Design of a Distributed Attitude Measurement System Based on Wireless Networking Strategy

After prolonged operation, large-scale construction machinery clusters (e.g., harbor tower crane clusters, bucket wheel excavators in power plants, etc.) inevitably exhibit deviations in their mechanical structures and transmission systems compared to their original factory conditions. These deviations degrade the tracking performance of the cantilever beams, preventing them from achieving the intended setup attitudes and potentially posing safety risks during field operations. Therefore, efficiently and accurately measuring the attitude angles of multiple cantilever beams simultaneously under static conditions-so as to identify and compensate for deviations from the factory state-is essential for ensuring safe and reliable operation. To meet these requirements, this paper presents a distributed cantilever beam attitude measurement system based on a wireless networking strategy. The system consists of multiple groups of attitude sensors connected via wireless communication. Each sensor integrates dual-antenna Real-Time Kinematic (RTK) and Inertial Measurement Unit (IMU) technologies and utilizes a combined RTK-IMU fusion algorithm to enhance measurement accuracy [1]. Sensor groups are installed on individual cantilever beams and transmit real-time data wirelessly to a handheld terminal via a gateway. This design overcomes the limitations of single-sensor systems that cannot monitor multiple cantilever beams simultaneously, significantly improving the efficiency of multi-beam attitude acquisition. Experimental results demonstrate that the proposed system is capable of real-time, simultaneous measurement of multiple cantilever beam attitudes, with attitude angle errors maintained within <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\pm 0.03^{\circ}$</tex>, achieving high measurement precision. Additionally, the system supports control via handheld terminals, offering excellent operational convenience and a high degree of automation.