基于施工机械安全监控的GPS技术与方法研究
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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▽△Nn,其次是▽△N1,再次是▽△Nw,最低的是▽△N2,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。
In order to relieve all kinds of the energy shortage problems, it has been carrying out many large engineering projects in China. With the expansion of large engineering projects construction and the progress in science and technology, the means of safety monitoring on quality of large-scale engineering projects will go or already has gone into the development trend of modernization high-new technology of which is bound to instead the traditional technology. The research on new methods of safety monitoring on quality of large-scale engineering projects has been a focus issue of the construction sectors for a long time.
The large-scale construction crane group with thecrisscross-confounding in the parochial construction plants where is high-density placed, high-strength operated, arge-weight beared and wide-range movement operated. Once the construction crane group broke down, objects-lifted falled off, collisions between the mechanisms or mechanisms and buildings, all of will bring about significant casualties and serious economic losses, and then the project construction schedules would be serious impacted. At present, the safety monitoring for running status of the construction crane group is still using traditional method of manual handing on duty. This method is lack of characteristic of real-time and automation, and safety monitoring also could not be safeguarded. In order to solve the above technical issue, considering the inherited-unique advantage of GPS technology, The method of GPS real-time precision positioning applied into safety monitoring for the large-scale construction crane group is discussed based on GPS solution in the Ph.D. thesis. It has a higher theroretical significance and application value for improving the level of modernization of the management of construction crane group. The main works and innovative results are summarized as follows:
1. The research on the technology and method of real-time exchange and parallel decoding of GPS safety monitoring signal
Based on the analysis of the serial port communication of GPS safety monitoring terminal (recevier), real-time transmission and multi-channel receive for GPS signal and the design and implementation of signal exchange software for both of the control center server and users, the implementation approach and the specific process of real-time security-supvision signal exchange technology via multi-channel is discussed in this thesis. The experimental test and the comparison analysis of data are shown that the feasibility and effectiveness of real-time exchange for multi-channel GPS safety monitoring signal is verified. At the same time, take a brand GPS OEM board for example, after the GPS signal data structure parsed, an approach to multi-channel GPS safety monitoring signal with real-time and parallel decoding conversion for the observation data and the navigation message is put forward based on data flow and multithreading technology, which is verified by the result of experiment analysis.
2. The research and analysis of the accuracy of safety monitoring of differential GPS technology
The algorithm of differential GPS positioning technology using single epoch data is derived in detail, and the formula of accuracy assessment is given, and the algorithm also is implemented and verified by the accuracy analysis of static and dynamic experiments using C/A code observation. Both of the precision of pseudorange differential observations and the accuracy of safety monitoring for C/A, P1and P2code are compared respectively based on DGPS process mode. The results of numerical example are shown that the precison of C/A code differential observation is slightly better than P1and P2code, and P1and P2code are almost equal. The accuracy of safety monitoring for C/A code in DGPS positioning is slightly better than P1and P2code, and H-directionis is relatively significant. C/A code is the preferred observation which is suggested in the fast algorithm of double difference interge ambiguity resolution for initial positioning using GPS single epoch data.
3. The research on the fast algorithm of double-difference interger ambiguity resolution using GPS single epoch data
First of all, the existed several kinds of typical fast algorithm of GPS double difference interger ambiguity resolution are anlysized and the method both of DUFCOM and DC algorithm arc discussed in special. Given the satellite number tracked can reach8-10or ever more in current GPS single epoch data, DUFCOM method would be fall into the problem of low efficiency because of the number of satellites is too many, at the other side, DC algorithm has the advantages of high resolution efficiency, thus, the strategy of sorting the observation satellite is put forward, and then a novel fast combination algorithm named as FARSE is proposed. The results of example are shown that the fast algorithm could avoid the influence of the second-level satellites have on first-level satellites, which improve the efficiency for ambiguity resolution greatly, achieving real time high-sample rate GPS data processing.
