CN113834468A - Sightseeing vehicle driving route gradient measuring instrument based on real-time positioning technology - Google Patents
Sightseeing vehicle driving route gradient measuring instrument based on real-time positioning technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to a sightseeing vehicle running route gradient measuring instrument based on a real-time positioning technology. The system comprises a measuring host, an antenna and a handheld terminal, wherein the measuring host comprises a real-time differential positioning module, an inertial navigation module, a data processing circuit module, a lithium battery and an embedded touch screen computer, the antenna comprises a GSM antenna, a GNSS antenna and a Bluetooth antenna, and the handheld terminal can run data processing and display software. The invention is used for dynamically measuring the running gradient of the sightseeing vehicle in the whole running route, has the characteristics of portability, no installation and dynamic real-time measurement, realizes the positioning of dynamic centimeter-level precision and the measurement of running distance through the inertial navigation module and the real-time differential positioning module, can dynamically measure the running track of the vehicle and the gradient of each point in the track, and has the functions of gradient over-standard alarm, data report generation and track map display.
Description
Technical Field
The invention relates to a technology for measuring the gradient of a traveling route of a sightseeing vehicle (a sightseeing vehicle or a sightseeing train) during the inspection and detection of special equipment, in particular to a real-time positioning technology-based gradient measuring instrument for the traveling route of the sightseeing vehicle.
Background
The measurement of the traveling gradient of the tourist sightseeing vehicle in the scenic spot is the latest regulatory requirement in China, and no relevant regulation is provided before. A sightseeing vehicle or a sightseeing train in a scenic spot is special equipment, and belongs to special motor vehicles in a field (a factory) in a special equipment catalogue. The "special motor vehicle safety technology supervision regulations in the field (factory)" (TSG N0001-2017) officially implemented from 6/1/2017 stipulate: the maximum driving gradient of the sightseeing vehicle is not more than 10% (except for short slopes with the slope length of less than 20 m), the maximum driving gradient of the sightseeing train is not more than 4% (except for short slopes with the slope length of less than 20 m), and the 'operation environment inspection and the maximum gradient detection of the driving route' are required in the type test, the first inspection and the periodic inspection.
At present, the field detection method for the maximum gradient of a driving route comprises the following steps: firstly, a wheel-type distance meter and other instruments are adopted to confirm whether the slope length exceeds 20 meters, then laser measuring instruments (a level gauge, a total station, a special laser gradiometer and the like) are selected to measure whether the slope exceeds the standard by a definition method, and then simple measuring instruments (a horizontal ruler and the like) are selected to perform retesting on parts with particularly large local slopes. The defects of the existing detection method are obvious: the operation is complex, a plurality of detection instruments are required, and the detection efficiency is extremely low; meanwhile, due to the complexity of the real road conditions and various slope types, the detection accuracy cannot be guaranteed.
A patent of 'a slope measuring instrument for a traveling route of an off-highway tourist sightseeing vehicle' (CN 201810983463.2) was applied in 2018 by Dongguan detection institute of Special Equipment detection in Guangdong province. The instrument comprises an encoder, a measuring wheel, a magnet seat, a handheld terminal and the like, and can dynamically measure the gradient of the whole route in real time. During operation, the measuring wheel with the encoder needs to be installed on the vehicle body of the sightseeing vehicle, the encoder measuring wheel is made to be in contact with the wheel, the wheel rotates to drive the measuring wheel to rotate so as to measure the running distance of the vehicle, meanwhile, the real-time inclination angle of the vehicle is obtained through the inclination angle sensor, and the gradient information of the running route of the vehicle is obtained through combination of the inclination angle sensor and the real-time inclination angle of the vehicle, so that the dynamic measurement of the gradient of the running route is realized. The disadvantages are that: (1) the structure is complex and the number of parts is large; (2) when in use, the measuring wheel is required to be arranged on a wheel, and is easy to loosen in the long-time working process; (3) the inclination angle sensor is difficult to ensure to be consistent with the advancing direction of the vehicle, so that the measured inclination angle is slightly smaller than the actual angle, and the possibility of misjudgment is caused. (4) The tilt angle sensor is mostly used for measuring steady-state and large gradient, and when the vehicle climbs a slope, the horizontal movement is accompanied by pitching movement, and at the moment, the data of the tilt angle sensor can jump and disorder, so that the inclinometer is not suitable for gradient measurement in a moving state.
