The invention provides a synchronous hoisting monitoring method based on multi-sensor fusion, and relates to the field of hoisting equipment monitoring. Comprising the following steps: acquiring barometric sensor data, and establishing a barometric height state model and a barometric sensor measurement model; respectively calculating Jacobian matrixes according to the barometric altitude state model and the barometric sensor measurement model, and carrying out Kalman filtering on the barometric altitude to obtain a first output altitude; acquiring satellite height information and judging whether the satellite height information is valid; if not, outputting the first height information as the final output height, and if yes, establishing a fusion height measurement model according to the first output height and performing adaptive Kalman filtering to obtain a second output height; and acquiring laser ranging data, judging the laser ranging data, and judging whether the lifting point is abnormal or normal. According to the invention, the problem of low precision of output height information caused by insufficient adaptability and stability of a fusion method in the prior art during environment change and equipment state change is solved.
本发明提供了一种基于多传感器融合的起吊同步监测方法,涉及起吊设备监测领域。包括:获取气压传感器数据,并建立气压高度状态模型和气压传感器测量模型;根据气压高度状态模型和气压传感器测量模型分别计算雅可比矩阵并对气压高度进行Kalman滤波,得到第一输出高度;获取卫星高度信息并判断是否有效;若否,则输出第一高度信息为最终输出高度,若是,则根据第一输出高度建立融合高度测量模型并进行自适应Kalman滤波,得到第二输出高度;获取激光测距数据并对激光测距数据进行判断,判断提升点异常或正常。本发明解决了现有技术中融合方法在环境变化和设备状态变化时,适应性和稳定性依然存在不足,导致输出的高度信息精度较低的问题。
Synchronous hoisting monitoring method based on multi-sensor fusion
一种基于多传感器融合的起吊同步监测方法
24.01.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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