CN113932763A - Geomagnetic vehicle inspection device posture health monitoring system and method and geomagnetic vehicle inspection device - Google Patents
Geomagnetic vehicle inspection device posture health monitoring system and method and geomagnetic vehicle inspection device Download PDFInfo
- Publication number
- CN113932763A CN113932763A CN202111123457.8A CN202111123457A CN113932763A CN 113932763 A CN113932763 A CN 113932763A CN 202111123457 A CN202111123457 A CN 202111123457A CN 113932763 A CN113932763 A CN 113932763A
- Authority
- CN
- China
- Prior art keywords
- vehicle detector
- attitude
- geomagnetic vehicle
- geomagnetic
- health monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000036541 health Effects 0.000 title claims abstract description 50
- 238000012544 monitoring process Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000007689 inspection Methods 0.000 title description 9
- 238000005259 measurement Methods 0.000 claims abstract description 53
- 238000012545 processing Methods 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000004927 fusion Effects 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 claims description 15
- 238000001228 spectrum Methods 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 5
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
Abstract
The invention discloses a geomagnetic vehicle detector, and a geomagnetic vehicle detector posture health monitoring system and a geomagnetic vehicle detector posture health monitoring method, wherein the posture health monitoring system comprises: the attitude measurement module and the processing module; the attitude measurement module is used for acquiring attitude information of the geomagnetic vehicle detector in real time; the processing module is connected with the attitude measuring module and used for realizing vibration detection and attitude calculation through fast Fourier transform and a data fusion algorithm. According to the geomagnetic vehicle detector, the geomagnetic vehicle detector posture health monitoring system and the geomagnetic vehicle detector posture health monitoring method, the geomagnetic vehicle detector is subjected to real-time posture detection, the health state of the geomagnetic vehicle detector is monitored, so that abnormal conditions of the geomagnetic vehicle detector can be acquired in time, and continuous and normal work of equipment is guaranteed.
Description
Technical Field
The invention belongs to the technical field of electronic information, relates to a geomagnetic vehicle detector, and particularly relates to a system and a method for monitoring the posture health of a geomagnetic vehicle detector.
Background
With the rapid increase of the automobile holding capacity in China, the difficulty in parking becomes a main problem of driving and going out in most cities, the real-time detection of the state of a parking space and the realization of intelligent management of the parking lot are the key to solve the problem.
The geomagnetic parking space detector taking the magnetic resistance sensor as a basic element is small in size, high in detection precision, strong in environmental adaptability and simple and easy to install, is an important link for developing an intelligent parking lot system, and is not lack of phenomena of theft and human grinding damage of the geomagnetic vehicle detector due to the fact that the current parking lot is provided with roadside open parking spaces.
The existing geomagnetic vehicle inspection device is usually statically arranged at the center of a parking space, so that the risk of theft or artificial rolling damage exists, and the change of attitude information can be caused by theft or rolling.
In view of the above, there is an urgent need to design a new geomagnetic vehicle inspection device so as to overcome at least some of the above-mentioned disadvantages of the existing geomagnetic vehicle inspection devices.
Disclosure of Invention
The invention provides a geomagnetic vehicle detector, and a geomagnetic vehicle detector posture health monitoring system and a geomagnetic vehicle detector posture health monitoring method.
In order to solve the technical problem, according to one aspect of the present invention, the following technical solutions are adopted:
a geo-magnetic vehicle detector attitude health monitoring system, the attitude health monitoring system comprising:
the attitude measurement module is used for acquiring attitude information of the geomagnetic vehicle detector in real time;
and the processing module is connected with the attitude measuring module and used for realizing vibration detection and attitude calculation through fast Fourier transform and a data fusion algorithm.
As an embodiment of the present invention, the attitude measurement module includes an inertial measurement unit IMU, configured to acquire acceleration, velocity, and displacement information of the geomagnetic vehicle detector.