Disclosure of Invention
The invention aims to provide a sightseeing vehicle driving route gradient measuring instrument based on a real-time positioning technology, which solves the problems of the existing measuring technology and equipment, is a gradient measuring instrument which is designed according to the measuring requirements of new laws and regulations, is suitable for dynamic gradient measurement, and has the advantages of high accuracy, small volume, light weight, convenience in carrying, no need of installation and very simple operation.
The technical scheme of the invention is as follows:
the invention relates to a sightseeing vehicle driving route gradient measuring instrument based on a real-time positioning technology, which comprises a measuring host, an antenna and a handheld terminal, wherein the measuring host comprises a portable box-type shell, a real-time differential positioning module, an inertial navigation module, a data processing circuit, a lithium battery and an embedded touch screen computer are arranged in the shell, the inertial navigation module comprises an inertial measuring unit and an enhanced extended Kalman filter, the embedded touch screen computer is arranged on the shell of the host in an embedded mode, and a screen is exposed out of the surface of the shell; the output end of the real-time differential positioning module is connected to the input interface of the inertial navigation module, the output end of the inertial navigation module is connected to the input end of the data processing circuit board, the output end of the data processing circuit is connected to the input interface of the embedded touch screen computer, meanwhile, the data processing circuit is connected with the handheld terminal in a wireless mode, and the lithium battery supplies power to the real-time differential positioning module, the inertial navigation module, the data processing circuit and the embedded touch screen computer respectively; the data processing circuit includes input communication chip, ARM treater, output communication chip and wireless communication chip, and the communication chip that the output of inertial navigation module passes through the data processing circuit input connects the ARM treater, and the output of ARM treater is respectively through wireless communication chip and output communication chip connection handheld terminal and embedded touch-sensitive screen computer, the function of data processing circuit is: receiving attitude information (pitch angle and roll angle) and corrected position information (longitude and latitude coordinates) of the inertial navigation module, calculating to obtain a gradient, and sending the gradient and the position information to a touch screen computer (wired communication) and a handheld terminal (wireless communication); the real-time differential positioning module is connected with an external GSM antenna and a GNSS antenna which are arranged on the shell, the data processing circuit is connected with an external wireless communication antenna which is arranged on the shell, and a built-in wireless communication antenna is correspondingly arranged on the handheld terminal.
Furthermore, the real-time differential positioning module adopts a DOVE-E4-Plus type global navigation satellite system receiver; the receiver is a positioning terminal based on a real-time dynamic carrier phase differential technology, and real-time positioning accuracy of 2 cm can be obtained through 4G network FindCM RTK service.
Furthermore, the inertial navigation module adopts an Ellipse-E type sensor which is a small inertial navigation system and comprises an inertial measurement unit and an enhanced extended Kalman filter; the sensor can output real-time attitude and motion information, including a pitch angle, a roll angle, a course angle, acceleration and speed, when the sensor is externally connected with a real-time differential positioning module, the information of an inertial measurement unit and the information of the externally connected real-time differential positioning module can be fused through an internal extended Kalman filter, more accurate attitude, motion and position data can be obtained by calculating through a combined navigation algorithm, and the defect that a global navigation satellite system receiver is inaccurate in measurement under the conditions of satellite loss, shielding, interference and the like is overcome; the dynamic attitude angle precision reaches 0.1 degree, and the dynamic positioning precision reaches 1 centimeter.
Furthermore, the touch screen computer adopts an embedded touch screen integrated computer based on an ARM processor, the operating system is Android, application software required by operation is installed, and the input end of the touch screen integrated computer is connected with the output end of the data processing circuit. The handheld terminal is a tablet computer or a mobile phone based on an Android operating system. The required application software is installed.
