CN112781556A - Well lid transaction monitoring method and device based on multi-data fusion filtering - Google Patents
Well lid transaction monitoring method and device based on multi-data fusion filtering Download PDFInfo
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Abstract
The invention provides a well lid transaction monitoring method and device based on multi-data fusion filtering, wherein the method comprises the following steps: obtaining an initial background angle value of the well lid to be monitored and a current acceleration and angular rate sample set; performing Kalman filtering processing on the sample set data; calculating a current inclination angle value; calculating the absolute value of the difference between each current inclination angle value and the initial background angle value; judging whether the values are all larger than a first threshold value; if the mean square error values are all larger than the first threshold value, calculating the mean square error of a plurality of current inclination angle values; judging whether the root mean square errors of the plurality of current rake angle values are smaller than a second threshold value; and if the root mean square error of the plurality of forward inclination angle values is smaller than a second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored. Based on the Kalman filtering algorithm, the problem of vibration interference is effectively avoided, the real-time monitoring of the inclination angle of the well lid is realized, the dynamic detection precision and accuracy of abnormal movement of the well lid are improved, and the technical effect of strong applicability is achieved.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to a well lid transaction monitoring method and device based on multi-data fusion filtering.
Background
The detection method for calculating the inclination angle based on the acceleration sensor generally determines whether the manhole cover is abnormal or not by calculating the relative change amount of the current inclination angle and the initial background angle of the manhole cover, namely detecting the change amount of the inclination angle. Because factors such as the position of well lid installation, well lid edge roughness, when the vehicle rolled or trampled the emergence, inside acceleration sensor can have the condition such as inaccurate, the false positive, the missed report because of vibration interference, and the rate of accuracy is lower.
However, in the process of implementing the technical solution in the embodiment of the present application, the inventor of the present application finds that the above prior art has at least the following technical problems:
in the prior art, whether the well lid is abnormal is detected by resolving the inclination angle through the acceleration sensor, and due to the fact that pedestrians trample or vehicles roll and other factors, the well lid is not high in self edge flatness, vibration interference occurs, so that the accuracy of the detection result of the internal acceleration sensor is low, and the technical problems of false alarm and missing alarm are caused.
Disclosure of Invention
The embodiment of the invention provides a well lid abnormal movement monitoring method and device based on multi-data fusion filtering, which are used for solving the technical problems that in the prior art, in the process of detecting whether the well lid abnormal movement occurs or not by resolving an inclination angle through an acceleration sensor, the accuracy of the detection result of an internal acceleration sensor is low and the phenomena of false alarm and missing alarm exist due to the fact that the well lid is subjected to vibration interference caused by factors such as pedestrian treading or vehicle rolling and low edge flatness of the well lid. Through at inside gyroscope sensor that increases of well lid terminal, based on the kalman filter algorithm, reached and effectively avoided the vibration interference problem, realized the real-time supervision at well lid inclination, improved the dynamic verification precision and the rate of accuracy of well lid transaction, had the technological effect of stronger suitability.
In view of the above problems, the present application is provided to provide a manhole cover transaction monitoring method and device based on multi-data fusion filtering.
In a first aspect, the invention provides a well lid transaction monitoring method based on multi-data fusion filtering, which includes: obtaining an initial background angle value of the well lid to be monitored; obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates; performing Kalman filtering processing on the acceleration and angular rate sample set data; calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing; calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value; obtaining a first threshold value; judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value; if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values; obtaining a second threshold value; judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not; and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
Preferably, the determining whether the absolute value of the difference between each of the current inclination angle values and the initial background angle value is greater than the first threshold further includes: and if the absolute value of the difference between each current inclination angle value and the initial background angle value is not uniform and is larger than the first threshold value, determining that the state of the manhole cover to be monitored is normal.
Preferably, the obtaining a current sample set of acceleration and angular rate of the well cover to be monitored includes: acquiring current acceleration data of the well cover to be monitored through an accelerometer; acquiring current angular rate data of the well cover to be monitored through a gyroscope; wherein, the accelerometer with the gyroscope all sets up treat inside the monitoring well lid terminal.
Preferably, the collection time range of the current acceleration and angular rate sample set is 1-10 s, and the collection time interval range is 10-100 ms.
Preferably, if the absolute value of the difference between each of the current inclination angle values and the initial background angle value is greater than the first threshold value, the method includes: calculating the average value of the current inclination angle values; judging whether the average value of the current forward inclination angle values is larger than the first threshold value or not; and if the average value of the current inclination angle values is larger than the first threshold value, calculating the root mean square error of a plurality of the current inclination angle values.
