CN112857317A - Remote inclination angle measurement system and method based on 5G mobile communication - Google Patents
Remote inclination angle measurement system and method based on 5G mobile communication Download PDFInfo
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- G—PHYSICS
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Abstract
The invention provides a remote dip angle measuring system and method based on 5G mobile communication, the system of the invention comprises: the angle measurement module, the 5G communication module and the power module. The angle measuring module is used for measuring a plane inclination angle and a rotating shaft; the 5G communication module is used for sending the measurement result of the angle measurement module to the cloud server through the 5G mobile communication network and receiving the control instruction; the power module is used for supplying power to the angle measuring module and the 5G communication module. The invention can measure the plane rotation axis and the rotation angle, reduces the installation difficulty, and simultaneously utilizes the 5G mobile communication network, can remotely monitor the angle measurement result in real time, greatly reduces the time delay and enhances the anti-interference capability.
Description
Technical Field
The invention relates to the technical field of 5G mobile communication, in particular to a remote inclination angle measuring system and method based on 5G mobile communication.
Background
In 6 months of 2019, the Ministry of industry and communications issues 5G license plates to four enterprises of China Mobile, China telecom, China Unicom and China radio and television, China formally steps into the 5G commercial Yuan year, the 5G commercial process is promoted comprehensively and rapidly, and 5G is used as a fifth generation mobile communication technology and has the characteristics of high bandwidth, low delay and wide connection. Most of the existing dip angle measuring devices are handheld terminals, manual operation is needed, remote deployment and real-time monitoring cannot be achieved, and a small amount of remote dip angle measuring devices based on the Internet of things have the problems of large time delay, low measuring frequency, high possibility of interference and the like. Meanwhile, most of the existing inclination angle measuring devices need to be parallel or vertical to the rotating shaft of the measured object, and the requirement on installation precision is high.
Disclosure of Invention
The invention aims to provide a remote inclination angle measuring system and method based on 5G mobile communication aiming at the defects of the prior art, and the system and method can remotely measure the inclination angle of planes such as an airplane control surface and the like through a 5G mobile communication network and monitor the change of the angle in real time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a remote inclination angle measuring system based on 5G mobile communication comprises an angle measuring module, a 5G communication module and a power supply module. The angle measurement module is used for measuring the plane inclination angle; the 5G communication module is used for sending the measurement result of the angle measurement module to the cloud server through a 5G mobile communication network and receiving a control instruction, and the angle measurement module is connected with the 5G communication module through a USB cable; the power module is used for supplying power to the angle measuring module and the 5G communication module.
Further, the angle measuring sensor comprises a 6-axis inertial sensor and a microprocessor; the 6-axis inertial sensor comprises a 3-axis accelerometer and a three-axis gyroscope; the inertial sensor is used for acquiring X, Y, Z the acceleration and the angular velocity of three axes; the microprocessor is used for processing the inertial sensor data in real time and obtaining the inclined angle and the rotating shaft of the lateral surface by using the acceleration and the angular speed. Meanwhile, the microprocessor forms a measurement data frame from the measurement result, sends the measurement data frame to the 5G communication module through the USB cable, and receives a control instruction frame from the 5G communication module.
Further, an SPI protocol is adopted for communication between an inertial sensor and a microprocessor in the angle measuring module, the microprocessor is communicated with the inertial sensor through the SPI protocol and is communicated with a 5G communication module through a USB2.0 protocol.
Furthermore, the microprocessor in the angle measurement module uses an FIR filter to preprocess the original data obtained from the inertial sensor, and uses a zero-speed detection algorithm and a variable parameter PI complementary filtering algorithm to fuse the angular speed and the acceleration data to obtain the inclination angle and the rotation axis of the measured plane, so that the method has the advantages of strong robustness and high response speed.
Further, the measurement data frame sent by the microprocessor to the 5G communication module in a communication mode comprises: a start field, an ID field, a data field, and an end field. The start field is used for calibrating the start of a data frame; the ID field is used to indicate the ID of the angle measurement sensor; the data field is used for bearing angle measurement information, electric quantity and other information; the end field is used to mark the end of the data frame.
Further, the control instruction frame received by the microprocessor from the 5G communication module comprises: a start field, an instruction field, and an end field. The initial field is used for calibrating the start of a control instruction frame; the instruction field is used for carrying control instructions including but not limited to stop/start sending data frames, entering/exiting a standby state; the end field is used for marking the end of the control instruction frame.
