CN103018757B - Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform - Google Patents

Abstract

A floating and semi-submersible mobile platform orientation and three-dimensional attitude monitoring and display system, including: a real-time dynamic differential GPS positioning module, used to obtain the positioning data of the mobile platform; a two-way gravity inclinometer module, used to obtain the longitudinal direction of the mobile platform and lateral inclination data; the wireless transmission module is used to transmit the positioning data and inclination data to the data synchronous acquisition and processing module; the data synchronous acquisition and processing module is used to synchronously collect the positioning data and inclination data, and perform coordinate system on the positioning data Conversion, conversion into a preset type of coordinate system; real-time 3D animation and information display module, used for 3D simulation to dynamically display the orientation and 3D posture of the mobile platform in real time. The present invention uses GPS and animation simulation to dynamically display the azimuth and attitude information of the mobile platform in real time, which is intuitive, efficient and high-precision, greatly improves construction safety and engineering efficiency, has a high degree of automation, and realizes accurate monitoring of the entire construction process, and has wide applications prospect.

Description

A floating and semi-submersible mobile platform azimuth and three-dimensional attitude monitoring and display system

technical field

The invention belongs to the field of engineering measurement and simulation design, in particular to a position and three-dimensional attitude monitoring and display system of a floating and semi-submersible mobile platform.

Background technique

In engineering construction and other fields, such as immersed tube tunnel construction and offshore ship platforms, it is necessary to accurately measure the orientation and three-dimensional posture of large moving objects in order to facilitate construction docking and ensure engineering safety, especially for underwater mobile construction projects. , not only requires a high degree of safety, but also the entire construction process is below the water surface, the construction area is far from the shore, and the construction period is relatively long, especially if the water body where the project is located has high turbidity, even if an underwater camera is installed, the construction process cannot be seen clearly , This will bring higher difficulty to this construction, and it is prone to major accidents such as collisions. The existing traditional methods are generally measured by means of divers' exploration and measurement data reporting, which is not only inefficient but also not intuitive and accurate enough. In this case, it is necessary to provide a centimeter-level accuracy that can work independently for a long time around the clock. , The information integration system that can collect the azimuth and inclination data of the mobile platform at multiple points at the same time, wireless long-distance transmission, and display the real-time 3D dynamic model will provide efficient, intuitive and accurate engineering reference for the construction process. It enables on-site construction and management personnel to keep abreast of the orientation, posture and construction stage of moving objects, and can replay, analyze and summarize the entire construction process after construction, thereby improving project quality.

Contents of the invention

In view of the existing technical shortcomings, the purpose of the present invention is to provide a floating and semi-submersible floating and semi-submersible with a monitoring accuracy of centimeter level, all-weather long-term work, automatic real-time data measurement on the mobile platform, long-distance wireless data transmission and high precision. A mobile platform orientation and three-dimensional attitude monitoring and display system.

In order to achieve the above object, the technical solution of the present invention is as follows: a floating and semi-submersible mobile platform orientation and three-dimensional posture monitoring and display system, comprising:

The real-time dynamic differential GPS positioning module is used to obtain the positioning data of the mobile platform;

Two-way gravity inclinometer module, used to obtain longitudinal and lateral inclination data of the mobile platform;

The wireless transmission module is used to transmit the positioning data and inclination data to the data synchronous acquisition and processing module;

The data synchronous acquisition and processing module is used to synchronously collect positioning data and inclination data according to the settings, and convert the positioning data into a preset type of coordinate system, and automatically save the data named after the collection time;

The real-time three-dimensional animation and information display module is used to display the mobile platform according to the real size and shape through three-dimensional modeling, and to display the movement in real time and dynamically in three-dimensional simulation mode according to the positioning data and inclination data processed by the data synchronous acquisition and processing module The relative orientation and three-dimensional attitude of the platform.