Preferably, the value range of the first threshold is 5 degrees to 90 degrees, and the value range of the second threshold is 3 degrees to 5 degrees.
In a second aspect, the present invention provides a manhole cover transaction monitoring device based on multidata fusion filtering, where the device includes:
the first obtaining unit is used for obtaining an initial background angle value of the well lid to be monitored;
a second obtaining unit, configured to obtain a current acceleration and angular rate sample set of the well lid to be monitored, where the acceleration and angular rate sample set includes a plurality of accelerations and corresponding angular rates;
the first processing unit is used for carrying out Kalman filtering processing on the acceleration and angular rate sample set data;
the first calculation unit is used for calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing;
a second calculating unit for calculating an absolute value of a difference between each of the current inclination angle values and the initial background angle value;
a third obtaining unit configured to obtain a first threshold;
a first judging unit, configured to judge whether an absolute value of a difference between each of the current forward-tilt angle values and the initial background angle value is greater than the first threshold;
a third calculating unit, configured to calculate root mean square errors of the current inclination angle values if the absolute value of the difference between each current inclination angle value and the initial background angle value is greater than the first threshold;
a fourth obtaining unit configured to obtain a second threshold;
a second determining unit, configured to determine whether root mean square errors of the current forward inclination angle values are smaller than a second threshold;
the first determining unit is used for determining that the well lid to be monitored is abnormal if the root mean square error of the current forward inclination angle value is smaller than the second threshold value, and the terminal of the well lid to be monitored sends alarm information.
Preferably, the first judging unit further includes:
and the second determining unit is used for determining that the state of the well lid to be monitored is normal if the absolute value of the difference between each current inclination angle value and the initial background angle value is not uniform and is larger than the first threshold value.
Preferably, the second obtaining unit includes:
the first acquisition unit is used for acquiring the current acceleration data of the well cover to be monitored through an accelerometer;
the second acquisition unit is used for acquiring the current angular rate data of the well cover to be monitored through a gyroscope; wherein, the accelerometer with the gyroscope all sets up treat inside the monitoring well lid terminal.
Preferably, the collection time range of the current acceleration and angular rate sample set is 1-10 s, and the collection time interval range is 10-100 ms.
Preferably, the apparatus further comprises:
a fourth calculation unit for calculating an average value of the current inclination angle values;
a third judging unit configured to judge whether or not the average value of the current rake angle values is larger than the first threshold;
a fifth calculation unit, configured to calculate root mean square errors of the current inclination angle values if an average value of the current inclination angle values is greater than the first threshold.
Preferably, the value range of the first threshold is 5 degrees to 90 degrees, and the value range of the second threshold is 3 degrees to 5 degrees.
In a third aspect, the present invention provides a manhole cover transaction monitoring device based on multidata fusion filtering, including a memory, a processor, and a computer program stored in the memory and operable on the processor, where the processor implements the following steps when executing the program:
obtaining an initial background angle value of the well lid to be monitored; obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates; performing Kalman filtering processing on the acceleration and angular rate sample set data; calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing; calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value; obtaining a first threshold value; judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value; if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values; obtaining a second threshold value; judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not; and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
obtaining an initial background angle value of the well lid to be monitored; obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates; performing Kalman filtering processing on the acceleration and angular rate sample set data; calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing; calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value; obtaining a first threshold value; judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value; if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values; obtaining a second threshold value; judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not; and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
the embodiment of the invention provides a well lid transaction monitoring method and device based on multi-data fusion filtering, wherein the method comprises the following steps: obtaining an initial background angle value of the well lid to be monitored; obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates; performing Kalman filtering processing on the acceleration and angular rate sample set data; calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing; calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value; obtaining a first threshold value; judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value; if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values; obtaining a second threshold value; judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not; and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored. The well lid vibration interference detection method is used for solving the technical problems that in the prior art, whether the well lid is subjected to abnormal movement or not is detected by resolving an inclination angle through an acceleration sensor, the detection result accuracy of an internal acceleration sensor is low due to the fact that a pedestrian tramples or a vehicle rolls and other factors and the flatness of the edge of the well lid is not high, and false alarm and missing alarm phenomena exist. Through at inside gyroscope sensor that increases of well lid terminal, based on the kalman filter algorithm to reached and effectively avoided the vibration interference problem, realized the real-time supervision at well lid inclination, improved the dynamic verification precision and the rate of accuracy of well lid transaction, had the technological effect of stronger suitability.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Fig. 1 is a schematic flow chart of a manhole cover transaction monitoring method based on multi-data fusion filtering according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a manhole cover transaction monitoring device based on multi-data fusion filtering according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another manhole cover transaction monitoring device based on multi-data fusion filtering according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a Kalman filtering algorithm in an embodiment of the present invention;
fig. 5 is a diagram of inclination angle test data of a manhole cover to be monitored in the embodiment of the invention.