Furthermore, the 5G communication module supports multiple network protocols such as TCP, UDP and the like, is compatible with a 4G mobile communication network, has a data transparent transmission function, can receive data from the angle measurement module and transmit the data to the cloud server, and simultaneously receives a remote control instruction and transmits the data to the angle measurement module.
Furthermore, the 5G communication module comprises a 5G wireless data terminal, a 5G SIM card and a microcomputer, wherein the 5G SIM card is arranged in the 5G wireless data terminal, and the 5G wireless data terminal is connected with the microcomputer through a USB cable and adopts USB3.0 protocol for communication.
Further, the power module comprises a lithium battery, a voltage stabilizing circuit and a charging circuit, and the working mode is automatically selected according to whether an external power supply is connected.
The invention discloses a remote inclination angle measuring method based on 5G mobile communication, which is operated by adopting the system of the invention and comprises the following operation steps:
1) setting ID number and network communication protocol;
2) mounted on the plane to be measured
3) Initializing an angle measurement module: initializing peripheral equipment, initializing an IMU (inertial measurement Unit), initializing filter parameters, and standing to remove zero drift of a gyroscope;
4) the angle measurement module acquires the rotation angle to form a measurement data frame;
5) the 5G communication module sends the measurement data frame to a cloud server;
6) and obtaining an angle measurement result through an upper computer.
Compared with the prior art, the invention has the following obvious prominent substantive characteristics and remarkable technical progress:
1. the invention provides a remote dip angle measuring system and method based on 5G mobile communication, which can remotely deploy and remotely control a plane such as an airplane control surface by remotely measuring the dip angle of the plane through a 5G mobile communication network, can monitor a measured target in real time for a long time, can simultaneously control a plurality of devices and greatly reduce the manpower requirement;
2. the invention adopts high-speed communication protocol, and has the advantages of high response speed, low time delay, strong anti-interference capability, and strong robustness and real-time property. The invention can measure the rotating shaft and the rotating angle, and the installation does not need to be strictly parallel or vertical to the measured surface, thereby greatly reducing the installation cost.
Drawings
Fig. 1 is a general block diagram of the present invention.
FIG. 2 is a flow chart of the angle measurement module obtaining an angle in the present invention.
FIG. 3 is a schematic diagram of a 5G remote angle measurement device in one example.
FIG. 4 is a schematic diagram of an example application of multiple 5G remote angle measurement devices.
FIG. 5 is a schematic illustration of an aircraft control surface in one example.
Detailed Description
The invention will be described in further detail below with reference to the drawings and preferred embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
The first embodiment is as follows:
referring to fig. 1, the remote tilt angle measuring system based on 5G mobile communication includes: the angle measuring module 2, the 5G communication module 3 and the power supply module 1; the method is characterized in that: the angle measuring module 2 is used for measuring a plane inclination angle and a rotating shaft; the 5G communication module 3 is used for sending the measurement result of the angle measurement module 2 to a cloud server through a 5G mobile communication network and receiving a control instruction; the angle measuring module 2 and the 5G communication module 3 are connected through a USB cable; the power supply module 1 is used for supplying power to the angle measuring module 2 and the 5G communication module 3.
In the embodiment, the remote inclination angle measuring system based on 5G mobile communication measures the inclination angle of the plane such as the control plane of the airplane remotely through a 5G mobile communication network and monitors the change of the angle in real time.
Example two:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
referring to fig. 1-5, the angle measurement module 2 includes a 6-axis inertial sensor 2-1, and a microprocessor 2-2; the 6-axis inertial sensor comprises a 3-axis accelerometer and a three-axis gyroscope; the inertial sensor 2-1 is used for acquiring X, Y, Z the acceleration and the angular velocity of three axes; the microprocessor 2-2 is used for processing the inertial sensor data in real time to obtain the inclined angle and the rotating shaft of the side surface, and simultaneously sending a measurement data frame and receiving a control instruction frame to the 5G communication module 3 through the USB cable.
The inertial sensor 2-1 and the microprocessor 2-2 in the angle measurement module 2 are communicated by an SPI protocol, and the microprocessor 2-2 and the 5G communication module 3 are communicated by a USB2.0 protocol.
The microprocessor 2-2 in the angle measurement module 2 uses an FIR filter to preprocess the original data obtained from the inertial sensor 2-1, and uses a zero-speed detection algorithm and a variable parameter PI complementary filtering algorithm to fuse the angular speed and acceleration data to obtain the inclination angle and the rotating shaft of the measured plane.