The working principle and the working process of the invention are as follows:
the principle and the working flow of the invention are as follows: (see fig. 3 and 5) first, the real-time differential positioning module obtains centimeter-level real-time position information (longitude and latitude coordinates) through FindCM RTK positioning service of thousand-hunt position network limited. The module updates the longitude and latitude coordinate position information of the instrument at the frequency of 5Hz and transmits the longitude and latitude coordinate position information to the inertial navigation module.
The inertial navigation module updates the attitude and motion information (including pitch angle, roll angle, speed, acceleration and the like) of the instrument at the frequency of 100Hz and corrects the position information provided by the real-time differential positioning module through a combined navigation algorithm to obtain more accurate position information; and the corrected position information, the pitch angle and the roll angle are transmitted to a data processing circuit. The invention has the advantages that the application of the inertial navigation module: when the signal of the real-time differential positioning module is blocked or interfered to cause interruption, the inertial navigation module can automatically calculate in a short time to obtain position information with centimeter-level precision, so that the position information is not interrupted or suddenly changed.
The data processing circuit receives attitude information (pitch angle and roll angle) and corrected position information (longitude and latitude coordinates) of the inertial navigation module in a 232 wired communication mode, and calculates to obtain the gradient, wherein the calculation method of the gradient is as follows: the instrument has an orthogonal coordinate system (a pitch axis x, a roll axis y and an azimuth axis z), the inertial navigation module measures in real time to obtain a pitch angle and a roll angle (included angles of the pitch axis x and the roll axis y relative to a horizontal plane respectively), and the angle of the azimuth axis z relative to a plumb line can be obtained through calculation, wherein the angle is the maximum inclination angle of the instrument, namely the gradient of a driving route. After the gradient value is obtained through calculation, the data processing circuit module sends the gradient and the position information to a touch screen computer (232 wired communication) and a handheld terminal (Bluetooth wireless communication).
And after receiving the data sent by the data processing circuit, the handheld terminal or the touch screen computer calculates the running distance according to the gradient and the position information through an application program. The method for calculating the driving distance comprises the following steps: is provided with two intervals
At the time of second, the gradient at the time 1 is
In the position of
The gradient at time 2 is
In the position of
The gradient in these two moments is then
The running distance is
. The travel distance in the total travel time is therefore all
Sum of the distance traveled in the second time period.
Judging whether the gradient exceeds the standard: after the handheld terminal or the touch screen computer obtains the real-time gradient and the running distance through calculation of an application program, judging whether the gradient exceeds the standard or not every 1 second, wherein the judging mode is as follows: from this moment, whether the gradient values of all sampling points within 20 meters which have been continuously driven in the past exceed 10% (sightseeing bus) or 4% (sightseeing train) of the standard requirement, if there are points exceeding the standard, marking the points as unqualified, and simultaneously giving an audible alarm and marking the points as red in the driving track of the application program interface.
And (3) displaying data: the application program interface comprises a curve display part and a map display part, wherein the curve display part is a two-dimensional coordinate system, the travel distance is used as an abscissa, the gradient is used as an ordinate, the curve is drawn in real time along with the change of the sampling data, if the gradient is unqualified, the corresponding curve is displayed in red, and the qualified curve is displayed in green; the map display part displays the running track in a two-dimensional map, the running track with qualified gradient is displayed as green, and the running track with unqualified gradient is displayed as red.
And (4) reporting the data: after the measurement is finished, the application software generates a measurement data report, and the main contents of the report comprise: measuring the longitude and latitude position information of a starting point and a finishing point of a road section, measuring the average gradient of the road section, measuring the longitude and latitude information of the starting point and the finishing point of an overproof road section, the length of the overproof road section and the maximum and minimum gradients of the overproof road section.
The software design aspect of the invention is realized by adopting an Android eagle eye trajectory SDK software development kit of a Baidu map. The Baidu eagle eye is a track service development platform proposed by the existing Baidu map development platform. The platform can provide a complete set of complete track information services including track acquisition, track return, track cloud storage, track big data, track deviation correction, data analysis and the like. The Baidu eagle eye provides a complete set of complete development system including a WEB service API, an Android eagle eye trajectory SDK, eagle eye hardware products and the like. A program flow diagram for software development is shown in fig. 6.