Description of reference numerals: a first obtaining unit 1, a second obtaining unit 2, a first processing unit 3, a first calculating unit 4, a second calculating unit 5, a third obtaining unit 6, a first judging unit 7, a third calculating unit 8, a fourth obtaining unit 9, a second judging unit 10, a first determining unit 11, a bus 300, a receiver 301, a processor 302, a transmitter 303, a memory 304, and a bus interface 306.
Detailed Description
The embodiment of the invention provides a well lid abnormal movement monitoring method and device based on multi-data fusion filtering, and solves the technical problems that in the prior art, in the process of detecting whether well lid abnormal movement occurs or not by resolving an inclination angle through an acceleration sensor, due to factors such as pedestrian treading or vehicle rolling, the flatness of the edge of the well lid is not high, vibration interference occurs on the well lid, the accuracy of the detection result of an internal acceleration sensor is low, and false alarm and missing alarm phenomena exist.
The technical scheme provided by the invention has the following general idea: obtaining an initial background angle value of the well lid to be monitored; obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates; performing Kalman filtering processing on the acceleration and angular rate sample set data; calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing; calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value; obtaining a first threshold value; judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value; if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values; obtaining a second threshold value; judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not; and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored. Through at inside gyroscope sensor that increases of well lid terminal, based on the kalman filter algorithm to reached and effectively avoided the vibration interference problem, realized the real-time supervision at well lid inclination, improved the dynamic verification precision and the rate of accuracy of well lid transaction, had the technological effect of stronger suitability.
The technical solutions of the present invention are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present invention are described in detail in the technical solutions of the present application, and are not limited to the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
Fig. 1 is a schematic flow chart of a manhole cover transaction monitoring method based on multi-data fusion filtering in an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a well lid transaction monitoring method based on multi-data fusion filtering, where the method includes:
step s 1: obtaining an initial background angle value of the well lid to be monitored;
step s 2: obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates;
further, the obtaining a current sample set of acceleration and angular rate of the well lid to be monitored includes: acquiring current acceleration data of the well cover to be monitored through an accelerometer; acquiring current angular rate data of the well cover to be monitored through a gyroscope; wherein, the accelerometer with the gyroscope all sets up treat inside the monitoring well lid terminal.
Furthermore, the collection time range of the current acceleration and angular rate sample set is 1-10 s, and the collection time interval range is 10-100 ms.
Particularly, wait to monitor the well lid back and carry out the terminal installation and accomplish the back, wherein, wait to monitor inside accelerometer and the gyroscope of being equipped with of well lid terminal, through the accelerometer detects wait to monitor the initial background angle value of well lid, initial background angle value is as the benchmark value that detects well lid inclination value variation. In the daily maintenance and operation process of the well lid to be monitored, the current acceleration and the angular rate corresponding to the current acceleration of the well lid to be monitored can be respectively collected in real time through the accelerometer and the gyroscope, when sample data are collected, the collection time range can be set to be 1-10 s, the collection time interval range is 10-100 ms, namely, data are collected once every 10-100 ms in the set collection time, so that a plurality of the acceleration data and the angular rate data corresponding to the acceleration data of the well lid to be monitored can be collected currently, a sample set of the current acceleration and the angular rate of the well lid to be monitored is formed and is placed in a data buffer area, Kalman filtering fusion analysis can be conveniently carried out on the sample set data subsequently, and the technical effect of collecting the acceleration and the angular rate of the well lid in real time is achieved.
Step s 3: performing Kalman filtering processing on the acceleration and angular rate sample set data;
specifically, as pedestrians step on the manhole cover on the motorway and serious vibration interference is caused by vehicle rolling, the gyroscope is added in the manhole cover terminal, the acceleration change of the manhole cover to be monitored is monitored, meanwhile, the angular rate change is collected, and Kalman filtering fusion analysis is carried out on the cached acceleration and angular rate sample set data, wherein the multi-sensor data fusion technology is that information from a plurality of information sources is 'merged' through a certain algorithm to generate more reliable and accurate information than data obtained by a single sensor, and the most reliable decision is made according to the information. In the embodiment of the invention, by adding the data fusion of the gyroscope, the problem of vibration interference is effectively avoided, misjudgment is prevented, an alarm is triggered by mistake, the state of the well cover can be detected more accurately, the fusion filter coefficient can be adjusted flexibly, the method is suitable for scenes such as sidewalks, green belts and the like which are not interfered by vibration and scenes such as motorways and the like which have serious vibration interference, and the applicability of the algorithm is greatly improved.