Preferably, the azimuth and three-dimensional attitude monitoring and display system of the floating and semi-submersible mobile platforms also includes more than one waterproof camera for photographing the real environment within the set range around the mobile platform;

The real-time 3D animation and information display module is also used to display the real environment in equal proportions within the set range around the mobile platform.

Preferably, the real-time dynamic differential GPS positioning module includes an RTK base station with a fixed azimuth on the shore, and two RTK mobile stations respectively located on the mobile platform and above the A measurement tower and the B measurement tower above the water surface.

Preferably, the wireless transmission module adopts a point-to-point wireless bridging method, including:

Power supply and data acquisition interface integration modules are respectively installed in A measurement tower and B measurement tower for independent power supply and data acquisition of instruments and equipment, and the number of data acquisition interfaces is one or more;

The wireless data transmitting antenna is connected with the integrated module of power supply and data acquisition interface for sending data;

The wireless data receiving antenna is fixedly installed on the shore and connected with the data synchronous acquisition and processing module for receiving the data sent by the wireless data transmitting antenna.

Preferably, the wireless data transmitting antenna and the wireless data receiving antenna adopt an omnidirectional or a combination of omnidirectional and qualitative.

Preferably, the wireless transmission bandwidth of the wireless transmission module is above 100 Mbits.

Specifically, the data synchronous acquisition and processing module includes:

The setting module is used to adjust the data collection time interval and collection parameters of the collection module as required;

The acquisition module is used for synchronous acquisition of positioning data and inclination data of different baud rates and setting parameters received by the wireless data receiving antenna;

The conversion module is used to convert the coordinate system of the positioning data collected by the acquisition module into a preset type of coordinate system;

The storage module is used to automatically save all collected and converted data in data files, and the data files are automatically named according to the collection time;

Preferably, the real-time 3D animation and information display module is also used to dynamically display the azimuth angle of the mobile platform, the distance from the fixed point and the height offset value in real time.

Specifically, the real-time 3D animation and information display module includes:

The data reading module is used to read the data stored in the data synchronous acquisition and processing module;

Display adjustment module, for setting the display parameter of three-dimensional animation, described display parameter comprises dynamic display time interval, playback speed;

The display module is used to display the data read by the data reading module according to the setting mode according to the display parameters set by the display adjustment module, and the setting mode includes side view, front view, perspective view and close-up of specific parts.

Compared with the prior art, the present invention has the following beneficial effects: the system adopts real-time dynamic differential GPS and animation simulation to dynamically display the orientation and attitude information of the mobile platform in real time, which is intuitive, efficient and high-precision (centimeter level), and greatly improves the construction efficiency. Safety and engineering efficiency, high degree of automation, arbitrary playback and accurate monitoring of the entire construction process, has broad application prospects.

Description of drawings

FIG. 1 is a schematic structural diagram of Embodiment 1 of the system of the present invention.

FIG. 2 is a schematic structural diagram of Embodiment 2 of the system of the present invention.

Fig. 3 is a schematic bird's-eye view of the present invention.

Fig. 4 is a structural schematic diagram of the RTK rover station and the wireless data transmitting antenna.

Detailed ways

The solution of the present invention will be described in detail below in conjunction with preferred embodiments thereof.

Fig. 1 shows a structural schematic diagram of an embodiment of the orientation and attitude detection system for floating and semi-submersible mobile platforms of the present invention.

As shown in Figure 1, the floating and semi-submersible mobile platform orientation and attitude detection system in this embodiment includes:

The real-time dynamic differential GPS positioning module 101 is used to obtain the positioning data of the mobile platform;

The two-way gravity inclinometer module 102 is used to obtain the longitudinal and lateral inclination data of the mobile platform;

The wireless transmission module 103 is used to transmit the positioning data and the inclination data to the data synchronous acquisition and processing module 104;

The data synchronous acquisition and processing module 104 is used to synchronously acquire positioning data and inclination angle data according to the settings, and perform coordinate system conversion on the positioning data, convert it into a preset type coordinate system, and automatically save the data with the name of the acquisition time;

The real-time three-dimensional animation and information display module 105 is used for displaying the mobile platform 107 according to the real size and shape through three-dimensional modeling, and real-time dynamics in three-dimensional simulation mode according to the positioning data and inclination data processed by the data synchronization acquisition and processing module 104. The relative orientation and three-dimensional posture of the mobile platform 107 are displayed.

