, and a two-stage charging protection device is adopted to prevent the damage of the battery or the electronic element caused by the sudden increase of the current. In the primary protection of the process, the main control module (as shown in fig. 6) is used for collecting the voltages of the two sections of the high-precision resistor Rv for a specific time, when the maximum voltage collected and calculated by the ADC meets the set threshold and lasts for 10 seconds, the short circuit is considered, and the main controller controls the Rcd to cut off the discharge loop. The secondary protection is that when the current is judged to be overlarge and not lasting for 10 seconds, the self-recovery fuse PTC control circuit avoids damage, when the current reaches a rated value, the temperature of the self-recovery fuse PTC rises, the resistance sharply increases to inhibit overcurrent, and then the fuse automatically returns to an initial state.
As shown in fig. 6, the spatial data preprocessing platform of the present embodiment includes a main control module and a general peripheral interface module; the NB-IoT communication module comprises a radio frequency core module and an antenna. The main control module comprises a main controller, a JTAG interface, a ROM, a flash memory and an SRAM which are connected by leads; the radio frequency core module comprises a digital phase-locked loop, a DSP modem, an SRAM, a ROM and an amplifier, wherein the amplifier is connected with an antenna; the antenna is used for sending the preprocessed signal to the communication base station, transmitting the preprocessed signal to the background and receiving the remote control information; the universal peripheral equipment interface module consists of a USIM interface, a UART serial port and an ADC interface, and is connected with a coprocessor module in the sensing and monitoring device of the Internet of things (as shown in figure 7).
In this embodiment, the spatial data preprocessing platform and the NB-IoT communication module are connected to each other, and achieve an ultra-low power consumption level through the following autonomous control method:
(1) the main control module can sense the working state of the sensor, and after the signal preprocessing is finished and transmitted to the radio frequency core module, the main control module enters a sleep state until new data or other awakening instructions are received next time, so that the power consumption of the NB-IoT communication module and the spatial data preprocessing platform can be greatly reduced. In the sleep state, only the interrupt detection program is operated, and the power consumption is almost negligible. When the sensor is detected to acquire signals, an interrupt instruction is immediately transmitted to the main controller, and the module is awakened to operate.
(2) The radio frequency core module adopts more refined partition management, and separates the receiving, storing and transmitting processes of the tower deformation original data so as to facilitate independent management and operation. After inertial navigation data measured by the internet of things sensing and monitoring device and satellite differential data measured by Beidou satellite monitoring point equipment are preprocessed through the main control module, the inertial navigation data and the satellite differential data are temporarily stored in a flash memory to be queued, when a group of data reaches a sending condition, the radio frequency core module is triggered to enter a working state from dormancy, the main control module completely sends the data to the radio frequency core module and then enters a sleeping state if no other task exists, the preprocessed data are processed through a digital phase-locked loop, a DSP modem and an amplifier, and the signals are transmitted and sent outwards through an antenna.
As shown in fig. 7, the sensing and monitoring device for the internet of things of the present embodiment includes a sensor monitoring unit, a sensor interface module, and a coprocessor module. The sensor monitoring unit consists of an attitude reference system, an inertia measurement unit and a resolving unit; the sensor interface module consists of a sensor controller, an ADC and a comparator; the coprocessor module consists of a ROM, an SRAM and a coprocessor; the coprocessor module is respectively connected with the sensor monitoring unit, the sensor interface module and the universal peripheral interface module (as shown in fig. 6) through wires, processes the interactive data of the internet of things sensing and monitoring device connected with the NB-IoT communication module, and performs clock synchronization management.
Specifically, the sensing and monitoring device for the internet of things uses the ultra-low power consumption coprocessor, the MEMS inertial sensor and the high-precision ADC, and the highly integrated circuit greatly reduces the interference of the signal from the outside, improves the processing efficiency, and enhances the stability.
The invention provides an internet of things tower deformation monitoring device integrating a Beidou and an inertial sensor, and a plurality of methods and ways for specifically realizing the technical scheme are provided. All the components not specified in the present embodiment can be realized by the prior art.