As an embodiment of the present invention, the processing module includes a fast fourier transform unit, configured to perform fast fourier transform FFT processing on the attitude information, convert the vibration acceleration signal into a frequency spectrum signal, and extract a vibration frequency and amplitude from the frequency spectrum signal for implementing vibration detection.
As an embodiment of the present invention, the processing module includes an attitude angle obtaining unit, and the data obtained by the attitude calculation by the attitude angle obtaining unit includes an attitude angle result; the attitude angle result obtained by the attitude angle obtaining unit comprises a pitch angle, a roll angle and a course angle;
the geomagnetic vehicle detector comprises a magnetic resistance sensor, and the attitude angle acquisition unit is connected with the magnetic resistance sensor and can acquire data sensed by the magnetic resistance sensor;
and the attitude angle acquisition unit calculates and obtains an attitude angle result by using the data sensed by the magnetoresistive sensor and the data acquired by the inertial measurement unit IMU in the attitude measurement module through a data fusion algorithm.
As an embodiment of the present invention, the processing module includes a data fusion unit, configured to perform the following processes:
when the geomagnetic vehicle detector is static in the geographic coordinate system, the gravity vector measured by the accelerometer in the inertial measurement unit is [ 00 g%]TThe magnetic resistance sensor measures the geomagnetic vector as
When the geomagnetic vehicle detector is in any attitude, the measured values of the accelerometer and the magnetic resistance sensor under the body coordinate system are respectively expressed as
And
using a rotation matrix
And converting the gravity vector and the geomagnetic vector under the geographic coordinate system into a machine body coordinate system, and solving a pitch angle, a roll angle and a course angle.
As an embodiment of the present invention, the processing module includes a measurement basis determining unit to perform an initial calibration of the inertial measurement unit IMU before the attitude calculation to determine a measurement basis of the attitude angle;
the calibration steps of the inertial measurement unit IMU are as follows: installing an inertia measurement unit IMU on a three-axis position rate turntable through a special tool, turning the IMU at different n positions, keeping the set time at each position, namely sequentially upwards and downwards arranging X, Y, Z axes of the inertia measurement unit IMU, and measuring for 2 times in each axial direction, wherein the difference of 2 times is that the position rotates 180 degrees around the sky direction, and the output average value of the inertia measurement unit IMU at different rotating positions is solved; and solving the IMU error parameter estimation value of the inertial measurement unit by a least square method by using the measured n groups of data.
As an embodiment of the present invention, the processing module includes:
the vibration detection unit is used for judging whether the geomagnetic vehicle detector has the phenomena of manual driving and rolling and intentional breaking;
and the attitude calculating unit is used for judging whether the current state of the geomagnetic vehicle detector is possible to be stolen.
As an embodiment of the present invention, the posture health monitoring system further includes a communication module, and the processing module is connected to the communication module; the processing module sends set data to the server or/and the external terminal through the communication module;
the processing module sends the attitude angle result and the health state of the geomagnetic vehicle detector to the server or/and the external terminal in a wireless transmission mode through the wireless communication module;
the wireless communication module adopts an LoRa or NB-IoT wireless communication technology and supports low power consumption and long-distance transmission.
According to another aspect of the invention, the following technical scheme is adopted: a geomagnetic vehicle detector comprises the geomagnetic vehicle detector posture health monitoring system.
According to another aspect of the invention, the following technical scheme is adopted: a method for monitoring the posture health of a geomagnetic vehicle detector comprises the following steps:
step S1, initializing the system;
step S2, an inertial measurement unit IMU in the attitude measurement module collects information such as acceleration, speed and displacement of the geomagnetic vehicle detector and sends the information to a processing module;
step S3, the processing module carries out Fast Fourier Transform (FFT) processing on the acceleration data in the attitude information and converts the vibration acceleration signal into a frequency spectrum signal;
step S4, the processing module extracts vibration frequency and amplitude from the frequency spectrum signal and calculates an attitude angle by using a data fusion algorithm;
step S5, the processing module judges whether the geomagnetic vehicle detector has the phenomena of artificial driving and rolling and intentional chiseling damage through the vibration frequency and the amplitude, judges whether the current state of the geomagnetic vehicle detector has the possibility of being stolen according to the attitude angle result, if yes, the step S6 is executed, otherwise, the step S2 is executed again;
and step S6, the wireless communication module reports the posture health state of the geomagnetic vehicle detector and returns to the step S2.