Step s 4: calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing;
step s 5: calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value;
step s 6: obtaining a first threshold value;
step s 7: judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value;
step s 8: if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values;
further, the value range of the first threshold is 5-90 degrees.
Further, if the absolute value of the difference between each of the current inclination angle values and the initial background angle value is greater than the first threshold value, the method includes: calculating the average value of the current inclination angle values; judging whether the average value of the current forward inclination angle values is larger than the first threshold value or not; and if the average value of the current inclination angle values is larger than the first threshold value, calculating the root mean square error of a plurality of the current inclination angle values.
Step s 9: obtaining a second threshold value;
step s 10: judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not;
step s 11: and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
Further, the value range of the second threshold is 3-5 °.
Specifically, after a plurality of accelerations in a sample set are subjected to kalman filtering fusion, a current inclination angle value of the manhole cover to be monitored is calculated according to the calculated accelerations, that is, a current inclination angle value is calculated for each acceleration after kalman filtering fusion, then an absolute value of a difference between each current inclination angle value and the initial background angle value, that is, a relative variation of the inclination angle value of the manhole cover to be monitored is calculated, at this time, the absolute value of the difference between each current inclination angle value and the initial background angle value is compared with the first threshold value for analysis, wherein the value range of the first threshold value is 5 to 90 degrees, a user can preset an inclination angle value variation alarm value according to the actual condition of the manhole cover to be monitored, and if the absolute value of the difference between each current inclination angle value and the initial background angle value is greater than the first threshold value, and then calculating the average value of a plurality of current forward-inclination angle values, judging whether the average value of the current forward-inclination angle values is larger than the first threshold value, and if the average value of the current forward-inclination angle values is also larger than the first threshold value, calculating the root mean square error of the plurality of current forward-inclination angle values, wherein the root mean square error is used for judging the dispersion degree of the current forward-inclination angle values and further eliminating the vibration interference. If the calculated root mean square error of the current inclination angle values is smaller than the second threshold value, wherein the value range of the second threshold value is 3-5 degrees, the abnormal movement of the well lid to be monitored is determined, the terminal of the well lid to be monitored sends alarm information, and workers can arrive at the site to maintain the well lid at the first time so as to avoid the occurrence of unsafe accidents caused by the movement of the well lid. Therefore, dynamic inclination angle monitoring of the well lid is realized, and dynamic detection precision and accuracy of abnormal movement of the well lid are improved.
In step s8, if the absolute value of the difference between each current inclination angle value and the initial background angle value is not greater than the first threshold, it may be determined that the manhole cover condition to be monitored is normal.
Example two
Based on the same inventive concept as the well lid transaction monitoring method based on the multi-data fusion filtering in the foregoing embodiment, the present invention further provides a well lid transaction monitoring device based on the multi-data fusion filtering, as shown in fig. 2, the device includes:
the monitoring system comprises a first obtaining unit 1, a second obtaining unit 1 and a monitoring unit, wherein the first obtaining unit 1 is used for obtaining an initial background angle value of a well lid to be monitored;
a second obtaining unit 2, where the second obtaining unit 2 is configured to obtain a current acceleration and angular rate sample set of the well lid to be monitored, where the acceleration and angular rate sample set includes a plurality of accelerations and corresponding angular rates;
a first processing unit 3, where the first processing unit 3 is configured to perform kalman filtering processing on the acceleration and angular rate sample set data;
the first calculating unit 4 is used for calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing;
a second calculating unit 5, wherein the second calculating unit 5 is configured to calculate an absolute value of a difference between each of the current inclination angle values and the initial background angle value;
a third obtaining unit 6, wherein the third obtaining unit 6 is used for obtaining the first threshold value;
a first judging unit 7, where the first judging unit 7 is configured to judge whether an absolute value of a difference between each current forward-tilt angle value and the initial background angle value is greater than the first threshold;
a third calculating unit 8, wherein the third calculating unit 8 is configured to calculate root mean square errors of a plurality of current inclination angle values if the absolute value of the difference between each current inclination angle value and the initial background angle value is greater than the first threshold;
a fourth obtaining unit 9, the fourth obtaining unit 9 being configured to obtain a second threshold;
a second determining unit 10, where the second determining unit 10 is configured to determine whether root mean square errors of the current front tilt angle values are smaller than the second threshold;
the first determining unit 11 is configured to determine that the well lid to be monitored is abnormal if the root mean square error of the current inclination angle value is smaller than the second threshold, and the terminal of the well lid to be monitored sends alarm information.