According to the system in this embodiment, it obtains the positioning data of the mobile platform in real time through the real-time dynamic differential GPS positioning module 101, obtains the longitudinal and lateral inclination data of the mobile platform 107 in real time through the two-way gravity type inclinometer module 102, and collects the data synchronously The positioning data collected synchronously with the processing module 104 is converted into a preset type of coordinate system, and the relative orientation, three-dimensional attitude and other information of the mobile platform 107 are displayed in real time through three-dimensional modeling and simulation, so that the floating and semi-submersible mobile The monitoring of the platform is intuitive and efficient, which greatly improves the construction safety and engineering efficiency.

Wherein, as shown in FIG. 1 , in the system of this embodiment, a waterproof camera 106 may also be included, and the waterproof camera 106 is used to photograph the real environment within a set range around the above-mentioned mobile platform 107 . At this time, based on the real environment captured by the waterproof camera 106 , the real-time 3D animation and information display module 105 can also be used to display the real environment in equal proportions within the set range around the mobile platform 107 .

Wherein, the above-mentioned waterproof camera 106 can be provided with more than one, and the number of the specific waterproof camera 106 can be set according to actual requirements such as the degree of coverage of the surrounding environment.

Fig. 2 is the further refinement to Fig. 1, wherein, above-mentioned real-time dynamic differential GPS positioning module 101 comprises the RTK base station that is arranged on the shore fixed position and is respectively arranged on the mobile platform 107 and is higher than the A measuring tower 109 of water surface and B The two RTK mobile stations 1011 of the measurement tower 108, the A measurement tower 109 and the B measurement tower 108 are equipped with a power supply and data acquisition interface integration module 1031 for collecting data from the RTK mobile station 1011 and the inclinometer.

FIG. 3 shows a schematic diagram of the setting method of the above-mentioned real-time dynamic differential GPS positioning module 101 . As shown in FIG. 3 , the RTK base station is set and erected at a fixed location on the shore, and two RTK mobile stations 1011 are set on the mobile platform 107 and on the A measurement tower 109 and B measurement tower 108 above the water surface.

Wherein, as shown in Fig. 3 and Fig. 4, the above-mentioned wireless transmission module 103 is implemented in a point-to-point wireless bridging manner, which may specifically include connecting with the power supply and data acquisition interface integration module 1031 in the A measurement tower 109 and the B measurement tower 108 The wireless data transmitting antenna 1032 and the wireless data receiving antenna 1033 fixedly installed on the shore and connected to the data synchronous acquisition and processing module 104. The power supply and data acquisition interface integration module 1031 is used to ensure that the instruments on the mobile platform work continuously for a long time around the clock and provide data interfaces for connecting and expanding various instruments and equipment, and the number of the data interfaces can be expanded as required. The wireless data transmitting antenna 1032 and the wireless data receiving antenna 1033 adopt an omnidirectional or omnidirectional and qualitative combination mode, and the wireless transmission bandwidth of the wireless transmission module 103 can reach more than 100 megabytes, so that the A measurement tower 109 and the B measurement The data collected by the power supply and data collection interface integration module 1031 in the tower 108 is transmitted to the wireless data receiving antenna 1033 (onshore control center) in real time, with stable data transmission, long transmission distance and low delay.

The two-way gravity inclinometer module 102 is installed in or on the upper surface of the mobile platform 107, and is connected with the power supply and data collection interface integration module 1031 arranged on the A measurement tower 109 or the B measurement tower 108.