The invention has the beneficial effects that: according to the geomagnetic vehicle detector, the geomagnetic vehicle detector posture health monitoring system and the geomagnetic vehicle detector posture health monitoring method, the geomagnetic vehicle detector is subjected to real-time posture detection, the health state of the geomagnetic vehicle detector is monitored, so that abnormal conditions of the geomagnetic vehicle detector can be acquired in time, and continuous and normal work of equipment is guaranteed.
Drawings
Fig. 1 is a schematic diagram illustrating a health monitoring system for geomagnetic vehicle inspection equipment posture according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a configuration of a geomagnetic vehicle detector posture health monitoring system in an embodiment of the present invention.
Fig. 3 is a flowchart of a geomagnetic vehicle detector posture health monitoring method in an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For a further understanding of the invention, reference will now be made to the preferred embodiments of the invention by way of example, and it is to be understood that the description is intended to further illustrate features and advantages of the invention, and not to limit the scope of the claims.
The description in this section is for several exemplary embodiments only, and the present invention is not limited only to the scope of the embodiments described. It is within the scope of the present disclosure and protection that the same or similar prior art means and some features of the embodiments may be interchanged.
The steps in the embodiments in the specification are only expressed for convenience of description, and the implementation manner of the present application is not limited by the order of implementation of the steps. The term "connected" in the specification includes both direct connection and indirect connection.
The invention discloses a posture health monitoring system of a geomagnetic vehicle detector, and fig. 1 and 2 are schematic composition diagrams of the posture health monitoring system of the geomagnetic vehicle detector in an embodiment of the invention; referring to fig. 1 and 2, the posture health monitoring system includes: attitude measurement module 1 and processing module 2. The attitude measurement module 1 is used for acquiring attitude information of the geomagnetic vehicle detector in real time; the processing module 2 is connected with the attitude measuring module 1 and used for realizing vibration detection and attitude calculation through fast Fourier transform and a data fusion algorithm.
In an embodiment of the present invention, the attitude measurement module 1 includes an inertial measurement unit IMU 11, configured to acquire acceleration, speed, and displacement information of the geomagnetic vehicle detector.
In an embodiment of the present invention, the processing module 2 includes a fast fourier transform unit 21, configured to perform a fast fourier transform FFT processing on the posture information, convert the vibration acceleration signal into a frequency spectrum signal, and extract a vibration frequency and a vibration amplitude from the frequency spectrum signal for implementing vibration detection.
In an embodiment of the present invention, the processing module 2 includes an attitude angle obtaining unit 22, and the data obtained by the attitude angle obtaining unit 22 through the attitude calculation includes an attitude angle result; the attitude angle result obtained by the attitude angle obtaining unit 22 includes a pitch angle, a roll angle, and a heading angle. The geomagnetic vehicle inspection device 3 includes a magnetic resistance sensor 31, the attitude angle acquisition unit 22 is connected to the magnetic resistance sensor 31, and can acquire data sensed by the magnetic resistance sensor. The attitude angle obtaining unit 22 calculates and obtains an attitude angle result by using data sensed by the magnetoresistive sensor 31 and data acquired by the inertial measurement unit IMU 11 in the attitude measurement module 1 through a data fusion algorithm.
In an embodiment of the present invention, the processing module 2 may further include a data fusion unit 23, where the data fusion unit 23 is configured to perform the following processes:
when the geomagnetic vehicle detector is static in the geographic coordinate system, the gravity vector measured by the accelerometer in the inertial measurement unit is [ 00 g%]TThe magnetic resistance sensor measures the geomagnetic vector as
When the geomagnetic vehicle detector is in any attitude, the measured values of the accelerometer and the magnetic resistance sensor under the body coordinate system are respectively expressed as
And
using a rotation matrix
Will be in geographic coordinate systemAnd converting the gravity vector and the geomagnetic vector into a coordinate system of the machine body, and solving a pitch angle, a roll angle and a heading angle.