4. The theory and effectiveness analysis of the E_DUFCOM method and its advance
On the basis of analyzing the theory of DUFCOM method to resolve GPS interge ambiguity resolution for Li phase observations using single epoch data, the DUFCOM method is expanded and derivated in this thesis, and then new methods, which are proposed to directly determine interger ambiguity resolution of L2, Ln and Lw phase observations, are named as the Extension DUFCOM methods. In connection with the existed method-DUFCOM method, EDUFCOM method is developed and the eigenvalue condition of E_DUFCOM method are given at last. The results of numerical example are shown that the efficiency of interger ambiguity resolution is the highest of (?)△ANn, followed by (?)△N1, next is (?)△Nw, and the lowest is (?)△N2in the GPS single epoch differential positioning based on the E_DUFCOM method, the reason lies in the fact that it is closely related to the constraint error. On the accuracy of positioning solution from high to low in turn are Ln, L1, L2and Lw, the reason lies in the fact that the observation noise is closely related to its itself. The comparison of four phase observations used to position, both the efficiency of interger ambiguity resolution and the accuracy of positioning, the result of Ln positioning is the optimal solution.
5. The simulation design of application experiments for construction crane group collision-avoidance and warning system based on GPS solution
Based on high-precision GPS technology, wireless communication technology and computer network technology, a set of high-precision GPS construction crane group collision-avoidance and warning system (Gsertcas) is designed and developed. By the simulation design of three kinds of application experiments, the accuracy and effectiveness of safety monitoring of Gsertcas system are verified. The results of experiments are shown that whether the simulate movements between the crane mechanism and the crane mechanism, the crane mechanism and the cable mechanism or the cable mechnism and the cable mechanism,, their motion tail could be monitored with real-time by Gsertcas system in the process to be near each other (relative movement or tail after movement), and the instruction information of safe operation, C-level warning and corresponding to the instruction information, B-level warning and corresponding to the instructions information, A-level warning and corresponding to the instruction information could be displaied effectively in order to make it easy to remind the device drivers keeping safe driving, careful driving, and taking normal avoidance or emergency braking operation respectively. Under the prerequisite of the success of interger ambiguity resolution, the processing mode of SeOTF is obviously better than DGPS and smooth DGPS in the accuracy of safety monitoring. When the processing mode of SeOTF is used based on E_DUFCOM+DC fast combinatorial algorithms, the success rate of interger ambiguity resolution using GPS single epoch data up to above97%under the slightly weak interference for GPS signal, and the success rate up to above91%under the weak interference for GPS signal, however, the success rate only up to57%under the interference for GPS signal. Thus, the quality of GPS signal as much as possible should be avoided by the interference sources in the application of Gsertcas system. Gsertcas system runs steadily, timely and reliable in collision-aviodance and warning aspects, and it has good application value for the engineering construction.
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▽△Nn,其次是▽△N1,再次是▽△Nw,最低的是▽△N2,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。
In order to relieve all kinds of the energy shortage problems, it has been carrying out many large engineering projects in China. With the expansion of large engineering projects construction and the progress in science and technology, the means of safety monitoring on quality of large-scale engineering projects will go or already has gone into the development trend of modernization high-new technology of which is bound to instead the traditional technology. The research on new methods of safety monitoring on quality of large-scale engineering projects has been a focus issue of the construction sectors for a long time.
The large-scale construction crane group with thecrisscross-confounding in the parochial construction plants where is high-density placed, high-strength operated, arge-weight beared and wide-range movement operated. Once the construction crane group broke down, objects-lifted falled off, collisions between the mechanisms or mechanisms and buildings, all of will bring about significant casualties and serious economic losses, and then the project construction schedules would be serious impacted. At present, the safety monitoring for running status of the construction crane group is still using traditional method of manual handing on duty. This method is lack of characteristic of real-time and automation, and safety monitoring also could not be safeguarded. In order to solve the above technical issue, considering the inherited-unique advantage of GPS technology, The method of GPS real-time precision positioning applied into safety monitoring for the large-scale construction crane group is discussed based on GPS solution in the Ph.D. thesis. It has a higher theroretical significance and application value for improving the level of modernization of the management of construction crane group. The main works and innovative results are summarized as follows:
1. The research on the technology and method of real-time exchange and parallel decoding of GPS safety monitoring signal
Based on the analysis of the serial port communication of GPS safety monitoring terminal (recevier), real-time transmission and multi-channel receive for GPS signal and the design and implementation of signal exchange software for both of the control center server and users, the implementation approach and the specific process of real-time security-supvision signal exchange technology via multi-channel is discussed in this thesis. The experimental test and the comparison analysis of data are shown that the feasibility and effectiveness of real-time exchange for multi-channel GPS safety monitoring signal is verified. At the same time, take a brand GPS OEM board for example, after the GPS signal data structure parsed, an approach to multi-channel GPS safety monitoring signal with real-time and parallel decoding conversion for the observation data and the navigation message is put forward based on data flow and multithreading technology, which is verified by the result of experiment analysis.