In conjunction with the example shown in Figure 2, the longitudinal and lateral inclination data collected by the two-way gravity inclinometer module 102 are sent back to the shore control center through the wireless transmission module 103, and the control center receives the data transmitted by the wireless transmission module 103 through the data synchronization acquisition and processing module 104. The incoming longitudinal and lateral inclination data, and receive the positioning data of the mobile platform 107 transmitted by the real-time dynamic differential GPS positioning module 101, and convert, process and save the received positioning data, and provide the processed data for real-time 3D animation and information The display module 105 performs three-dimensional real-time display of relative orientation and attitude.

At the same time, all transmission equipment and lines are concentrated in the waterproof box, which is waterproof and can work in a high temperature environment of 70 degrees Celsius.

In order to determine the orientation, azimuth and attitude of the mobile platform 107, it is necessary to back-calculate the three-dimensional coordinates of the feature points on the mobile platform 107 through the coordinates of the A measurement tower 109 and the B measurement tower 108 and the longitudinal and lateral inclination angles of the entire platform. It is necessary to measure the orientation of the RTK mobile station 1011 on the A measurement tower 109 and the B measurement tower 108 relative to the entire mobile platform 107. Here, it is necessary to measure the horizontal distance xr from the central axis of the mobile platform 107 and the horizontal distance yr from the side And the vertical height hr with the upper surface of the mobile platform 107 . Therefore, since the size of the mobile platform 107 is known (length, width and height), the GPS coordinates (x1, y1, h1 and x2, y2 and h2) of the RTK mobile station 1011 on the A measurement tower 109 and the B two measurement towers 108, and the RTK movement The relative orientation (xr1, yr1, hr1 and xr2, yr2 and hr2) of the station 1011 relative to the mobile platform 107 and the pitch and roll (q1 and q2) of the entire mobile platform 107 can be back-calculated for any point on the entire mobile platform 107 Plane coordinates and elevation, so as to further calculate information such as the plane distance, height difference, and central axis deviation between the mobile platform 107 and other known points.

As shown in Figure 2, described data synchronous acquisition and processing module 104 comprises: setting module 1041, is used for adjusting the data acquisition time interval and acquisition parameter of acquisition module 1044 as required; The positioning data is converted into a coordinate system of a preset type; for example, WGS-84 is converted into the 2000 national geodetic coordinate system. The acquisition module 1044 is used to synchronously acquire the positioning data and inclination data of different baud rates and setting parameters received by the wireless data receiving antenna 1033, so as to ensure that the azimuth data and the inclination data belong to the same time, thereby obtaining a certain position of the mobile platform. Accurate orientation and posture at any time; storage module 1043, used to automatically save all collected and converted data in data files, and the data files are automatically named according to the collection time, which is convenient for historical data playback.

As shown in Figure 3, the working process of the system is as follows: the positioning data of the mobile platform 107 is obtained by the real-time dynamic differential GPS positioning module composed of the RTK base station set at a fixed position on the shore and two RTK mobile stations on the mobile platform 107 , at the same time, obtain the longitudinal and lateral inclination angles of the mobile platform 107 through the two-way gravity inclinometer arranged at a predetermined position on the mobile platform 107, the waterproof camera 106 obtains the real environment data near the mobile platform 107, and the wireless transmission module 103 adopts a point-to-point wireless bridging mode , the above data is transmitted wirelessly from a wireless data transmitting antenna with three directional and omnidirectional antennas to a wireless data receiving antenna 110 located on the shore, and the wireless data receiving antenna 110 transmits the received data to the data synchronous acquisition and The processing module 104, after coordinate conversion and processing of the positioning data, the processed data is provided to the real-time three-dimensional animation and information display module 105 for three-dimensional real-time display of relative orientation and attitude. The data synchronous collection and processing module 104 can synchronously collect two An RTK mobile station 1011 positioning data and longitudinal and lateral inclinometer data are used to filter invalid and abnormal data, and the coordinate system conversion of the received GPS positioning data is automatically converted into the local coordinate system adopted locally. The data collection time interval and collection parameters can be adjusted as needed, all data is automatically saved in the data file, and the data file is automatically named according to the collection time for easy viewing.