In an embodiment of the invention, the processing module 2 further comprises a measurement reference determining unit 24, and the measurement reference determining unit 24 is configured to perform an initial calibration of the inertial measurement unit IMU 11 before the attitude calculation to determine a measurement reference of the attitude angle.
The calibration steps of the inertial measurement unit IMU 11 are as follows: installing an inertial measurement unit IMU on a three-axis position rate turntable through a special tool, turning the IMU at different n positions, keeping set time (sampling data at 100Hz for more than 1 min; or collecting data for 3min at a sampling frequency of 50 Hz), namely sequentially upwards and downwards arranging X, Y, Z axes of the inertial measurement unit IMU, measuring 2 times in each axial direction, wherein the difference of 2 times is that the positions rotate 180 degrees around the antenna direction, and calculating the output average value of the inertial measurement unit IMU at different rotating positions; and solving the IMU error parameter estimation value of the inertial measurement unit by a least square method by using the measured n groups of data. The common navigation coordinate system for inertial navigation is a northeast coordinate system, the X axis points to the east, the Y axis points to the north, and the Z axis points to the zenith.
In an embodiment of the present invention, the processing module 2 further includes a vibration detection unit 25 and an attitude calculation unit 26, where the vibration detection unit 25 is configured to determine whether the geomagnetic vehicle detector has the phenomena of artificial driving and rolling and intentional breaking; the attitude calculation unit 26 is used for judging whether the current state of the geomagnetic vehicle detector has the possibility of being stolen.
In an embodiment of the present invention, the posture health monitoring system further includes a communication module 4, and the processing module is connected to the communication module; and the processing module sends the setting data to the server or/and the external terminal through the communication module. The communication module 4 can be a wireless communication module, and the processing module sends the attitude angle result and the health state of the geomagnetic vehicle detector to the server or/and the external terminal in a wireless transmission mode through the wireless communication module. In one embodiment, the wireless communication module supports low power consumption and long-distance transmission by adopting an LoRa or NB-IoT wireless communication technology.
The invention also discloses a geomagnetic vehicle detector, which comprises the geomagnetic vehicle detector posture health monitoring system.
The invention further discloses a method for monitoring the posture health of the geomagnetic vehicle detector, and fig. 3 is a flow chart of the method for monitoring the posture health of the geomagnetic vehicle detector in one embodiment of the invention; referring to fig. 3, the geomagnetic vehicle detector posture health monitoring method includes the following steps:
step S1, initializing the system;
step S2, an inertial measurement unit IMU in the attitude measurement module collects information such as acceleration, speed and displacement of the geomagnetic vehicle detector and sends the information to a processing module;
step S3, the processing module carries out Fast Fourier Transform (FFT) processing on the acceleration data in the attitude information and converts the vibration acceleration signal into a frequency spectrum signal;
step S4, the processing module extracts vibration frequency and amplitude from the frequency spectrum signal and calculates an attitude angle by using a data fusion algorithm;
step S5, the processing module judges whether the geomagnetic vehicle detector has the phenomena of artificial driving and rolling and intentional chiseling damage through the vibration frequency and the amplitude, judges whether the current state of the geomagnetic vehicle detector has the possibility of being stolen according to the attitude angle result, if yes, the step S6 is executed, otherwise, the step S2 is executed again;
and step S6, the wireless communication module reports the posture health state of the geomagnetic vehicle detector and returns to the step S2.