2. The research and analysis of the accuracy of safety monitoring of differential GPS technology
The algorithm of differential GPS positioning technology using single epoch data is derived in detail, and the formula of accuracy assessment is given, and the algorithm also is implemented and verified by the accuracy analysis of static and dynamic experiments using C/A code observation. Both of the precision of pseudorange differential observations and the accuracy of safety monitoring for C/A, P1and P2code are compared respectively based on DGPS process mode. The results of numerical example are shown that the precison of C/A code differential observation is slightly better than P1and P2code, and P1and P2code are almost equal. The accuracy of safety monitoring for C/A code in DGPS positioning is slightly better than P1and P2code, and H-directionis is relatively significant. C/A code is the preferred observation which is suggested in the fast algorithm of double difference interge ambiguity resolution for initial positioning using GPS single epoch data.
3. The research on the fast algorithm of double-difference interger ambiguity resolution using GPS single epoch data
First of all, the existed several kinds of typical fast algorithm of GPS double difference interger ambiguity resolution are anlysized and the method both of DUFCOM and DC algorithm arc discussed in special. Given the satellite number tracked can reach8-10or ever more in current GPS single epoch data, DUFCOM method would be fall into the problem of low efficiency because of the number of satellites is too many, at the other side, DC algorithm has the advantages of high resolution efficiency, thus, the strategy of sorting the observation satellite is put forward, and then a novel fast combination algorithm named as FARSE is proposed. The results of example are shown that the fast algorithm could avoid the influence of the second-level satellites have on first-level satellites, which improve the efficiency for ambiguity resolution greatly, achieving real time high-sample rate GPS data processing.
4. The theory and effectiveness analysis of the E_DUFCOM method and its advance
On the basis of analyzing the theory of DUFCOM method to resolve GPS interge ambiguity resolution for Li phase observations using single epoch data, the DUFCOM method is expanded and derivated in this thesis, and then new methods, which are proposed to directly determine interger ambiguity resolution of L2, Ln and Lw phase observations, are named as the Extension DUFCOM methods. In connection with the existed method-DUFCOM method, EDUFCOM method is developed and the eigenvalue condition of E_DUFCOM method are given at last. The results of numerical example are shown that the efficiency of interger ambiguity resolution is the highest of (?)△ANn, followed by (?)△N1, next is (?)△Nw, and the lowest is (?)△N2in the GPS single epoch differential positioning based on the E_DUFCOM method, the reason lies in the fact that it is closely related to the constraint error. On the accuracy of positioning solution from high to low in turn are Ln, L1, L2and Lw, the reason lies in the fact that the observation noise is closely related to its itself. The comparison of four phase observations used to position, both the efficiency of interger ambiguity resolution and the accuracy of positioning, the result of Ln positioning is the optimal solution.
5. The simulation design of application experiments for construction crane group collision-avoidance and warning system based on GPS solution
Based on high-precision GPS technology, wireless communication technology and computer network technology, a set of high-precision GPS construction crane group collision-avoidance and warning system (Gsertcas) is designed and developed. By the simulation design of three kinds of application experiments, the accuracy and effectiveness of safety monitoring of Gsertcas system are verified. The results of experiments are shown that whether the simulate movements between the crane mechanism and the crane mechanism, the crane mechanism and the cable mechanism or the cable mechnism and the cable mechanism,, their motion tail could be monitored with real-time by Gsertcas system in the process to be near each other (relative movement or tail after movement), and the instruction information of safe operation, C-level warning and corresponding to the instruction information, B-level warning and corresponding to the instructions information, A-level warning and corresponding to the instruction information could be displaied effectively in order to make it easy to remind the device drivers keeping safe driving, careful driving, and taking normal avoidance or emergency braking operation respectively. Under the prerequisite of the success of interger ambiguity resolution, the processing mode of SeOTF is obviously better than DGPS and smooth DGPS in the accuracy of safety monitoring. When the processing mode of SeOTF is used based on E_DUFCOM+DC fast combinatorial algorithms, the success rate of interger ambiguity resolution using GPS single epoch data up to above97%under the slightly weak interference for GPS signal, and the success rate up to above91%under the weak interference for GPS signal, however, the success rate only up to57%under the interference for GPS signal. Thus, the quality of GPS signal as much as possible should be avoided by the interference sources in the application of Gsertcas system. Gsertcas system runs steadily, timely and reliable in collision-aviodance and warning aspects, and it has good application value for the engineering construction.
引文
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