Further, the first judging unit 7 further includes:
and the second determining unit is used for determining that the state of the well lid to be monitored is normal if the absolute value of the difference between each current inclination angle value and the initial background angle value is not uniform and is larger than the first threshold value.
Further, the second obtaining unit 2 includes:
the first acquisition unit is used for acquiring the current acceleration data of the well cover to be monitored through an accelerometer;
the second acquisition unit is used for acquiring the current angular rate data of the well cover to be monitored through a gyroscope; wherein, the accelerometer with the gyroscope all sets up treat inside the monitoring well lid terminal.
Furthermore, the collection time range of the current acceleration and angular rate sample set is 1-10 s, and the collection time interval range is 10-100 ms.
Further, the apparatus further comprises:
a fourth calculation unit for calculating an average value of the current inclination angle values;
a third judging unit configured to judge whether or not the average value of the current rake angle values is larger than the first threshold;
a fifth calculation unit, configured to calculate root mean square errors of the current inclination angle values if an average value of the current inclination angle values is greater than the first threshold.
Further, the value range of the first threshold is 5 degrees to 90 degrees, and the value range of the second threshold is 3 degrees to 5 degrees.
Various changes and specific examples of the well lid transaction monitoring method based on the multi-data fusion filtering in the first embodiment of fig. 1 are also applicable to the well lid transaction monitoring device based on the multi-data fusion filtering in this embodiment, and through the foregoing detailed description of the well lid transaction monitoring method based on the multi-data fusion filtering, those skilled in the art can clearly know an implementation method of the well lid transaction monitoring device based on the multi-data fusion filtering in this embodiment, so for the brevity of the description, detailed description is not repeated here.
EXAMPLE III
Based on the same inventive concept as the well lid transaction monitoring method based on the multi-data fusion filtering in the previous embodiment, the invention further provides a well lid transaction monitoring device based on the multi-data fusion filtering, wherein a computer program is stored on the well lid transaction monitoring device, and when the computer program is executed by a processor, the steps of any one of the above well lid transaction monitoring methods based on the multi-data fusion filtering are realized.
Where in fig. 3 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 306 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium.
The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
Example four
Based on the same inventive concept as the well lid transaction monitoring method based on multi-data fusion filtering in the foregoing embodiments, the present invention further provides a computer-readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the following steps:
obtaining an initial background angle value of the well lid to be monitored; obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates; performing Kalman filtering processing on the acceleration and angular rate sample set data; calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing; calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value; obtaining a first threshold value; judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value; if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values; obtaining a second threshold value; judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not; and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
In a specific implementation, when the program is executed by a processor, any method step in the first embodiment may be further implemented.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
the embodiment of the invention provides a well lid transaction monitoring method and device based on multi-data fusion filtering, wherein the method comprises the following steps: obtaining an initial background angle value of the well lid to be monitored; obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates; performing Kalman filtering processing on the acceleration and angular rate sample set data; calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing; calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value; obtaining a first threshold value; judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value; if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values; obtaining a second threshold value; judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not; and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored. The well lid vibration interference detection method is used for solving the technical problems that in the prior art, whether the well lid is subjected to abnormal movement or not is detected by resolving an inclination angle through an acceleration sensor, the detection result accuracy of an internal acceleration sensor is low due to the fact that a pedestrian tramples or a vehicle rolls and other factors and the flatness of the edge of the well lid is not high, and false alarm and missing alarm phenomena exist. Through at inside gyroscope sensor that increases of well lid terminal, based on the kalman filter algorithm to reached and effectively avoided the vibration interference problem, realized the real-time supervision at well lid inclination, improved the dynamic verification precision and the rate of accuracy of well lid transaction, had the technological effect of stronger suitability.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A well lid transaction monitoring method based on multi-data fusion filtering is characterized by comprising the following steps:
obtaining an initial background angle value of the well lid to be monitored;
obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates;
performing Kalman filtering processing on the acceleration and angular rate sample set data;
calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing;
calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value;
obtaining a first threshold value;
judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value;
if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values;
obtaining a second threshold value;
judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not;
and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
2. The method of claim 1, wherein said determining whether the absolute value of the difference between each of said current pitch angle values and said initial background angle values is greater than said first threshold value further comprises:
and if the absolute value of the difference between each current inclination angle value and the initial background angle value is not uniform and is larger than the first threshold value, determining that the state of the manhole cover to be monitored is normal.