The real-time three-dimensional animation and information display module 105 includes:

The data reading module 1051 is used to read the data stored in the data synchronous acquisition and processing module, such as coordinate data, inclination data, video data, mobile platform azimuth, distance from fixed point and height offset value, etc.;

The display adjustment module 1052 is used to set the display parameters of the three-dimensional animation, and the display parameters include dynamic display time interval and playback speed, and playback is performed at any time interval and speed;

The display module 1053 is used to display the data read by the data reading module according to the setting method according to the display parameters set by the display adjustment module 1052, and the setting method includes lateral, forward, perspective and close-up of specific parts, etc. , so that all parts of the mobile platform 107 can be observed comprehensively and accurately.

Through three-dimensional modeling, the real-time three-dimensional animation and information display module 105 can not only display the mobile platform 107 according to the real size and shape, but also display the real environment of equal proportions within a certain range around the mobile platform 107, so as to display the real-time mobile platform 107 according to the received monitoring data. Information such as the relative orientation of the platform 107 (such as the deviation distance and deviation angle from the target point or target line, etc.), three-dimensional attitude (the azimuth, longitudinal and lateral inclination angles of the mobile platform 107, the height difference between the two ends of the mobile platform 107, etc.), And the real-time dynamic animation is displayed in three dimensions in a simulated manner, and the movement of the three-dimensional simulated object and the on-site mobile platform 107 is highly consistent. All historical data are saved in real time, and the entire construction process can be accurately played back in three-dimensional motion after the construction process, and the playback speed can be adjusted arbitrarily, so that the entire construction process can be carefully inspected and experience summed up.

Compared with the prior art, this system has the following beneficial effects:

This system can locate and acquire attitude data for a large mobile platform 107 that is floating on the water surface or submerged to a depth of less than 20 meters, and the relative orientation and attitude of the mobile platform 107 (height difference at both ends and axis deviation) can be calculated through the established three-dimensional model. etc.) real-time dynamic display. Considering the difficulties in data transmission between the mobile platform 107 in the water and the monitoring points on the shore, all data, including video streams, GPS positioning data and inclinometer data, are transmitted wirelessly in two directions, and the bandwidth exceeds 100 megabits at the same time, ensuring the smoothness of data transmission , the transmission distance can reach 1.5 kilometers, and considering that the orientation of the mobile platform 107 may be in any direction, the transmission antenna adopts a combination of 360-degree omnidirectional antenna and directional antenna to ensure the stability of wireless data. The data acquisition software system can collect two GPS azimuth data and longitudinal and lateral inclination data at the same time, and at the same time perform coordinate transformation on the GPS positioning data so that the local coordinate system adopted can be unified. The three-dimensional real-time animation display system can simultaneously display the relative orientation of the mobile platform 107 (such as the deviation distance and deviation angle from the target point or target line, etc.), three-dimensional posture (the azimuth, longitudinal and lateral inclination angles of the mobile platform 107, the Height difference at both ends, etc.) and other information, and display the real-time dynamic animation three-dimensionally in a simulated manner. The three-dimensional simulated object is highly consistent with the movement of the on-site mobile platform 107, and the accuracy reaches centimeter level. At the same time, the real-time transmission to the shore The underwater and underwater waterproof camera images are displayed, and the two can be compared with each other, so that the monitoring method is very intuitive and efficient. All historical data are saved in real time, and the entire construction process can be accurately played back in three-dimensional motion after the construction process, and the playback speed can be adjusted arbitrarily, so that the entire construction process can be carefully inspected and experience summarized, and can be widely used in river engineering construction (such as river-crossing tunnels constructed by immersed tube method), sea surface ship platforms (such as oil tankers, mobile drilling platforms, etc.) And three-dimensional attitude display and information measurement and control, etc. The real-time status of the mobile platform 107 can be displayed intuitively, efficiently and with high precision, greatly improving construction safety and engineering efficiency.