Fig. 2 shows a specific working flow of the angle measuring module, and first, the microcontroller initializes the relevant peripherals such as the SPI, the timer, and the serial port. And secondly, operating the relevant registers of the inertial sensor through the SPI, configuring parameters such as a measurement range and the like, and initializing the parameters. And thirdly, initializing the PI complementary filter and setting relevant parameters. And fourthly, reading the angular velocity of each shaft of the inertial sensor for 1000 times under the static state of the sensor to obtain the angular velocity null shift. And fifthly, starting a timer to interrupt, wherein the interval time is1 ms. In the timer interrupt service function, firstly, the raw data of the inertial sensor is read, and after subtracting the angular velocity zero drift, the angular velocity and the acceleration of each shaft are filtered by using an FIR low-pass filter. And then detecting whether the plane to be detected stops rotating or not by using a zero-speed detection algorithm, if the rotation stops, using static PI complementary filter parameters, and if not, using dynamic PI complementary filter parameters. And finally, fusing the angular velocity and the acceleration by using a PI complementary filter to obtain a final angle measurement value, and sending the final angle measurement value to the 5G communication module through the USB.
The measurement data frame of the angle measurement module 2 includes:
a start field for calibrating a data frame start; an ID field for indicating an ID of the angle measurement module;
the data field is used for bearing information such as angle measurement results and electric quantity;
and an end field for calibrating the end of the data frame.
The control instruction frame of the angle measurement module 2 includes:
a start field for marking the start of a control instruction frame;
an instruction field for carrying control instructions including but not limited to stop/start sending data frames, enter/exit standby state;
and the end field is used for marking the end of the control instruction frame.
The microprocessor 2-2 in the angle measuring module 2 includes but is not limited to STM32 and DSP.
The 5G communication module 3 supports multiple network protocols of TCP and UDP, is compatible with a 4G mobile communication network, and has a data transparent transmission function.
The 5G communication module 3 comprises a 5G wireless data terminal 3-2, a 5G SIM card and a microcomputer 3-1, the 5G SIM card is arranged in the 5G wireless data terminal 3-2, and the 5G wireless data terminal 3-2 is connected with the microcomputer 3-1 through a USB3.0 protocol.
The microcomputer 3-1 in the 5G communication module 3 comprises but is not limited to RK3328 and raspberry group, and the 5G wireless data terminal 3-2 comprises but is not limited to MH5000 module.
The power module comprises a lithium battery, a voltage stabilizing circuit and a charging circuit, and can automatically select a working mode according to whether an external power supply is connected.
In the remote inclination angle measurement system based on 5G mobile communication, the inclination angle of the plane such as the control plane of the airplane is remotely measured through a 5G mobile communication network, so that the remote deployment and remote control can be realized, the target to be measured can be monitored in real time for a long time, a plurality of devices can be simultaneously controlled, and the manpower requirement is greatly reduced; the communication of the embodiment adopts a high-speed communication protocol, the measurement response speed is high, the time delay is low, the anti-interference capability is strong, and the robustness and the real-time performance are strong. The invention can measure the rotating shaft and the rotating angle, and the installation does not need to be strictly parallel or vertical to the measured surface, thereby greatly reducing the installation cost.
Example three:
this embodiment is substantially the same as the above embodiment, and is characterized in that:
a remote inclination angle measuring system based on 5G mobile communication comprises an angle measuring module 2, a 5G communication module 3 and a power supply module 1. For the angle measurement module 2, ADIS16465 is adopted as an inertial sensor 2-1 to provide three-axis angular velocity and three-axis acceleration original data, and STM32F103C8T6 is selected as a microcontroller 2-2; for the 5G communication module 3, an RK3328 chip is adopted as a microcomputer 3-1, an Huaqi MH5000 module is adopted as a 5G mobile data terminal 3-2, and a mobile 5G SIM card is adopted. The power module 1 stabilizes the voltage of the lithium battery at 5V for supplying power to the 5G communication module 3, and stabilizes the voltage at 3.3V for supplying power to the angle measurement module 2.
The angle measuring module 2 is connected with a microcomputer in the 5G communication module 3 by using a USB2.0 cable, and the 5G mobile data terminal 3-2 is connected with the microcomputer 3-1 by using a USB3.0 cable. In this example, fig. 3 shows a block diagram of a 5G remote angle measuring device formed by three modules and a housing.