3. The method of claim 1, wherein the obtaining a current set of acceleration and angular rate samples for the wellhead to be monitored comprises:
acquiring current acceleration data of the well cover to be monitored through an accelerometer;
acquiring current angular rate data of the well cover to be monitored through a gyroscope;
wherein, the accelerometer with the gyroscope all sets up treat inside the monitoring well lid terminal.
4. The method of claim 3, wherein the current acceleration and angular rate sample set is acquired for a time period ranging from 1 s to 10s and an acquisition time interval ranging from 10 ms to 100 ms.
5. The method of claim 1, wherein said if each of said current pitch angle values differs from said initial background angle value by an absolute value greater than said first threshold value comprises:
calculating the average value of the current inclination angle values;
judging whether the average value of the current forward inclination angle values is larger than the first threshold value or not;
and if the average value of the current inclination angle values is larger than the first threshold value, calculating the root mean square error of a plurality of the current inclination angle values.
6. The method of claim 1, wherein the first threshold value ranges from 5 ° to 90 °, and wherein the second threshold value ranges from 3 ° to 5 °.
7. The utility model provides a well lid transaction monitoring devices based on multidata fuses filtering, its characterized in that, the device includes:
the first obtaining unit is used for obtaining an initial background angle value of the well lid to be monitored;
a second obtaining unit, configured to obtain a current acceleration and angular rate sample set of the well lid to be monitored, where the acceleration and angular rate sample set includes a plurality of accelerations and corresponding angular rates;
the first processing unit is used for carrying out Kalman filtering processing on the acceleration and angular rate sample set data;
the first calculation unit is used for calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing;
a second calculating unit for calculating an absolute value of a difference between each of the current inclination angle values and the initial background angle value;
a third obtaining unit configured to obtain a first threshold;
a first judging unit, configured to judge whether an absolute value of a difference between each of the current forward-tilt angle values and the initial background angle value is greater than the first threshold;
a third calculating unit, configured to calculate root mean square errors of the current inclination angle values if the absolute value of the difference between each current inclination angle value and the initial background angle value is greater than the first threshold;
a fourth obtaining unit configured to obtain a second threshold;
a second determining unit, configured to determine whether root mean square errors of the current forward inclination angle values are smaller than a second threshold;
the first determining unit is used for determining that the well lid to be monitored is abnormal if the root mean square error of the current forward inclination angle value is smaller than the second threshold value, and the terminal of the well lid to be monitored sends alarm information.
8. A manhole cover abnormal movement monitoring device based on multi-data fusion filtering comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and is characterized in that the processor executes the program to realize the following steps:
obtaining an initial background angle value of the well lid to be monitored;
obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates;
performing Kalman filtering processing on the acceleration and angular rate sample set data;
calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing;
calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value;
obtaining a first threshold value;
judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value;
if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values;
obtaining a second threshold value;
judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not;
and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
9. A computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, carries out the steps of:
obtaining an initial background angle value of the well lid to be monitored;
obtaining a current acceleration and angular rate sample set of the well cover to be monitored, wherein the acceleration and angular rate sample set comprises a plurality of accelerations and corresponding angular rates;
performing Kalman filtering processing on the acceleration and angular rate sample set data;
calculating a corresponding current inclination angle value of the well lid to be monitored according to the accelerated speeds after the Kalman filtering processing;
calculating the absolute value of the difference between each of the current inclination angle values and the initial background angle value;
obtaining a first threshold value;
judging whether the absolute value of the difference value between each current forward inclination angle value and the initial background angle value is larger than the first threshold value;
if the absolute value of the difference between each current inclination angle value and the initial background angle value is larger than the first threshold value, calculating the root mean square error of a plurality of current inclination angle values;
obtaining a second threshold value;
judging whether the root mean square errors of a plurality of current inclination angle values are smaller than the second threshold value or not;
and if the root mean square error of the current front inclination angle values is smaller than the second threshold value, determining that the well lid to be monitored is abnormal, and sending alarm information by the well lid terminal to be monitored.
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