基于施工机械安全监控的GPS技术与方法研究

发布时间：2018-04-05 01:23

本文选题：高精度GPS技术　切入点：单历元算法　出处：《武汉大学》2013年博士论文

【摘要】：为缓解各种能源紧缺问题,我国相继开展了许多大型工程项目建设。随着我国大型工程项目建设规模的扩大和科学技术的进步,大型工程项目质量安全监管于段将会或已经走向现代化高新技术势必代替传统技术的发展趋势。对于大型工程项目质量监管新手段的研究一直是施工部门长期关注的焦点课题。针对大量大型施工设备在狭小的施工场地高密度布放、高强度作业、大重量承载、广范围移动运行,在高空交错混杂,一旦发生机械故障、吊运物件脱落、施工设备之间或施工设备与施工建筑物之间发生碰撞,都将可能造成重大的人员伤亡和严重的经济损失,严重影响工程项目施工进度。目前对施工设备运行状态的安全监控处于传统的人工值守方法,这缺乏实时性和自动化,安全监控也难以保证。为攻克解决这一技术难题,考虑到GPS技术具有先天独特的优势,本文将GPS实时精密定位方法应用于施工机械安全监控,可为工程施工安全提供新的技术保障；对于提高施工设备管理的现代化水平,具有较高理论意义和重要应用价值。本文完成的主要工作以及取得的创新性成果总结如下： 1.GPS监控信号实时交换与并行解码技术和方法研究：通过分析GPS监控终端的串口通信、监控信号实时传输与多路接收以及GPS监控终端和控制中心服务器端的信号通讯软件设计与实现,探讨了多路GPS监控信号实时交换技术的实现方法与具体流程,通过实验测试与数据比对分析,验证了多路GPS监控信号实时交换的可行性和有效性；同时,以某品牌GPS-OEM板为例,对其GPS信号数据结构进行解析之后,通过对观测值数据和导航电文的解码转换实现,提出了一种基于数据流方式和多线程技术相结合的多路GPS监控信号实时并行解码转换方法,通过试验与结果分析验证了本文方法是行之有效的。 2. GPS伪距差分监控研究与精度分析：对GPS伪距单历元差分定位算法进行了详细推导,给出了精度评定公式,并作了算法实现。通过静态和动态试验分析,利用C/A码观测值对算法作了验证并进行了精度分析,并基于DGPS计算模式分别对C/A、P1和P2三种伪距差分观测值精度和监控精度进行了比较,算例计算结果表明：C/A码差分观测值精度略优于P1码和P2码,而P1码和P2码基本相当；C/A码伪距差分单历元定位精度略优于P1和P2码,在H方向上较为明显；在GPS单历元整周模糊度算法研究中用于初步定位的伪距观测值建议首选C/A码。 3.GPS单历元双差整周模糊度快速确定算法研究：首先对现有几种典型GPS双差整周模糊度确定算法进行了分析,重点探讨了DUFCOM方法和IBC算法。考虑到目前GPS单历元观测锁定的卫星数一般可达8～10颗甚至更多,为解决DUFCOM方法因观测卫星数过多导致解算效率过低问题,顾及DC算法具有解算效率高的优点,提出对观测卫星进行筛选分级处理策略,进而提出了一种新的快速组合算法((?)FARSE)。算例结果表明,该算法可避免在应用DUFCOM方法中二级卫星对一级卫星双差整周模糊度解算效率的影响,使得GPS单历元确定双差整周模糊度的效率显著提高,达到了GPS高采样率数据实时动态解算的目的。 4. E DUFCOM方法提出及其效能分析：在分析已有DUFCOM方法单历元解算GPS L1相位观测值整周模糊度理论的基础上,对其进行了衍生与方法扩展,进而提出了单历元直接确定GPS L2、Ln和Lw相位观测值整周模糊度的新方法,即为Intension DUFCOM方法,并统一原有IDUFCOM方法,概括为E DUFCOM方法,最后给出了(?)E_DUFCOM方法的特征值条件。算例结果表明：基于(?)E_DUFCOM方法的高精度GPS单历元差分定位中,在整周模糊度解算效率下最高的是%健鱊n,其次是%健鱊1,再次是%健鱊w,最低的是%健鱊2,这与误差带的约束作用息息相关：在定位解粗度上从高到低依次是Ln、L1、L2和Lw,这与其本身观测噪声密切有关；四种相位观测值用于定位的比较,不论是解算效率还是定位精度,Ln定位解具备最优特性 5.GPS施工机械防撞预警系统与应用试验模拟设计：集成高精度GPS技术无线通讯技术和计算机网络技术,开发设计了一套高精度GPS(?)施工设备防撞预警系统(Gscrtcas),通过模拟设计三种应用试验,对Gsertcas系统的监控精度和效果进行了验证。试验结果表明:不论是模拟塔吊机与塔吊机之间的运动、塔吊机与缆机之间的运动还是缆机与缆机之间的运动,在它们相互靠近(相对运动或追赶运动)的过程中,Gsertcas系统能实时监控它们的运动轨迹,并能有效地显绘安全运行指令信息、C级告警与指令信息、B级告警与指令信息、A级告警与指令信息,便于提醒设备驾驶人员安全驾驶、谨慎驾驶、采取正常避让或紧急制动的相应操作；在保证整周模糊度成功固定的前提条件下,SeOTF计算模式的监控精度明显优于DGPS计算模式和平滑DGPS计算模式；基于E_DUFCOM+DC'快速组合算法的SeOTF计算模式时,信号微弱干扰下单历元整周模糊度解算成功率高达97%以上,信号弱干扰下单历元整周模糊度解算成功率可达91%以上,但信号有干扰下单历元整周模糊度解算成功率仅高于57%；Gsertcas系统的应用尽量避免影响GPS信号质量的干扰源；Gsertcas系统运行稳定且防碰撞预警及时可靠,对工程施工具有良好的应用价值。
[Abstract]:In order to alleviate the problem of shortage of energy, our country has carried out many large-scale construction projects. With the expansion of China's large scale of construction projects and the progress of science and technology, the development trend of quality and safety supervision of large projects in the modernization of high technology will have or will replace the traditional technology. The research for new means of quality supervision large engineering project has been the focus of research has long been concerned about the construction departments.
For a large number of large-scale construction equipment in the construction site of high density small cloth, high strength, large weight bearing, wide range of mobile operation at high altitude, mixed, the event of mechanical failure, lifting objects fall off, the collision between construction equipment or construction equipment and construction of buildings, are likely to cause heavy casualties and serious economic losses, seriously affect the construction progress of the project. The safety monitoring of the running state of the