Example four:
this embodiment is substantially the same as the above embodiment, and is characterized in that:
according to the embodiment, the measurement results of the 5G remote angle measurement devices can be collected, displayed, recorded and analyzed in real time through one handheld display terminal, and each 5G remote angle measurement device is subjected to function control.
The number of the main control surfaces on the airplane is more than 30, 5G remote angle measuring equipment can be installed on all the control surfaces to be measured and calibrated, the 5G remote angle measuring equipment can be monitored and controlled by using a handheld display terminal of the upper computer, the handheld display terminal is connected with a 5G network, and all the control surfaces of the airplane can be conveniently and quickly subjected to overall analysis to generate a measurement report.
For the first time, 5G remote angle measurement equipment is used, and a 5G communication module needs to be configured. Firstly, setting a device ID number, then setting protocols such as TCP/IP and UDP/IP for accessing the cloud server, and if TCP/IP is selected, setting whether the server or the client is required.
The measurement data frame sent by the 5G remote angle measurement device to the cloud server in the selected communication mode comprises the following four fields:
a start field: for calibration data frame start.
ID field: for indicating the ID of the angle measuring sensor.
Data field: the method is used for bearing information such as angle information, electric quantity, signal strength and the like.
End field: for calibrating the end of the data frame.
The control instruction frame received by the 5G remote angle measuring equipment through the selected communication mode and sent by the cloud server comprises the following three fields:
a start field: for calibration control command frame start.
An instruction field: for carrying control instructions including, but not limited to, stop/start sending data frames, enter/defer standby state.
End field: and ending the control instruction frame.
And the 5G remote angle measuring equipment executes corresponding functional operation after receiving the instruction.
According to the remote inclination angle measuring method based on the 5G mobile communication, the inclination angle of the plane such as the airplane control surface is measured remotely through the 5G mobile communication network, remote deployment and remote control can be achieved, a target to be measured can be monitored in real time for a long time, multiple devices can be controlled simultaneously, and the manpower requirement is greatly reduced.
Example five:
the embodiment also comprises an upper computer with a concise and friendly interface. The upper computer comprises two schemes of webpage application realized based on PHP and windows application realized based on QT, the functions of the two schemes are the same, and the upper computer can run on handheld display terminals such as a notebook computer and a tablet according to actual conditions.
After the upper computer remotely obtains the measurement data frame from the cloud server, the measurement data frame is analyzed, and data such as measurement data, ID, electric quantity, wireless signal intensity and the like of the 5G remote angle measurement equipment can be obtained. And the upper computer respectively visualizes the data in corresponding windows according to the ID in the obtained data frame, and draws a real-time angle change curve.
The upper computer can flexibly and remotely control single or a plurality of 5G remote angle measuring devices, has control function buttons of starting, connecting, disconnecting, running, stopping and the like, clicks the corresponding function button, and sends a control instruction frame to the specified 5G remote angle measuring device.
It is to be noted that the above description is only a preferred embodiment of the present invention and the technical principles used. The present invention is not limited to the specific embodiments described herein, and variations, rearrangements, and modifications within the skill of the art may be made without departing from the principles of the invention and should be considered as within the scope of the invention.
Claims (12)
1. A remote dip angle measuring system based on 5G mobile communication comprises an angle measuring module (2), a 5G communication module (3) and a power supply module (1); the method is characterized in that: the angle measuring module (2) is used for measuring a plane inclination angle and a rotating shaft; the 5G communication module (3) is used for sending the measurement result of the angle measurement module (2) to the cloud server through the 5G mobile communication network and receiving a control instruction; the angle measuring module (2) is connected with the 5G communication module (3) through a USB cable; the power supply module (1) is used for supplying power to the angle measuring module (2) and the 5G communication module (3).
2. The remote tilt angle measurement system based on 5G mobile communication according to claim 1, wherein: the angle measurement module (2) comprises a 6-axis inertial sensor (2-1) and a microprocessor (2-2); the 6-axis inertial sensor comprises a 3-axis accelerometer and a three-axis gyroscope; the inertial sensor (2-1) is used for acquiring X, Y, Z the acceleration and the angular velocity of three axes; the microprocessor (2-2) is used for processing the inertial sensor data in real time to obtain the inclined angle and the rotating shaft of the side face, and simultaneously sending a measurement data frame and receiving a control instruction frame to the 5G communication module (3) through the USB cable.
3. The remote tilt angle measurement system based on 5G mobile communication according to claim 2, wherein: an SPI protocol is adopted for communication between the inertial sensor (2-1) and the microprocessor (2-2) in the angle measuring module (2), and a USB2.0 protocol is adopted for communication between the microprocessor (2-2) and the 5G communication module (3).