The invention has the beneficial effects that:
(1) the device does not need to be installed, does not have accessories such as an external encoder and the like, can dynamically measure the running track of the vehicle and the gradient of each point in the track in real time only by placing the device on a sightseeing vehicle, is very simple and convenient for accurate data use, and has strong practicability and applicability;
(2) for the measurement of the running distance, a contact type encoder measuring wheel is abandoned, a real-time positioning mode is adopted, namely centimeter-level real-time positioning information is obtained through a real-time differential positioning module based on FindCM RTK service of a thousand-search position network limited company, the running distance of a horizontal plane is obtained through calculation according to the change of the seed position in the running process, and then the running distance on the slope is obtained according to the inclination angle.
(3) For the measurement of the gradient, a single-shaft inclination angle sensor is not adopted, but the gradient value is obtained by calculating the included angle between the orthogonal coordinate system (the pitch axis x, the roll axis y and the azimuth axis z) of the instrument and the horizontal plane, namely the inclination angles of the pitch axis x and the roll axis y are obtained through an inertial navigation module, and then the absolute angle of the advancing direction of the sightseeing vehicle in the three-dimensional space relative to the horizontal plane is obtained through calculation according to the two angles, namely the gradient of the driving route. The advantages of this method are: the measured grade is not affected regardless of the orientation to which the instrument is placed.
(4) For the anti-interference design of the positioning signals, an inertial navigation module is adopted. The principle is as follows: the longitude and latitude coordinate position information of the real-time differential positioning module is firstly transmitted to the inertial navigation module, the inertial navigation module measures the motion parameters (including speed, acceleration, pitch angle, roll angle and the like) of the instrument in real time, and the position information provided by the real-time differential positioning module is combined to obtain more accurate position information through an inertial navigation algorithm. When the signal of the real-time differential positioning module is blocked or interfered to cause interruption, the inertial navigation module can automatically calculate in a short time and ensure that the precision of the position information reaches the centimeter level, and the data mutation caused by the short-time terminal of the positioning information is avoided.
The invention provides a slope measuring instrument for a traveling route of a sightseeing vehicle, which is used for respectively measuring real-time position information and attitude information (comprising a pitch angle, a roll angle, a speed, an acceleration and the like) of the traveling of the vehicle by implementing a differential positioning technology and an inertial navigation technology and further obtaining the real-time traveling distance and the real-time slope information of the traveling of the vehicle by calculation by using a corresponding principle and a calculation formula. When the device is used, the device only needs to be placed on a sightseeing vehicle, so that the driving track of the vehicle, the gradient of each point in the track and the real-time driving distance can be dynamically measured in real time, an alarm can be immediately given and detailed detection data can be generated when the gradient of the driving route exceeds the standard, the device is a portable instrument which is simple to operate, and important technical support is provided for a using unit and an inspection unit of the sightseeing vehicle.
Drawings
Fig. 1 is an overall architecture diagram of an embodiment of the present invention.
Fig. 2 is an internal structural view of the embodiment of the present invention.
Fig. 3 is a schematic diagram of a system in accordance with an embodiment of the present invention.
Fig. 4 is a schematic diagram of a data processing circuit according to an embodiment of the invention.
Fig. 5 is a flow chart of the operation of an embodiment of the present invention.
Fig. 6 is a flowchart of the software for the surveying instrument according to the present invention.
The numbers in the figure are as follows: the method comprises the following steps of 1-measuring a host, 2-GSM antenna, 3-GNSS antenna, 4-Bluetooth antenna, 5-embedded touch screen computer, 6-handheld terminal, 7-real-time differential positioning module, 8-inertial navigation module, 9-data processing circuit and 10-lithium battery.