The above are only preferred implementations of the present invention, and the present invention is not limited to the above examples. It can be understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included within the protection scope of the present invention.

Claims (7)

1. floating and semisubmersible mobile platform orientation and a 3 d pose monitoring display system, is characterized in that, comprising:

Real-time dynamic GPS Positioning module, for obtaining the locator data of mobile platform, comprising the RTK base station of being located at bank constant bearing and to be located at respectively on mobile platform and to measure higher than the A more than water surface two RTK movement stations that tower and B measure tower;

Two-way gravity type inclinator module, for obtaining longitudinal direction and the transverse inclination data of mobile platform;

Wireless transport module, for transferring to synchronous data sampling and processing module by locator data and inclination data;

Synchronous data sampling and processing module, for by arranging synchronous acquisition locator data and inclination data, tower RTK station GPS coordinates, RTK movement station to go out any point on whole mobile platform planimetric coordinates and elevation relative to the relative orientation of mobile platform and the trim of whole mobile platform and heel inverse is measured by collect two, the plan range of further calculating mobile platform and other known points, the information such as the discrepancy in elevation and misalignment of axe, and determine the orientation of mobile platform, position angle and attitude;

Realtime three dimensional animation and information display module, for showing described mobile platform by three-dimensional modeling according to full-size(d) and shape, and show mobile platform relative orientation and 3 d pose dynamically according to the locator data after synchronous data sampling and processing module process and inclination data in real time in three-dimensional artificial mode;

Described wireless transport module adopts point-to-point wireless bridging mode, comprising:

Power supply and data acquisition interface integration module, be arranged at A respectively and measure in tower and B measurement tower, for carrying out instrument and equipment independently-powered and gathering related data, and data acquisition interface quantity is one or more;

Wireless data transmission antenna, is connected for sending data with power supply and data acquisition interface integration module;

Receive data by wireless antenna, is fixedly installed on bank and is connected with processing module with synchronous data sampling, for the data that receiving radio data emitting antenna sends.

2. floating according to claim 1 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, it is characterized in that: also comprise the more than one water-proof CCD camera be connected with wireless transport module, for taking the true environment around described mobile platform in setting range; Described realtime three dimensional animation and information display module, also for showing around described mobile platform equal proportion true environment in setting range.

3. floating according to claim 1 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, is characterized in that: described wireless data transmission antenna and receive data by wireless antenna adopt omnidirectional or omnidirectional and the qualitative mode combined.

4. floating according to claim 3 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, is characterized in that: the wireless transmission bandwidth of described wireless transport module is more than 100,000,000.

5. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, it is characterized in that, described synchronous data sampling and processing module comprise:

Module is set, for regulating data collection interval and the acquisition parameter of acquisition module on demand;

Acquisition module, for carrying out synchronous acquisition by the locator data of the different baud rate received by receive data by wireless antenna and parameters and inclination data;

Modular converter, for carrying out origin coordinate system transform to the locator data of acquisition module collection, converts preset kind coordinate system to;

Memory module, for the data after all collections and conversion being automatically stored in data file, data file presses acquisition time name automatically.

6. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, is characterized in that: described realtime three dimensional animation and information display module also for dynamic display mobile platform position angle in real time, with the distance of point of fixity and offsets in height value.

7. floating according to claim 6 and semisubmersible mobile platform orientation and 3 d pose monitoring display system, it is characterized in that, described realtime three dimensional animation and information display module comprise:

Data read module, for reading the data of preserving in synchronous data sampling and processing module;

Vision-control module, for arranging the display parameter of three-dimensional animation, described display parameter comprise the Dynamic Announce time interval, playback speed;

The data that data read module reads are shown by setting means for the display parameter according to vision-control module installation by display module, and described setting means comprises side direction, forward, skeleton view and privileged site feature.