In summary, the geomagnetic vehicle detector, and the geomagnetic vehicle detector posture health monitoring system and method provided by the invention can monitor the health state of the geomagnetic vehicle detector by performing real-time posture detection on the geomagnetic vehicle detector, so as to timely acquire the abnormal condition of the geomagnetic vehicle detector and ensure that the equipment continuously and normally works.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware; for example, it may be implemented using Application Specific Integrated Circuits (ASICs), general purpose computers, or any other similar hardware devices. In some embodiments, the software programs of the present application may be executed by a processor to implement the above steps or functions. As such, the software programs (including associated data structures) of the present application can be stored in a computer-readable recording medium; such as RAM memory, magnetic or optical drives or diskettes, and the like. In addition, some steps or functions of the present application may be implemented using hardware; for example, as circuitry that cooperates with the processor to perform various steps or functions.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The description and applications of the invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Effects or advantages referred to in the embodiments may not be reflected in the embodiments due to interference of various factors, and the description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.
Claims (10)
1. A ground magnet vehicle detector attitude health monitoring system, characterized in that, attitude health monitoring system includes:
the attitude measurement module is used for acquiring attitude information of the geomagnetic vehicle detector in real time;
and the processing module is connected with the attitude measuring module and used for realizing vibration detection and attitude calculation through fast Fourier transform and a data fusion algorithm.
2. The geomagnetic vehicle detector posture health monitoring system according to claim 1, wherein:
the attitude measurement module comprises an inertial measurement unit IMU (inertial measurement unit) and is used for acquiring acceleration, speed and displacement information of the geomagnetic vehicle detector.
3. The geomagnetic vehicle detector posture health monitoring system according to claim 1, wherein:
the processing module comprises a fast Fourier transform unit and is used for carrying out Fast Fourier Transform (FFT) processing on the attitude information, converting the vibration acceleration signal into a frequency spectrum signal and extracting vibration frequency and amplitude from the frequency spectrum signal for realizing vibration detection.
4. The geomagnetic vehicle detector posture health monitoring system according to claim 2, wherein:
the processing module comprises an attitude angle acquisition unit, and the attitude angle acquisition unit is used for acquiring data obtained by attitude calculation and comprises an attitude angle result; the attitude angle result obtained by the attitude angle obtaining unit comprises a pitch angle, a roll angle and a course angle;
the geomagnetic vehicle detector comprises a magnetic resistance sensor, and the attitude angle acquisition unit is connected with the magnetic resistance sensor and can acquire data sensed by the magnetic resistance sensor;
and the attitude angle acquisition unit calculates and obtains an attitude angle result by using the data sensed by the magnetoresistive sensor and the data acquired by the inertial measurement unit IMU in the attitude measurement module through a data fusion algorithm.
5. The geomagnetic vehicle detector posture health monitoring system according to claim 4, wherein:
the processing module comprises a data fusion unit and is used for executing the following processes:
addition in inertial measurement unit when geomagnetic vehicle detector is stationary in geographic coordinate systemThe gravity vector measured by the speedometer is [ 00 g ]]TThe magnetic resistance sensor measures the geomagnetic vector as
When the geomagnetic vehicle detector is in any attitude, the measured values of the accelerometer and the magnetic resistance sensor under the body coordinate system are respectively expressed as
And
using a rotation matrix
And converting the gravity vector and the geomagnetic vector under the geographic coordinate system into a machine body coordinate system, and solving a pitch angle, a roll angle and a course angle.
6. The geomagnetic vehicle detector posture health monitoring system according to claim 4, wherein:
the processing module comprises a measurement reference determination unit to perform an initial calibration of an inertial measurement unit, IMU, prior to attitude resolution to determine a measurement reference for attitude angles;
the calibration steps of the inertial measurement unit IMU are as follows: installing an inertia measurement unit IMU on a three-axis position rate turntable through a special tool, turning the IMU at different n positions, keeping the set time at each position, namely sequentially upwards and downwards arranging X, Y, Z axes of the inertia measurement unit IMU, and measuring for 2 times in each axial direction, wherein the difference of 2 times is that the position rotates 180 degrees around the sky direction, and the output average value of the inertia measurement unit IMU at different rotating positions is solved; and solving the IMU error parameter estimation value of the inertial measurement unit by a least square method by using the measured n groups of data.