Detailed Description
The technical solutions of the embodiments of the present invention are further clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiment is one embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, in the embodiment of the present invention, a sightseeing vehicle traveling route gradient measuring instrument based on a real-time positioning technology comprises a measuring host 1, an antenna and a handheld terminal 6, wherein the measuring host 1 comprises a portable box-type housing, a real-time differential positioning module 7, an inertial navigation module 9, a data processing circuit 9 and a lithium battery 10 are installed in the housing, an embedded touch screen computer 5 is installed and embedded in the housing of the host 1, and a screen of the embedded touch screen computer is exposed out of the surface of the housing. The output end of the real-time differential positioning module 7 is connected to the input interface of the inertial navigation module 8, the output end of the inertial navigation module 8 is connected to the input end of the data processing circuit board 9, the output end of the data processing circuit 9 is connected to the input interface of the embedded touch screen computer 5, meanwhile, the data processing circuit 9 is connected with the handheld terminal 6 in a wireless mode, and the lithium battery 10 respectively supplies power to the real-time differential positioning module 7, the inertial navigation module 8, the data processing circuit 9 and the embedded touch screen computer 5. The inertial navigation module includes an inertial measurement unit and an enhanced extended kalman filter. The data processing circuit comprises an input end communication chip, an ARM processor, an output end communication chip and a wireless communication chip, the output end of the inertial navigation module is connected with the ARM processor through the communication chip at the input end of the data processing circuit, and the output of the ARM processor is connected with the handheld terminal and the embedded touch screen computer through the wireless communication chip and the output end communication chip respectively; the data processing circuit functions as: and receiving attitude information (pitch angle and roll angle) and corrected position information (longitude and latitude coordinates) of the inertial navigation module, calculating to obtain the gradient, and sending the gradient and the position information to a touch screen computer (232 for wired communication) and a handheld terminal (for Bluetooth wireless communication). The real-time differential positioning module 7 is provided with an external GSM antenna 2 and an external GNSS antenna 3, and the GSM antenna 2 and the GNSS antenna 3 are fixed on the host shell; the data processing circuit 9 is provided with an external Bluetooth antenna 4, the Bluetooth antenna 4 is fixed on the shell, and a built-in Bluetooth antenna is correspondingly arranged on the handheld terminal 6. The data processing circuit functions as: and receiving attitude information (pitch angle and roll angle) and corrected position information (longitude and latitude coordinates) of the inertial navigation module, calculating to obtain the gradient, and sending the gradient and the position information to a touch screen computer (232 for wired communication) and a handheld terminal (for Bluetooth wireless communication).
The real-time differential positioning module adopts a DOVE-E4-Plus type Global Navigation Satellite System (GNSS for short) receiver produced by Shanghai Zhishang Navigation technology Limited. The receiver is a positioning terminal based on a Real-Time dynamic carrier phase differential technology (RTK, Real Time Kinematic) technology, and Real-Time positioning accuracy of 2 cm can be obtained through a 4G network FindCM RTK service of a thousand-seek position network company Limited.
The Inertial Navigation module adopts an Ellipse-E type sensor produced by French SBG company, and the sensor is a small Inertial Navigation System (INS for short), and comprises an Inertial measurement unit and an enhanced extended Kalman filter. The sensor can output real-time attitude and motion information (a pitch angle, a roll angle, a course angle, acceleration, speed and the like), when the sensor is externally connected with a GNSS receiver, the information of an inertial measurement unit and the information of the GNSS receiver can be fused through an internal extended Kalman filter, more accurate attitude, motion and position data can be obtained by calculating through a combined navigation algorithm, and the defect that a Global Navigation Satellite System (GNSS) is inaccurate in measurement under the conditions of satellite loss, shielding, interference and the like is overcome. The dynamic attitude angle precision reaches 0.1 degree, and the dynamic positioning precision reaches 1 centimeter.
The touch screen computer adopts an embedded touch screen integrated computer based on an ARM processor, an operating system is Android, application software required by operation is installed, and the input end of the touch screen integrated computer is connected with the output end of a data processing circuit. The handheld terminal is a tablet computer or a mobile phone based on an Android operating system. The required application software is installed.
Referring to fig. 4, the model of the ARM processor of the data processing circuit module is STM32F103RCT6, the model of the 232 communication chip is MAX3232, and the model of the bluetooth module is CC 2541. The ARM processor receives data of the inertial navigation module through the 232 communication chip, sends the data to the touch screen computer through the other 232 chip, and sends the data to the handheld terminal through the Bluetooth communication module.