equipment in the construction workers on the traditional methods, the lack of real-time and automation, safety monitoring is also difficult to guarantee. For solving this technical problem, considering that GPS technology has inherent unique advantages, the real time GPS precision positioning method is applied to construction machinery safety monitoring, can provide new technical guarantee for construction safety; to improve the management of construction equipment in the modernization of water It has high theoretical significance and important application value. The main work completed in this paper and the achievements made in this paper are summarized as follows:
Study on the technology and method of decoding and parallel real-time exchange 1.GPS data through the serial communication: analysis of GPS monitoring terminal, design and Realization of signal communication software monitoring signal transmission and real-time multi-channel receiver and GPS monitoring terminal and control center server, discusses the implementation method of real-time monitoring of multi-channel GPS signal exchange technology and the specific processes through data compared with the experimental results, verify the feasibility of real-time monitoring of multi-channel GPS signal exchange and validity; at the same time, with a certain brand of GPS-OEM board as an example, after the GPS signal data structure is analyzed and realized through the decoding of the observation data and navigation data conversion, proposed a multi-channel GPS signal monitoring data flow method and multithreading technology based on the combination of real-time parallel decoding conversion method, through the analysis and test results show that the method is effective .
2. GPS pseudorange differential analysis of monitoring and Research on precision: the GPS single epoch pseudorange differential positioning algorithm is deduced in detail, gives the formula of accuracy, and the algorithm. Through static and dynamic test analysis, using C/A code observations to verify the algorithms and the accuracy is analyzed, and based on the DGPS model of C/A, P1 and P2 three kinds of pdgps observation precision and the monitoring precision were compared. The results of calculation example show that the C/A code difference observation accuracy is slightly better than the P1 code and P2 code, P1 code and P2 code is C/A code; pdgps epoch-by-epoch the positioning accuracy is better than P1 and P2 code in the H direction is more obvious; for the preliminary positioning of the pseudo range observations suggested for C/A code in the GPS single epoch ambiguity algorithm research.
Single epoch 3.GPS double difference ambiguity quick determination algorithms: firstly, several typical GPS double difference integer ambiguity algorithm are analyzed, discussed the DUFCOM method and IBC algorithm. Considering the current number of satellite single epoch GPS observations locked generally up to 8~10 stars or more, in order to solve the DUFCOM method the number of observation satellites due to excessive computation efficiency is too low, taking into account the DC algorithm has the advantages of high calculation efficiency, proposed classification processing strategy of the satellite, and then puts forward a new fast algorithm ((?) FARSE). The results show that the algorithm can avoid the application of the DUFCOM method the two level of a satellite satellite double difference ambiguity solution efficiency, makes the GPS single epoch determine double difference ambiguity resolution efficiency significantly improved, reached GPS high sampling rate data is calculated dynamically in real time. .
