Heavy lifting localization system using sliding window filtering and sequential quadratic programming for safe modular integrated construction

IF 11.5 1区工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY

Automation in Construction Pub Date : 2025-09-02 DOI:10.1016/j.autcon.2025.106473

Aimin Zhu, Zhiqian Zhang, Wei Pan

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引用次数: 0

Abstract

Heavy lifting is crucial in Modular integrated Construction (MiC), where ultra-wideband (UWB) technology can accurately track the lifting process for safe module installation. However, UWB's potential on lifting remains underutilized, particularly under non-line-of-sight propagation. This paper aims to develop a UWB-based Heavy Lifting Localization (HeLLo) system designed for achieving safe MiC during module lifting. The system integrates two lifting-specific localization models: Sliding Window Filtering-(Weighted) and Sequential Quadratic Programming models for line-of-sight and non-line-of-sight conditions, respectively. The system was verified using lab tests and computer simulations and was validated using a real-life MiC project. Results demonstrated that the HeLLo system's models outperformed other models such as Newton and Powell in accuracy and efficiency, achieving 25.66 cm in line-of-sight and 36.05 cm in non-line-of-sight accuracies within 1 ms. The HeLLo system ensures centimeter-level accuracy and millisecond-level efficiency to prevent lifting collisions, enhancing safety in MiC. The findings should stimulate the adoption of modular construction globally.

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采用滑动窗口滤波和顺序二次规划的安全模块化集成结构的重吊装定位系统

重型吊装在模块化集成结构（MiC）中至关重要，其中超宽带（UWB）技术可以准确跟踪吊装过程，以确保安全模块安装。然而，超宽带在提升方面的潜力仍未得到充分利用，特别是在非视距传播下。本文旨在开发一种基于uwb的重型吊装定位（HeLLo）系统，旨在实现模块吊装过程中的安全MiC。该系统集成了两种特定的升降定位模型：滑动窗口滤波（加权）和顺序二次规划模型，分别用于视线和非视线条件。该系统通过实验室测试和计算机模拟进行了验证，并通过实际MiC项目进行了验证。结果表明，HeLLo系统模型在精度和效率上优于Newton和Powell等其他模型，在1 ms内实现了25.66 cm的视距精度和36.05 cm的非视距精度。HeLLo系统确保厘米级的精度和毫秒级的效率，以防止提升碰撞，提高MiC的安全性。研究结果应该会刺激模块化建筑在全球的采用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automation in Construction 工程技术-工程：土木

CiteScore

19.20

自引率

16.50%

发文量

563

审稿时长

8.5 months

期刊介绍： Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.