The working flow and principle of the invention are as follows with reference to fig. 3 and 5: firstly, the real-time differential positioning module obtains centimeter-level real-time position information (longitude and latitude coordinates) through FindCM RTK positioning service of Chikurt-Tan network Limited. The module updates the longitude and latitude coordinate position information of the instrument at the frequency of 5Hz and transmits the longitude and latitude coordinate position information to the inertial navigation module.
The inertial navigation module updates the attitude and motion information (including pitch angle, roll angle, speed, acceleration and the like) of the instrument at the frequency of 100Hz and corrects the position information provided by the real-time differential positioning module through a combined navigation algorithm to obtain more accurate position information; and the corrected position information, the pitch angle and the roll angle are transmitted to a data processing circuit. The invention has the advantages that the application of the inertial navigation module: when the signal of the real-time differential positioning module is blocked or interfered to cause interruption, the inertial navigation module can automatically calculate in a short time to obtain position information with centimeter-level precision, so that the position information is not interrupted or suddenly changed.
The data processing circuit receives attitude information (pitch angle and roll angle) and corrected position information (longitude and latitude coordinates) of the inertial navigation module in a 232 wired communication mode, and calculates to obtain the gradient, wherein the calculation method of the gradient is as follows: the instrument has an orthogonal coordinate system (a pitch axis x, a roll axis y and an azimuth axis z), the inertial navigation module measures in real time to obtain a pitch angle and a roll angle (included angles of the pitch axis x and the roll axis y relative to a horizontal plane respectively), and the angle of the azimuth axis z relative to a plumb line can be obtained through calculation, wherein the angle is the maximum inclination angle of the instrument, namely the gradient of a driving route. After the gradient value is obtained through calculation, the data processing circuit module sends the gradient and the position information to a touch screen computer (232 wired communication) and a handheld terminal (Bluetooth wireless communication).
And after receiving the data sent by the data processing circuit, the handheld terminal or the touch screen computer calculates the running distance according to the gradient and the position information through an application program. The method for calculating the driving distance comprises the following steps: is provided with two intervals
At the time of second, the gradient at the time 1 is
In the position of
The gradient at time 2 is
In the position of
The gradient in these two moments is then
The running distance is
. The travel distance in the total travel time is therefore all
Sum of the distance traveled in the second time period.
Judging whether the gradient exceeds the standard: after the handheld terminal or the touch screen computer obtains the real-time gradient and the running distance through calculation of an application program, judging whether the gradient exceeds the standard or not every 1 second, wherein the judging mode is as follows: from this moment, whether the gradient values of all sampling points within 20 meters which have been continuously driven in the past exceed 10% (sightseeing bus) or 4% (sightseeing train) of the standard requirement, if there are points exceeding the standard, marking the points as unqualified, and simultaneously giving an audible alarm and marking the points as red in the driving track of the application program interface.
And (3) displaying data: the application program interface comprises a curve display part and a map display part, wherein the curve display part is a two-dimensional coordinate system, the travel distance is used as an abscissa, the gradient is used as an ordinate, the curve is drawn in real time along with the change of the sampling data, if the gradient is unqualified, the corresponding curve is displayed in red, and the qualified curve is displayed in green; the map display part displays the running track in a two-dimensional map, the running track with qualified gradient is displayed as green, and the running track with unqualified gradient is displayed as red.
And (4) reporting the data: after the measurement is finished, the application software generates a measurement data report, and the main contents of the report comprise: measuring the longitude and latitude position information of a starting point and a finishing point of a road section, measuring the average gradient of the road section, measuring the longitude and latitude information of the starting point and the finishing point of an overproof road section, the length of the overproof road section and the maximum and minimum gradients of the overproof road section.
The flow chart of the software is shown in fig. 6, and the software design aspect is realized by adopting an Android eagle eye trajectory SDK software development kit of a Baidu map. The operation steps and contents of the program are as follows: an application program in an Android operating system running on an embedded touch screen computer and a handheld terminal waits for detection data (corrected position information and gradient) sent by a data processing circuit all the time; secondly, calculating the data after receiving the data to obtain the information of the driving distance and the gradient; thirdly, judging whether the standard exceeds the standard or not; fourthly, displaying a software interface and giving a sound alarm; fifthly, storing data; and finally returning to the first step to wait for detection data. The steps are executed circularly.