Claims (9)
1. The deformation monitoring device for the Internet of things tower integrating the Beidou and the inertial sensor is characterized by comprising Beidou satellite monitoring point equipment, an Internet of things sensing and monitoring device, a spatial data preprocessing platform, an NB-IoT communication module, a background data monitoring platform and a power supply management module;
the Beidou satellite monitoring point equipment is arranged on the measured object, and the Beidou satellite monitoring point equipment positions the measured object according to measured satellite differential data, wherein the measured object comprises a tower;
the sensing and monitoring device of the Internet of things is arranged on the measured object and used for acquiring inertial attitude data of the measured object;
the spatial data preprocessing platform is respectively connected with Beidou satellite monitoring point equipment, an Internet of things sensing monitoring device and an NB-IoT communication module; the spatial data preprocessing platform performs fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by the Internet of things sensing monitoring device at the front end to obtain preprocessed data;
the NB-IoT communication module transmits the data preprocessed by the spatial data preprocessing platform to the background data monitoring platform through the narrowband Internet of things network;
the background data monitoring platform receives and processes data transmitted by the NB-IoT communication module to obtain tower deformation monitoring data subjected to background fusion processing, so that the health state of a tower is judged;
the power management module is respectively connected with the Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform and supplies power to the Beidou satellite monitoring point equipment, the Internet of things sensing monitoring device and the spatial data preprocessing platform.
2. The device of claim 1, wherein the internet of things sensing and monitoring device comprises an inertial sensor, and the inertial sensor is used for acquiring inertial attitude data of a measured object;
the spatial data preprocessing platform carries out fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by the Internet of things sensing monitoring device to obtain preprocessed data, and the spatial data preprocessing platform specifically comprises: beidou satellite monitoring point equipment and an Internet of things sensing and monitoring device which are attached to a tower are directly powered by external solar energy, and positively correlated position movement occurs along with the deformation of the tower; the Beidou satellite monitoring point equipment continuously measures tower positioning data and performs differential calculation; meanwhile, raw data are collected through a micro-mechanical gyroscope of an inertial sensor in the sensing and monitoring device of the Internet of things, the raw data comprise tower footing settlement, a tower inclination angle and a structural wind load, and the raw data are subjected to data cleaning through the spatial data preprocessing platform.
3. The device according to claim 2, wherein the background data monitoring platform receives and processes data transmitted from the NB-IoT communication module to obtain tower deformation monitoring data subjected to background fusion processing, so as to determine the health status of the tower, and the method comprises: and the background data monitoring platform obtains four quaternion differential equations according to the preprocessed data, performs attitude analysis by resolving a quaternion matrix, and fuses satellite differential data and inertial attitude data so as to judge the health state of the tower.
4. The device according to claim 3, wherein the background data monitoring platform obtains four quaternion differential equations according to the preprocessed data, performs attitude analysis by resolving a quaternion matrix, and fuses satellite differential data and inertial attitude data to judge the health state of the tower, and specifically comprises the following steps:
step a1, respectively representing the raw data collected by the micromechanical gyroscope of the inertial sensor as four time-varying functions q0,q1,q2,q3The expression corresponding to the quaternion matrix Q is:
the four time-varying functions are directly at an initial momentOutputting a group of determined real numbers by the gyroscope according to the rotation, the acceleration and the geomagnetic variable of the gyroscope, and if a first order differential equation Q' of a quaternion matrix Q is found, finding a corresponding function Q0,q1,q2,q3Differential equation q'0，q′1,q′2,q′3That is, four time-varying functions q can be obtained0,q1,q2,q3；
Setting two coordinate systems, namely an n system and a b system, wherein the n system is a geographic world navigation coordinate system, the b system is a coordinate system used for internal calculation of the micromechanical gyroscope, and the rotation change of each axial direction from the n system to the b system is expressed as a matrix
Matrix array
After multiplication with the quaternion matrix Q, the differential expression reflecting the deformation of the tower is
Order to
Then the initial quaternion matrix differential equation
Wherein q'0,q′1,q′2,q′3Respectively four time-varying functions q in the raw data of the gyroscope0,q1,q2,q3The differential of (a), namely:
step a2, using ωx,ωy,ωzCoordinate system of b system used for respectively representing internal calculation of micromechanical gyroscopen is angular velocity component of geographic world navigation coordinate system along each axial direction of x, y and z, and is directly output by micromechanical gyroscope
Matrix conversion is performed as follows:
finally, the transformed quaternion matrix differential equation is obtained as follows:
step a3, the transformed quaternion matrix differential equation corresponds to four first order differential equations by updating the constantly changing ω of the micromechanical gyroscope outputx,ωy,ωzNumerical values, i.e. the ability to find four time-varying functions q0,q1,q2,q3According to known ωx,ωy,ωzDetermining the time-dependent q0,q1,q2,q3Then, mapping the attitude deformation of the tower to a micromechanical gyroscope, and calculating a coordinate system to obtain the displacement variable information of the attitude deformation of the tower along the x, y and z axial directions
Representing a displacement in three-dimensional coordinates;
step a4, pole tower differential positioning displacement variables included in satellite differential data output by the Beidou satellite monitoring point equipment are collected, and in an inertial sensor micro-mechanical gyroscope coordinate system, pole tower displacement variables of the Beidou satellite monitoring point equipment in the directions of x, y and z in differential positioning are counted as
The correction coefficient is l, and when the micromechanical gyroscope generates positive correlation position shift along with the deformation of the tower at the same timeWhen the displacement is in motion, the displacement variable is obtained through calculation of a background data monitoring platform
A correction factor of
Combining the two measurement data to obtain the fusion data of the tower deformation
5. The apparatus of claim 4, wherein the Beidou satellite monitoring point equipment comprises a satellite receiver and a satellite receiving antenna; the satellite receiver is used for receiving and processing Beidou No. three satellite positioning data; the satellite receiving antenna is used for gathering satellite signals to improve the quality of received signals.
6. The device according to claim 5, further comprising an input and output panel, wherein the input and output panel is respectively connected with the Beidou satellite monitoring point device, the Internet of things sensing and monitoring device and the power management module, and is used for controlling the Internet of things pole and tower deformation monitoring device and indicating the current working state of the Internet of things pole and tower deformation monitoring device through the intelligent terminal.
7. The device of claim 6, wherein the power management module comprises a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electrical interface, a solar battery, a two-stage power protection device, and an energy storage battery pack;
the solar charging and discharging circuit is connected with the solar charging and discharging controller, the solar charging and discharging circuit is a single-phase bridge rectifier circuit, and the single-phase bridge rectifier circuit is connected with the solar battery and the energy storage battery pack and is positioned at the charging end of the energy storage battery pack; the discharge end of the energy storage battery pack is connected with the two-stage electric protection device;
the solar charge and discharge controller is used for controlling the solar charge and discharge circuit to work;
one end of the solar interface is connected with the solar battery, and the other end of the solar interface is connected with the solar charging and discharging circuit;
the solar battery charges the energy storage battery pack through the solar charging and discharging circuit;
the lithium battery pack interface is connected with the energy storage battery pack and is also provided with an interface for connecting with an external charging power supply;
one end of the load interface is connected with an external electrical interface, and the other end of the load interface is connected with the Beidou satellite monitoring point equipment, the Internet of things sensing and monitoring device, the spatial data preprocessing platform and the input and output panel;
the external electric interface is respectively connected with an external power supply and a load interface and can charge a load and the energy storage battery pack;
the solar battery is used for energy conversion and supplying power to the solar charging and discharging circuit through the solar interface;
the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel.
8. The device as claimed in claim 7, wherein the solar charging and discharging circuit and the solar charging and discharging controller constitute a solar charging and discharging module, the solar charging and discharging module can independently perform charging and discharging operations at the same time, and the solar charging and discharging module does not affect the charging and discharging operations.
9. The apparatus of claim 8, wherein the spatial data pre-processing platform comprises a master control module; the NB-IoT communication module comprises a radio frequency core module and an antenna;
the main control module is respectively connected with the radio frequency core module and the universal peripheral equipment interface module through wires;
the main control module is used for receiving and storing inertial attitude data and differential data acquired by the Internet of things sensing and monitoring device and Beidou satellite monitoring point equipment, and transmitting the preprocessed data to the radio frequency core module after preprocessing the data and when the data needs to be transmitted to the outside;
and the radio frequency core module is used for receiving the data transmitted by the main control module when the data needs to be transmitted outwards and transmitting the data outwards through the antenna.
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