4. E DUFCOM method is proposed and its effectiveness analysis: in single epoch GPS L1 phase observation based Ambiguity Theory on the analysis of the existing DUFCOM method, has carried on the derivation and extension methods, and then puts forward the single epoch to directly determine the GPS L2 value, a new method of ambiguity resolution in Ln and Lw phase observation that is the Intension DUFCOM method, and the unity of the original IDUFCOM method, summarized as E DUFCOM method, finally gives the characteristics of the E_DUFCOM method (?) conditions. Numerical results show that: Based on high precision GPS (?) E_DUFCOM single epoch method of differential positioning, the ambiguity under the highest efficiency the second is n% Jian Yu, Yu Jian% 1,% w Yu Jian is again, the lowest is 2 Yu Jian%, which is closely related with constraint error band: the positioning solution accuracy from high to low is Ln, L1, L2 and Lw, which is closely related to its observation four kinds of noise; The phase observation value is used to compare the location, whether it is the calculation efficiency or the positioning accuracy, the Ln positioning solution has the best characteristic.
5.GPS construction machinery anti-collision warning system and application of simulation test design: high precision integrated GPS technology, wireless communication technology and computer network technology, development and design of a high precision GPS (?) collision warning system construction equipment (Gscrtcas), by simulating the design of three kinds of application test, monitoring accuracy and the effect of the Gsertcas system is verified. The experimental results showed that: whether the simulation of tower crane and tower crane movement between, between tower crane and cable machine movement or cable machine and cable machine in motion, they are close to each other (relative motion or catching movement) in the process of trajectory real-time monitoring of their Gsertcas system, and can effectively to draw the safe operation of explicit instruction information, C alarm and B alarm and command information, command information, a warning and command information, to remind the driver driving safety equipment, drive carefully, take it The corresponding operation often avoid or emergency braking; the ambiguity fixed condition, monitoring accuracy is better than DGPS SeOTF model calculation model and smooth DGPS model; based on the fast algorithm of E_DUFCOM+DC'integrated SeOTF calculation mode, weak signal interference of single epoch ambiguity success rate is high more than 97%, the weak signal interference of single epoch ambiguity success rate is more than 91%, but the signal interference of single epoch ambiguity success rate is higher than 57%; the interference source application of Gsertcas system to avoid affecting the quality of GPS signals; Gsertcas collision warning system is stable and reliable and timely and has a good application value for engineering construction.

【学位授予单位】：武汉大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：P228.4

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