Claims (4)
1. The utility model provides a sightseeing vehicle route slope measuring apparatu that traveles based on real-time positioning technique which characterized in that: the measuring instrument comprises a measuring host, an antenna and a handheld terminal, wherein the measuring host comprises a portable box-type shell, a real-time differential positioning module, an inertial navigation module, a data processing circuit, a lithium battery and an embedded touch screen computer are arranged in the shell, the inertial navigation module comprises an inertial measuring unit and an enhanced extended Kalman filter, the embedded touch screen computer is arranged on the shell of the host in an embedded mode, and a screen is exposed out of the surface of the shell; the output end of the real-time differential positioning module is connected to the input interface of the inertial navigation module, the output end of the inertial navigation module is connected to the input end of the data processing circuit board, the output end of the data processing circuit is connected to the input interface of the embedded touch screen computer, meanwhile, the data processing circuit is connected with the handheld terminal in a wireless mode, and the lithium battery supplies power to the real-time differential positioning module, the inertial navigation module, the data processing circuit and the embedded touch screen computer respectively; the data processing circuit comprises an input end communication chip, an ARM processor, an output end communication chip and a wireless communication chip, the output end of the inertial navigation module is connected with the ARM processor through the communication chip at the input end of the data processing circuit, and the output of the ARM processor is connected with the handheld terminal and the embedded touch screen computer through the wireless communication chip and the output end communication chip respectively; the real-time differential positioning module is connected with an external GSM antenna and a GNSS antenna which are arranged on the shell, the data processing circuit is connected with an external wireless communication antenna which is arranged on the shell, and a built-in wireless communication antenna is correspondingly arranged on the handheld terminal.
2. The sightseeing vehicle traveling route gradient measuring instrument based on the real-time positioning technology as claimed in claim 1, wherein: the real-time differential positioning module adopts a DOVE-E4-Plus type global navigation satellite system receiver; the receiver is a positioning terminal based on a real-time dynamic carrier phase differential technology, and real-time positioning accuracy of 2 cm can be obtained through a FindCM RTK service of a mobile communication network.
3. The sightseeing vehicle traveling route gradient measuring instrument based on the real-time positioning technology as claimed in claim 1, wherein: the inertial navigation module adopts an Ellipse-E type sensor which is an inertial navigation system and comprises an inertial measurement unit and an enhanced extended Kalman filter; the sensor can output real-time attitude and motion information, including a pitch angle, a roll angle, a course angle, acceleration and speed, when the sensor is externally connected with a real-time differential positioning module, the information of an inertial measurement unit and the information of the externally connected real-time differential positioning module can be fused through an internal extended Kalman filter, more accurate attitude, motion and position data can be obtained by calculating through a combined navigation algorithm, and the defect that a global navigation satellite system receiver is inaccurate in measurement under the conditions of satellite loss, shielding, interference and the like is overcome; the dynamic attitude angle precision reaches 0.1 degree, and the dynamic positioning precision reaches 1 centimeter.
4. The sightseeing vehicle traveling route gradient measuring instrument based on the real-time positioning technology as claimed in claim 1, wherein: the embedded touch screen computer adopts an embedded touch screen integrated computer based on an ARM processor, and an operating system is Android; the handheld terminal is a tablet computer or a mobile phone based on an Android operating system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111111770.XA CN113834468A (en) | 2021-09-23 | 2021-09-23 | Sightseeing vehicle driving route gradient measuring instrument based on real-time positioning technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111111770.XA CN113834468A (en) | 2021-09-23 | 2021-09-23 | Sightseeing vehicle driving route gradient measuring instrument based on real-time positioning technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115727844A (en) * | 2022-09-01 | 2023-03-03 | 北京路凯智行科技有限公司 | Navigation positioning method for mining vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115727844A (en) * | 2022-09-01 | 2023-03-03 | 北京路凯智行科技有限公司 | Navigation positioning method for mining vehicle |
| CN115727844B (en) * | 2022-09-01 | 2023-06-30 | 北京路凯智行科技有限公司 | Navigation positioning method for mining vehicle |
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