7. The geomagnetic vehicle detector posture health monitoring system according to claim 1, wherein:
the processing module comprises:
the vibration detection unit is used for judging whether the geomagnetic vehicle detector has the phenomena of manual driving and rolling and intentional breaking;
and the attitude calculating unit is used for judging whether the current state of the geomagnetic vehicle detector is possible to be stolen.
8. The geomagnetic vehicle detector posture health monitoring system according to claim 1, wherein:
the posture health monitoring system further comprises a communication module, and the processing module is connected with the communication module; the processing module sends set data to the server or/and the external terminal through the communication module;
the processing module sends the attitude angle result and the health state of the geomagnetic vehicle detector to the server or/and the external terminal in a wireless transmission mode through the wireless communication module;
the wireless communication module adopts an LoRa or NB-IoT wireless communication technology and supports low power consumption and long-distance transmission.
9. A kind of earth magnet car detector, characterized by: the geomagnetic vehicle detector posture health monitoring system according to any one of claims 1 to 8.
10. A method for monitoring the posture health of a geomagnetic vehicle detector is characterized by comprising the following steps:
step S1, initializing the system;
step S2, an inertial measurement unit IMU in the attitude measurement module collects acceleration, speed and displacement information of the geomagnetic vehicle detector and sends the information to a processing module;
step S3, the processing module carries out Fast Fourier Transform (FFT) processing on the acceleration data in the attitude information and converts the vibration acceleration signal into a frequency spectrum signal;
step S4, the processing module extracts vibration frequency and amplitude from the frequency spectrum signal and calculates an attitude angle by using a data fusion algorithm;
step S5, the processing module judges whether the geomagnetic vehicle detector has the phenomena of artificial driving and rolling and intentional chiseling damage through the vibration frequency and the amplitude, judges whether the current state of the geomagnetic vehicle detector has the possibility of being stolen according to the attitude angle result, if yes, the step S6 is executed, otherwise, the step S2 is executed again;
and step S6, the wireless communication module reports the posture health state of the geomagnetic vehicle detector and returns to the step S2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111123457.8A CN113932763B (en) | 2021-09-24 | 2021-09-24 | Geomagnetic vehicle detector posture health monitoring system and method and geomagnetic vehicle detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111123457.8A CN113932763B (en) | 2021-09-24 | 2021-09-24 | Geomagnetic vehicle detector posture health monitoring system and method and geomagnetic vehicle detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113932763A true CN113932763A (en) | 2022-01-14 |
| CN113932763B CN113932763B (en) | 2024-04-05 |
Family
ID=79276763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111123457.8A Active CN113932763B (en) | 2021-09-24 | 2021-09-24 | Geomagnetic vehicle detector posture health monitoring system and method and geomagnetic vehicle detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113932763B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080108372A1 (en) * | 2002-06-11 | 2008-05-08 | Intelligent Technologies International, Inc. | Inductively Powered Asset Monitoring System |
| US20080174423A1 (en) * | 2002-06-11 | 2008-07-24 | Intelligent Technologies International, Inc. | Method and System for Obtaining Information about Objects in an Asset |
| CN103150874A (en) * | 2013-01-31 | 2013-06-12 | 成都天奥电子股份有限公司 | Anti-theft method based on compass short message function and anti-theft system based on compass short message function |
| CN106568503A (en) * | 2016-11-07 | 2017-04-19 | 西安交通大学 | Mill load detection method based on cylinder surface multiple vibration signals |
| CN108491622A (en) * | 2018-03-20 | 2018-09-04 | 华北水利水电大学 | A kind of fault diagnosis method and system of Wind turbines |
| CN109029455A (en) * | 2018-07-17 | 2018-12-18 | 济南浪潮高新科技投资发展有限公司 | A kind of indoor navigation method |