4. The remote tilt angle measurement system based on 5G mobile communication according to claim 2, wherein: and a microprocessor (2-2) in the angle measurement module (2) uses an FIR filter to preprocess original data obtained from the inertial sensor (2-1), and uses a zero-speed detection algorithm and a variable parameter PI complementary filtering algorithm to fuse angular speed and acceleration data to obtain the inclination angle and the rotating shaft of the measured plane.
5. The remote tilt angle measurement system based on 5G mobile communication according to claim 2, wherein: the measurement data frame of the angle measurement module (2) comprises:
a start field for calibrating a data frame start; an ID field for indicating an ID of the angle measurement module;
the data field is used for bearing information such as angle measurement results and electric quantity;
and an end field for calibrating the end of the data frame.
6. The remote tilt angle measurement system based on 5G mobile communication according to claim 2, wherein: the control instruction frame of the angle measurement module (2) comprises:
a start field for marking the start of a control instruction frame;
an instruction field for carrying control instructions including but not limited to stop/start sending data frames, enter/exit standby state;
and the end field is used for marking the end of the control instruction frame.
7. The remote tilt angle measurement system based on 5G mobile communication according to claim 2, wherein: the microprocessor (2-2) in the angle measuring module (2) comprises but is not limited to STM32 and DSP.
8. The remote tilt angle measurement system based on 5G mobile communication according to claim 1, wherein: the 5G communication module (3) supports multiple network protocols of TCP and UDP, is compatible with a 4G mobile communication network, and has a data transparent transmission function.
9. The remote tilt angle measurement system based on 5G mobile communication of claim 8, wherein: the 5G communication module (3) comprises a 5G wireless data terminal (3-2), a 5G SIM card and a microcomputer (3-1), wherein the 5G SIM card is arranged in the 5G wireless data terminal (3-2), and the 5G wireless data terminal (3-2) is connected with the microcomputer (3-1) through a USB3.0 protocol.
10. The remote tilt angle measurement system based on 5G mobile communication of claim 8, wherein: the microcomputer (3-1) in the 5G communication module (3) comprises but is not limited to RK3328 and Raspberry pie, and the 5G wireless data terminal (3-2) comprises but is not limited to Huashi MH5000 module.
11. The remote tilt angle measurement system based on 5G mobile communication according to claim 1, wherein: the power module comprises a lithium battery, a voltage stabilizing circuit and a charging circuit, and can automatically select a working mode according to whether an external power supply is connected.
12. A remote tilt angle measuring system based on 5G mobile communication, which is operated by the remote tilt angle measuring system based on 5G mobile communication according to claim 1, and is operated by the following steps:
1) setting ID number and network communication protocol;
2) mounted on the plane to be measured
3) Initializing an angle measurement module: initializing peripheral equipment, initializing an IMU (inertial measurement Unit), initializing filter parameters, and standing to remove zero drift of a gyroscope;
4) the angle measurement module acquires the rotation angle to form a measurement data frame;
5) the 5G communication module sends the measurement data frame to a cloud server;
6) and obtaining an angle measurement result through an upper computer.
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| US20180208312A1 (en) * | 2016-11-07 | 2018-07-26 | ZipAir SAS | Systems and methods for improved flight control |
| CN109211190A (en) * | 2018-06-08 | 2019-01-15 | 北京鼎致远科技发展有限公司 | A kind of shaft tower tilt angle monitoring device based on NB-IoT network |
| CN109238549A (en) * | 2018-10-18 | 2019-01-18 | 湖南启泰传感科技有限公司 | A kind of outdoor fire hydrant hydraulic pressure real-time monitoring device |
| CN111811476A (en) * | 2020-08-06 | 2020-10-23 | 贵州电网有限责任公司 | Online three-dimensional tower inclination angle and torsion angle monitoring system and method |
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2020
- 2020-12-11 CN CN202011459207.7A patent/CN112857317A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2738204Y (en) * | 2005-03-10 | 2005-11-02 | 高国伟 | Tilt angle measuring apparatus |
| US20180208312A1 (en) * | 2016-11-07 | 2018-07-26 | ZipAir SAS | Systems and methods for improved flight control |
| CN109211190A (en) * | 2018-06-08 | 2019-01-15 | 北京鼎致远科技发展有限公司 | A kind of shaft tower tilt angle monitoring device based on NB-IoT network |
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