Three-dimensional positioning method, system and medium used in shafts of subway construction sites

Abstract

This application proposes a three-dimensional positioning method, system and medium for use in a shaft of a subway construction site. The method includes: establishing a three-dimensional coordinate system corresponding to the area of ​​the shaft, and determining the coordinates of the ultra-wideband UWB base stations set in different layers of the shaft ;Use each UWB base station to measure the distance of the positioning tag, filter out the error data from the summarized data and discard it; divide the three-dimensional coordinate system into a plurality of equal cube grids, according to the coordinates of the selected UWB base station and the corresponding measured The distance data and the coordinates of the center point of each cube grid are used to determine the position record of the positioning label in each cube grid in turn; votes are made based on the position records of each grid to determine the conclusion coordinates of the positioning label. The method can be positioned in the three-dimensional space of the shaft as a whole, expands the area that can be positioned, and improves the accuracy of positioning.

Description

technical field [0001] The present application relates to the technical field of indoor three-dimensional positioning detection, and in particular to a three-dimensional positioning method, system and medium used in shafts of subway construction sites. Background technique [0002] At present, in all kinds of construction sites, especially in the shaft area of ​​the subway tunnel construction site, the demand for the positioning of production personnel and equipment is a major focus of personnel safety management, and the demand for the positioning of personnel and equipment in the entire area of ​​the construction site shaft is also increasing more and more. [0003] Among various related positioning technologies, Ultra Wide Band (UWB for short) technology is a wireless communication method that uses nanosecond-level non-sine wave narrow pulses to transmit data. , based on ranging to achieve positioning, has the advantages of high precision, low power consumption, easy dep...

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Problems solved by technology

[0004] However, the applicant found that the current independent UWB positioning system established in the subway tunnel production plant environment has the following defects: first, it is difficult for UWB technology to realize three-dimensional space display in a three-dimensional environment. Positioning is performed separately in each layer, and positioning cannot be performed across multiple layers. Second, due to the complex environment of the construction site in practical applications, there are multiple occlusions and occasional occlusions that cause signal reflections and cause abnormalities in the collected data, which may lead to calculated positioning results. mistake

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