| US20190279048A1 (en) * | 2015-11-25 | 2019-09-12 | Jakob Balslev | Methods and systems of real time movement classification using a motion capture suit |
| CN113340305A (en) * | 2021-07-06 | 2021-09-03 | 哈尔滨理工大学 | Hydraulic support attitude monitoring method based on MEMS |
-
2021
- 2021-09-24 CN CN202111123457.8A patent/CN113932763B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080108372A1 (en) * | 2002-06-11 | 2008-05-08 | Intelligent Technologies International, Inc. | Inductively Powered Asset Monitoring System |
| US20080174423A1 (en) * | 2002-06-11 | 2008-07-24 | Intelligent Technologies International, Inc. | Method and System for Obtaining Information about Objects in an Asset |
| CN103150874A (en) * | 2013-01-31 | 2013-06-12 | 成都天奥电子股份有限公司 | Anti-theft method based on compass short message function and anti-theft system based on compass short message function |
| US20190279048A1 (en) * | 2015-11-25 | 2019-09-12 | Jakob Balslev | Methods and systems of real time movement classification using a motion capture suit |
| CN106568503A (en) * | 2016-11-07 | 2017-04-19 | 西安交通大学 | Mill load detection method based on cylinder surface multiple vibration signals |
| CN108491622A (en) * | 2018-03-20 | 2018-09-04 | 华北水利水电大学 | A kind of fault diagnosis method and system of Wind turbines |
| CN109029455A (en) * | 2018-07-17 | 2018-12-18 | 济南浪潮高新科技投资发展有限公司 | A kind of indoor navigation method |
| CN113340305A (en) * | 2021-07-06 | 2021-09-03 | 哈尔滨理工大学 | Hydraulic support attitude monitoring method based on MEMS |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113932763B (en) | 2024-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI548258B (en) | Method and apparatus for movement detection by evaluating elementary movement patterns | |
| CN100593689C (en) | Gasture estimation and interfusion method based on strapdown inertial nevigation system | |
| US8010308B1 (en) | Inertial measurement system with self correction | |
| CN103162689B (en) | The assisted location method of auxiliary vehicle positioning system and vehicle | |
| Almazán et al. | Full auto-calibration of a smartphone on board a vehicle using IMU and GPS embedded sensors | |
| CN102298076A (en) | Method and apparatus for calibrating three-axis accelerometer | |
| CN107274721B (en) | Multi-vehicle cooperative positioning method in intelligent transportation system | |
| CN106885566A (en) | A kind of method of wearable motion sensor and its anti-magnetic interference | |
| CN112923924B (en) | Method and system for monitoring posture and position of anchoring ship | |
| CN102740457A (en) | Method for preventing drift of mobile positioning of terminal | |
| CN110057356B (en) | Method and device for positioning vehicles in tunnel | |
| CN103063218B (en) | Vehicle remote monitoring and trajectory reproducing system and trajectory reproducing method thereof | |
| CN111562603A (en) | Navigation positioning method, equipment and storage medium based on dead reckoning | |
| CN109677508B (en) | Vehicle motion data acquisition method, device, equipment and storage medium | |
| CN112924990B (en) | Landslide body monitoring method and system based on GNSS accelerometer fusion | |
| CN112509284B (en) | Geological disaster monitoring and early warning method and device and terminal equipment | |
| CN113932763A (en) | Geomagnetic vehicle inspection device posture health monitoring system and method and geomagnetic vehicle inspection device | |
| CN112082595B (en) | Multi-degree-of-freedom micro-vibration diagnosis method and sensing terminal | |
| CN111696159B (en) | Feature storage method of laser odometer, electronic device and storage medium | |
| CN104748734A (en) | Vehicle-mounted electronic altitude compass having dip angle compensation function | |
| Bruwer et al. | Comparison of GPS and MEMS support for smartphone-based driver behavior monitoring | |
| CN112556831B (en) | Detection method of intelligent detection alarm device for well lid abnormity | |
| CN113465616B (en) | Track abnormal point detection method and device, electronic equipment and storage medium | |
| CN115665609A (en) | Vehicle safe driving early warning method and system and earphone terminal | |
| Ahmed et al. | Minimizing GPS Dependency for a Vehicle’s Trajectory Identification by Using Data from Smartphone Inertial Sensors and Onboard Diagnostics Device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |