Iron tower positioning method and device, computer equipment and storage medium

Abstract

The invention relates to an iron tower positioning method and device, computer equipment and a storage medium. The method comprises the following steps: receiving a reference station carrier phase observation value, a satellite signal and a reference station coordinate through a real-time dynamic differential RTK sensor; determining RTK positioning information of the iron tower based on the carrier phase observation value, the satellite signal and the reference station coordinate; receiving and transmitting a pulse signal through a pulse radio ultra wide band IR-UWB sensor so as to determine pulse positioning information of the iron tower; fusing the RTK positioning information and the pulse positioning information to determine target positioning information of the iron tower; wherein the RTK sensor and the IR-UWB sensor are arranged on an iron tower, and / or are arranged in a preset distance range of the iron tower. The position of the iron tower is measured by fusing the RTK technology and the IR-UWB technology, and the accuracy of the measured position of the iron tower is improved.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a tower positioning method, device, computer equipment and storage medium. Background Art

[0002] Steel towers ensure efficient and safe transmission of high-voltage electricity from power plants to substations or end users through mechanical support, electrical isolation, and environmental protection. When inspecting or repairing steel towers, it's important to determine the location of existing towers.

[0003] Traditionally, the location of towers is usually determined by the Global Positioning System (GPS). However, traditional tower positioning methods rely solely on satellite signals for positioning, resulting in low positioning accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a tower positioning method, device, computer equipment and storage medium that can improve positioning accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for positioning an iron tower, the method comprising:

[0006] Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors;

[0007] Determine the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates;

[0008] The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower;

[0009] Fusing the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower;

[0010] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0011] In one embodiment, the tower is further provided with a target sensor, which includes at least one of an IMU sensor, an angle monitoring sensor of a tower lifting platform, a perception sensor of a tower base, and an environmental monitoring sensor; and the fusing of the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower includes:

[0012] The RTK positioning information, the pulse positioning information and the measurement value of the target sensor are integrated to determine the target positioning information of the tower.

[0013] In one embodiment, determining the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates includes:

[0014] The carrier phase observation value, satellite signal and reference station coordinates are subjected to real-time differential processing to determine the RTK positioning information of the tower.

[0015] In one embodiment, the pulse positioning information includes first positioning information and second positioning information, and the step of transmitting and receiving pulse signals by a pulse radio ultra-wideband (IR-UWB) sensor to determine the pulse positioning information of the tower includes:

[0016] determining first positioning information according to a field strength value of a pulse signal transmitted and received by the IR-UWB sensor;

[0017] The second positioning information is determined according to the time when the IR-UWB sensor sends and receives the pulse signal.

[0018] In one embodiment, determining the first positioning information according to the field strength value of the pulse signal transmitted and received by the IR-UWB sensor includes:

[0019] determining a first field strength value of a first signal received by the IR-UWB sensor, and determining a second field strength value of a second signal sent by the IR-UWB sensor;

[0020] Inputting the first field strength value and the second field strength value into a preset channel fading model to determine the distance between the location of each sensor and a reference location; the channel fading model is trained based on corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights;

[0021] The first positioning information is determined according to the distance between the position of each sensor and a reference position.

[0022] In one embodiment, determining the second positioning information according to the time when the IR-UWB sensor transmits and receives the pulse signal includes:

[0023] Determining the signal propagation time between the IR-UWB sensor and the multiple reference nodes based on the time when the IR-UWB sensor transmits and receives pulse signals and the time when multiple reference nodes transmit and receive pulse signals; the reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module;

[0024] constraining the tower to a plurality of trajectory circles centered on the reference nodes according to signal propagation times between the tower and a plurality of reference nodes;

[0025] The second positioning information is determined according to the principle of a circumferential positioning method or a three-circle intersection positioning method.

[0026] In a second aspect, the present application further provides a tower positioning device, comprising:

[0027] A receiving module is used to receive the base station carrier phase observation value, satellite signal and base station coordinates through the real-time dynamic differential RTK sensor;

[0028] A first determination module is used to determine the RTK positioning information of the tower based on the carrier phase observation value, the satellite signal and the reference station coordinates;

[0029] The second determination module is used to send and receive pulse signals through a pulse radio ultra-wideband IR-UWB sensor to determine the pulse positioning information of the tower;

[0030] A fusion module, configured to fuse the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower;

[0031] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0032] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors;

[0034] Determine the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates;

[0035] The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower;

[0036] Fusing the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower;

[0037] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0039] Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors;

[0040] Determine the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates;

[0041] The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower;

[0042] Fusing the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower;

[0043] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0044] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0045] Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors;

[0046] Determine the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates;

[0047] The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower;

[0048] Fusing the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower;

[0049] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0050] The tower positioning method, apparatus, computer equipment, and storage medium described above utilize a real-time dynamic differential RTK (RTK) sensor to receive carrier phase observations, satellite signals, and coordinates of the base station. The tower's RTK positioning information is determined based on the carrier phase observations, satellite signals, and coordinates of the base station. A pulse radio ultra-wideband (IR-UWB) sensor transmits and receives pulse signals to determine the tower's pulse positioning information. The RTK positioning information and pulse positioning information are then integrated to determine the tower's target positioning information. The RTK sensor and IR-UWB sensor are positioned on the tower and / or within a preset distance from the tower. By integrating RTK and IR-UWB technologies to measure the tower's position, the accuracy of the measured tower position is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 FIG. 1 is an application environment diagram of a tower positioning method according to an embodiment;

[0053] Figure 2 1 is a flow chart of a method for locating an iron tower in one embodiment;

[0054] Figure 3 Schematic diagram of carrier phase positioning principle in one embodiment;

[0055] Figure 4 A schematic diagram of the static positioning accuracy of an RTK system in one embodiment;

[0056] Figure 5 1 is a flow chart of a method for locating an iron tower in another embodiment;

[0057] Figure 6 1 is a flow chart of a method for locating an iron tower in another embodiment;

[0058] Figure 7 1 is a flow chart of a method for locating an iron tower in another embodiment;

[0059] Figure 8 1 is a schematic diagram of the principle of a positioning method based on time delay in one embodiment;

[0060] Figure 9 is a structural block diagram of a positioning device for an iron tower in one embodiment;

[0061] Figure 10 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0063] The tower positioning method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown, sensor 102 communicates with server 104 via a network. A data storage system can store data that server 104 needs to process. Sensor 102 includes a real-time kinematic (RTK) sensor and an impulse radio ultra-wideband (IR-UWB) sensor. Server 104 interacts with sensor 102 to determine the tower's location. Server 104 can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services.

[0064] In one embodiment, Figure 2 As shown, a method for locating a tower is provided, which is applied to Figure 1 The following is an example of a server in the example, including:

[0065] S201, receiving a base station carrier phase observation value, a satellite signal, and a base station coordinate via a real-time kinematic differential RTK sensor.

[0066] The RTK sensor is mounted on a tower and / or within a predetermined distance of the tower. The base station's carrier phase observations, satellite signals, and base station coordinates are all PTK data. The PTK sensor converts this data into PTK data and transmits it to a server.

[0067] In an embodiment of the present application, a PTK sensor is set on a tower or within a preset distance range of the tower as a mobile station. When performing RTK measurement, the base station sends the carrier phase observation value and known coordinates to the mobile station working nearby in real time through the data communication link. The signal sent by the base station can be divided into two types. One is to send the correction value, and the mobile station receives the correction value of the base station and the satellite signal for positioning processing. The other is that the base station directly sends the GPS complete carrier signal, and the server receives the carrier signals from the base station and the satellite at the same time, and performs real-time differential internally to eliminate part of the error to improve positioning accuracy.

[0068] In an embodiment of the present application, PTK data is transmitted via a 4G or 5G network.

[0069] S202, determining the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates.

[0070] In an embodiment of the present application, when the signal sent by the base station is a correction value, the server receives the correction value of the base station and the satellite signal for positioning processing; when the signal sent by the base station is a GPS complete carrier signal, the server simultaneously receives the carrier signals from the base station and the satellite, and performs real-time differential internally to eliminate part of the error to improve positioning accuracy.

[0071] In an embodiment of the present application, the reference station coordinates and carrier phase observations are used to eliminate common errors such as satellite clock errors and ionospheric delays.

[0072] S203: Send and receive pulse signals through an impulse radio ultra-wideband IR-UWB sensor to determine the pulse positioning information of the tower.

[0073] The IR-UWB sensor is arranged on the tower and / or within a preset distance range of the tower.

[0074] In the embodiments of this application, impulse radio ultra-wideband (IR-UWB) technology is a carrier-free communication method that uses extremely short pulses to transmit information, primarily for short-range wireless communications. Ultra-wideband (UWB) technology solves significant propagation challenges that have plagued traditional antenna technology for years, developing a new wireless channel with gigahertz capacity and ultra-high spatial capacity. It also offers numerous advantages, including insensitivity to channel fading, low power consumption, low probability of interception and detection, high ranging accuracy, low system cost, and strong multiple access capabilities.

[0075] Based on the geometric principles of positioning, ultra-wideband positioning methods include: field strength-based positioning, time delay-based positioning, and arrival angle measurement. Among them, time delay-based positioning can be further divided into positioning based on the time difference of arrival (TDOA) and positioning based on the time difference of arrival (TDOA).

[0076] S204: Fusing the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower.

[0077] In the embodiment of the present application, RTK technology provides centimeter-level global coordinates in an open environment, but is susceptible to ionospheric disturbances and obstructions, resulting in elevation jitter or loss of lock. IR-UWB uses time domain pulses to combat multipath within a short distance and outputs high-frequency relative displacement, but there is coordinate system drift and the absolute position cannot be directly obtained; the RTK sensor and the IR-UWB sensor can share a high-precision clock source to ensure time alignment of the observation data, and establish a rigid body transformation matrix from the IR-UWB local coordinate system to the global coordinate system based on the RTK positioning point. By complementing the error characteristics and unifying the time and space references, the absolute positioning advantage of RTK and the relative stability of IR-UWB are combined.

[0078] Optionally, the RTK positioning information and the pulse positioning information may be coordinate information, and the RTK positioning information and the pulse positioning information may be weightedly summed according to preset weights to determine the target positioning information of the tower.

[0079] In the tower positioning method described above, a real-time dynamic differential RTK sensor receives carrier phase observations of a base station, satellite signals, and base station coordinates; RTK positioning information of the tower is determined based on the carrier phase observations, satellite signals, and base station coordinates; a pulse radio ultra-wideband (IR-UWB) sensor transmits and receives pulse signals to determine the tower's pulse positioning information; and the RTK positioning information and pulse positioning information are integrated to determine the tower's target positioning information. The RTK sensor and IR-UWB sensor are positioned on the tower and / or within a preset distance range of the tower. By integrating RTK and IR-UWB technologies to measure the tower's position, the accuracy of the measured tower position is improved.

[0080] In one embodiment, an implementation method of the above-mentioned S204 is provided, and a target sensor is also provided on the tower, and the target sensor includes: an IMU sensor, an angle monitoring sensor of the tower lifting platform, a perception sensor of the tower base and at least one of an environmental monitoring sensor; the above-mentioned "fusing RTK positioning information and pulse positioning information to determine the target positioning information of the tower" includes: fusing RTK positioning information, pulse positioning information and the measurement value of the target sensor to determine the target positioning information of the tower.

[0081] In an embodiment of the present application, the tower is also provided with at least one of an IMU sensor, an angle monitoring sensor of the tower lifting platform, a perception sensor of the tower base and an environmental monitoring sensor. The IMU sensor collects the tower operating inclination angle data, the angle monitoring sensor of the tower lifting platform obtains the platform angle information of the tower, the perception sensor of the tower base collects tower base related data, and the environmental monitoring sensor collects environmental parameters such as temperature, humidity, and wind speed.

[0082] Optionally, in conjunction with the device perception module, data from the tower's lifting platform's angle monitoring sensors and the tower's base sensing sensors can help determine the relative position and attitude of the sensors, further correcting errors in field strength measurements. When the lifting platform tilts or the tower's base settles, the relative position of the sensors changes. This information can be used to dynamically adjust the field strength measurement results, ensuring the reliability of positioning results.

[0083] Optionally, IMU sensor data can be used to compensate for delay measurement errors caused by tower tilt. When a tower tilts, the signal propagation path changes. The tilt angle information provided by the IMU sensor can be used to correct the delay measurement results, improving positioning accuracy. Furthermore, information such as wind speed and temperature provided by environmental monitoring sensors can be used to account for the impact of environmental factors on signal propagation speed, further optimizing the delay positioning algorithm and ensuring that positioning results more accurately reflect the tower's actual position and status.

[0084] In the embodiment of the present application, the pulse positioning information is modified using the data of the target sensor, thereby improving the accuracy of the target positioning information.

[0085] In one embodiment, an implementation of the above-mentioned S202 is provided, and the above-mentioned "determining the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates" includes: performing real-time differential processing on the carrier phase observation value, satellite signal and reference station coordinates to determine the RTK positioning information of the tower.

[0086] In this embodiment, after the RTK sensor on the tower receives data, the server uses a static relative measurement method to solve for the baseline. When the base station sends correction values, the server combines these with satellite signals for positioning. If the base station directly transmits a full GPS carrier signal, the server simultaneously receives the carrier signals from the base station and the satellite, performing real-time differential calculations internally to eliminate some errors. Using a complex algorithm, the server calculates the coordinates of the measured point (key locations on the tower and its components).

[0087] Optional, Figure 3 This is a schematic diagram of the carrier phase positioning principle. Figure 4 Schematic diagram of the static positioning accuracy of the RTK system.

[0088] In the above-mentioned application embodiment, real-time differential processing of carrier phase observation values, satellite signals and reference station coordinates can significantly improve the accuracy (up to centimeter level), real-time performance (response in seconds) and error resistance of tower positioning. By eliminating common errors such as satellite clock error and ionospheric delay, high-reliability position information of the tower can be stably output in a complex environment.

[0089] In one embodiment, an implementation of the above S203 is provided, wherein the pulse positioning information includes first positioning information and second positioning information, such as Figure 5 As shown, the above-mentioned “sending and receiving pulse signals by pulse radio ultra-wideband IR-UWB sensors to determine the pulse positioning information of the tower” includes:

[0090] S301: Determine first positioning information according to the field strength value of the pulse signal received and sent by the IR-UWB sensor.

[0091] In an embodiment of the present application, a field-strength-based positioning method is used to determine the first positioning information. Specifically, the server estimates the distance between the transceivers by measuring the field strength of the received signal, a known channel fading model, and the field strength of the transmitted signal. In this embodiment of the present application, the target node is a tower, which is characterized by a sensor installed on the tower. The reference nodes are multiple nodes with known positioning information. The target node is required to measure the field strength of the signals transmitted by multiple reference nodes on the forward link, or to measure the field strength of the signals transmitted by the target node on the reverse link at multiple reference nodes. Then, based on the principle of triangulation, the estimated position of the target node, i.e., the first positioning information, is determined.

[0092] S302: Determine second positioning information according to the time when the IR-UWB sensor sends and receives the pulse signal.

[0093] In an embodiment of the present application, a delay-based positioning method is used to determine the second positioning information, determine the signal propagation time between the tower and multiple reference nodes, and determine the distance between the tower and each reference node based on each signal propagation time. Thus, the second positioning information is determined based on the distance between the tower and each reference node.

[0094] Alternatively, based on the geometric principles of positioning, angle-of-arrival measurement, as one of the fundamental classes of ultra-wideband positioning methods, can optimize the overall positioning algorithm. Incorporating angle-of-arrival information into the tower position calculation algorithm can add constraints to positioning and reduce positioning uncertainty. Where there are uncertainties in delay-based positioning methods, angle-of-arrival measurement results can assist in determining the exact location of the target node, thereby improving the accuracy of the entire positioning system and ensuring precise monitoring of the tower's status. Tower operating environments are complex, and signals are susceptible to interference. Angle-of-arrival measurement technology offers unique advantages. In complex environments, it can provide more dimensional information for positioning by measuring the angle of signal arrival. Even when signal propagation is affected by obstruction, reflection, and other factors, the information obtained from angle-of-arrival measurement helps the system more accurately determine the tower's position and status, enhancing the system's adaptability and stability in complex environments and ensuring the safe and efficient execution of intelligent tower dismantling operations.

[0095] In the above application embodiment, a field strength-based positioning method is used to determine the first positioning information, and a time delay-based positioning method is used to determine the second positioning information. The pulse positioning information obtained by the first positioning information and the second positioning information is made more accurate.

[0096] In one embodiment, an implementation of the above S301 is provided, such as Figure 6 As shown, the above “determining the first positioning information according to the field strength value of the pulse signal received and sent by the IR-UWB sensor” includes:

[0097] S401 : Determine a first field strength value of a first signal received by an IR-UWB sensor, and determine a second field strength value of a second signal sent by the IR-UWB sensor.

[0098] In an embodiment of the present application, a receiving sensor on or around the tower measures a first field strength value of a received signal and sends a second signal with a known second field strength value to a transceiver of a reference node.

[0099] S402: Input the first field strength value and the second field strength value into a preset channel fading model to determine the distance between the location of each sensor and the reference location; the channel fading model is trained based on the corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights.

[0100] In the embodiments of the present application, in the tower operating environment, traditional field-strength-based positioning methods may suffer from significant errors due to complex electromagnetic interference and multipath effects. In this solution, field-strength measurements are performed using sensors at multiple locations on the tower. A more accurate channel fading model is established by combining the tower's structural characteristics and surrounding environmental information. For example, considering the reflection and obstruction effects of the tower's metal structure on signals, signal propagation paths at different directions and heights are modeled and analyzed. By statistically analyzing a large amount of measured data, the channel fading model parameters are continuously optimized, improving the accuracy of field-strength-based positioning.

[0101] Optionally, considering the reflection and shielding effects of the metal structure of the tower on the signal, modeling and analysis of signal propagation paths in different directions and heights are performed. By statistics and analysis of a large amount of measured data, the channel fading model parameters are continuously optimized to improve the accuracy of field strength-based positioning.

[0102] Optionally, the process of acquiring a channel fading model can include constructing a theoretical model of channel fading based on basic electromagnetic wave propagation theory, such as the free-space loss formula for radio wave propagation and the principle of reflection and refraction. For example, the free-space propagation model assumes that signals propagate in an ideal, unobstructed space, and their signal strength decays according to a specific law as the propagation distance increases, i.e., the signal strength is inversely proportional to the square of the propagation distance. In the target application scenario, professional wireless signal measurement equipment is used to collect a large amount of signal strength data at different locations, at different times, and under different environmental conditions. In indoor scenarios, the effects of signal obstruction, reflection, and refraction caused by obstacles such as walls and furniture should be considered. In outdoor scenarios, the effects of factors such as topography, building distribution, and weather should be considered. Extensive data collection in these complex environments can more realistically reflect the signal fading in the actual channel. Furthermore, the collected data is organized and analyzed, and processed using statistical methods, machine learning algorithms, or other mathematical techniques. The specific parameters of the channel fading model can be determined by fitting the relationship between received signal strength and variables such as propagation distance and environmental factors. The least squares method is used to fit the data to find the model parameters that best match the actual data distribution, thereby obtaining a channel fading model suitable for the scenario. After obtaining a preliminary channel fading model, it is necessary to verify the model with new measurement data to evaluate its accuracy and reliability. If there is a significant deviation between the model's predicted results and the actual measured data, the model needs to be optimized. Optimization methods may include adjusting the model structure, adding influencing factors, and improving the fitting algorithm until the model can accurately describe the channel fading characteristics.

[0103] S403: Determine first positioning information according to the distance between the position of each sensor and the reference position.

[0104] In the embodiment of the present application, the reference position is the position of the reference node, and the first positioning information is determined based on the multilateration method and the distance between the position of each sensor and the reference position.

[0105] Alternatively, multiple sensors deployed on the tower can measure their respective distances to a reference location, and the tower's position can be calculated based on the principle of spatial geometric intersection: each distance value forms a spatial sphere centered at the reference location, and the intersection of these spheres represents the 3D coordinates of key tower points. This method utilizes distance constraints to infer position without relying on satellite signals, making it particularly suitable for complex steel structures. By combining multi-node data, it directly outputs the tower's absolute position or relative deformation, providing a stable and reliable spatial reference for deformation monitoring.

[0106] In the above application embodiment, the channel fading model is optimized so that the channel fading model is more compatible with the positioning of the tower, thereby improving the accuracy of the positioning of the tower.

[0107] In one embodiment, an implementation of the above S302 is provided, such as Figure 7 As shown, the above “determining the second positioning information according to the time when the IR-UWB sensor sends and receives the pulse signal” includes:

[0108] S501: Determine the signal propagation time between the IR-UWB sensor and multiple reference nodes based on the time when the IR-UWB sensor sends and receives pulse signals and the time when multiple reference nodes send and receive pulse signals. The reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module.

[0109] In the embodiments of this application, high-precision time synchronization technology is employed. Because tower operations require highly accurate positioning information, traditional time synchronization methods may not meet these requirements. This solution utilizes specialized time synchronization equipment, such as a synchronization module based on atomic clocks or high-precision GPS timing, to ensure precise synchronization between the target node (monitoring point on the tower) and the reference nodes (nearby positioning points), significantly reducing positioning errors caused by timing errors. Based on a unified time synchronization module, the timing of the IR-UWB sensor's transmitted and received pulse signals is determined relative to the timing of the transmitted and received pulse signals of multiple reference nodes.

[0110] Optionally, determining the reference node includes:

[0111] (1) Pre-deployment and planning: In actual application scenarios, reference nodes are usually pre-deployed based on positioning requirements and environmental characteristics. In indoor positioning scenarios, reference nodes may be installed at key locations in buildings, such as corners and corridor intersections, to ensure signal coverage and positioning accuracy. In industrial production scenarios, reference nodes are installed at fixed locations based on the layout and positioning requirements of production equipment to ensure accurate positioning of the target node. Pre-planning the location of reference nodes in this way can ensure the stability and reliability of the positioning system.

[0112] (2) Possessing specific identification and communication capabilities: The reference node needs to have specific identification so that the target node can identify and communicate with it. These identifications can be unique ID numbers or specific signal characteristics. The reference node also needs to have stable communication capabilities, being able to accurately send signals to the target node and receive feedback signals from the target node. This is the basic condition for achieving delay-based positioning. Only when normal communication between the reference node and the target node is guaranteed can the signal propagation time be measured and the positioning calculation be performed.

[0113] (3) Selection based on environmental characteristics and signal quality: In some complex environments, it may be necessary to dynamically select reference nodes based on environmental characteristics and signal quality. If there is signal interference in a certain area, it is necessary to avoid these interference sources and select appropriate reference nodes. By monitoring indicators such as signal strength and stability, nodes with good signal quality are selected as reference nodes to improve positioning accuracy. In an environment with tall buildings in the city, signals are easily blocked and reflected. At this time, it is necessary to flexibly select reference nodes based on actual conditions to ensure the reliability of positioning.

[0114] S502 : Constraining the tower to a plurality of trajectory circles centered on the reference nodes according to the signal propagation time between the tower and the plurality of reference nodes.

[0115] In an embodiment of the present application, the target node is an iron tower, which is regarded as the target node. The IR-UWB sensor set on the iron tower interacts with the reference node to determine the signal transmission time between the target node and the reference node. The reference nodes are multiple nodes with known positioning information. According to the transmission time of the pulse signal between the target node and the first reference node, the target node is constrained to a first trajectory circle centered on the first reference node, that is, the position of the target node is located on the first trajectory circle. Furthermore, another propagation time measurement is performed relative to the second reference node to generate a second trajectory circle, and another propagation time measurement is performed relative to the third reference node to generate a third trajectory circle.

[0116] Optional, Figure 8 Schematic diagram of the principle of the time delay-based positioning method, where BS1 (x1, y1, z1) is the coordinate of the first reference node, d1 is the radius of the first trajectory circle; BS2 (x2, y2, z2) is the coordinate of the second reference node, d2 is the radius of the second trajectory circle; BS3 (x3, y3, z3) is the coordinate of the third reference node, d3 is the radius of the third trajectory circle; BS M (x M ,y M , z M ) is the coordinate of the Mth reference node, d M is the radius of the Mth trajectory circle.

[0117] Optionally, the speed of the signal in air is known (usually the speed of light, about 3×10 8 m / s). When the reference node sends a signal to the target node and receives the reflected signal, the radius r of the trajectory circle centered on the reference node can be calculated based on the measured signal propagation time t and the formula r=vt (v is the signal propagation speed and t is the propagation time).

[0118] Optionally, consider signal propagation loss and environmental factors for correction: In real-world situations, signal propagation is affected by various factors, such as signal attenuation and multipath effects. To more accurately determine the trajectory radius, these factors need to be considered and corrected. Through experiments or theoretical analysis, a signal propagation loss model can be established and the calculated radius corrected accordingly. In indoor environments, signals can be blocked and reflected by obstacles such as walls and furniture, increasing signal propagation loss. In this case, the radius needs to be adjusted based on specific environmental parameters to improve positioning accuracy.

[0119] S503: Determine second positioning information according to the principle of a circumferential positioning method or a three-circle intersection positioning method.

[0120] In this embodiment of the present application, the target node's location lies on both the first and second trajectory circles, i.e., at their intersection. However, the two circles intersect at two points, creating uncertainty points. This requires another propagation time measurement relative to a third reference node to generate a third trajectory circle. The location where the first, second, and third trajectory circles intersect is the target node's location.

[0121] In the above application embodiment, the time of the tower and the reference node is accurately synchronized through a unified time synchronization module, which greatly reduces the positioning error caused by time error.

[0122] In one embodiment, a complete tower positioning method is provided, comprising:

[0123] S1 receives the base station carrier phase observation value, satellite signal and base station coordinates through the real-time dynamic differential RTK sensor.

[0124] S2 performs real-time differential processing on the carrier phase observation value, satellite signal and reference station coordinates to determine the RTK positioning information of the tower.

[0125] S3 , determining a first field strength value of a first signal received by the IR-UWB sensor, and determining a second field strength value of a second signal sent by the IR-UWB sensor.

[0126] S4, input the first field strength value and the second field strength value into a preset channel fading model to determine the distance between the location of each sensor and the reference position; the channel fading model is trained based on the corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights.

[0127] S5. Determine first positioning information according to the distance between the position of each sensor and the reference position.

[0128] S6, determining the signal propagation time between the IR-UWB sensor and the multiple reference nodes based on the time when the IR-UWB sensor sends and receives pulse signals and the time when the multiple reference nodes send and receive pulse signals; the reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module.

[0129] S7, constraining the tower to multiple trajectory circles centered on the reference nodes according to the signal propagation time between the tower and the multiple reference nodes.

[0130] S8. Determine the second positioning information according to the principle of the circumference positioning method or the three-circle intersection positioning method.

[0131] S9, integrates RTK positioning information, pulse positioning information and target sensor measurement values ​​to determine the target positioning information of the tower.

[0132] In the tower positioning method described above, a real-time dynamic differential RTK sensor receives carrier phase observations of a base station, satellite signals, and base station coordinates; RTK positioning information of the tower is determined based on the carrier phase observations, satellite signals, and base station coordinates; a pulse radio ultra-wideband (IR-UWB) sensor transmits and receives pulse signals to determine the tower's pulse positioning information; and the RTK positioning information and pulse positioning information are integrated to determine the tower's target positioning information. The RTK sensor and IR-UWB sensor are positioned on the tower and / or within a preset distance range of the tower. By integrating RTK and IR-UWB technologies to measure the tower's position, the accuracy of the measured tower position is improved.

[0133] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0134] Based on the same inventive concept, embodiments of the present application also provide a tower positioning device for implementing the aforementioned tower positioning method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of the following embodiments of one or more tower positioning devices can be found in the aforementioned definitions of the tower positioning method and are not further elaborated here.

[0135] In one embodiment, Figure 9 As shown, a tower positioning device is provided, comprising: a receiving module 10, a first determination module 11, a second determination module 12 and a fusion module 13, wherein:

[0136] The receiving module 10 is used to receive the carrier phase observation value of the reference station, satellite signals and the coordinates of the reference station through the real-time dynamic differential RTK sensor.

[0137] The first determination module 11 is used to determine the RTK positioning information of the tower based on the carrier phase observation value, satellite signals and reference station coordinates.

[0138] The second determining module 12 is configured to receive and send pulse signals through an impulse radio ultra-wideband IR-UWB sensor to determine the pulse positioning information of the tower.

[0139] The fusion module 13 is used to fuse the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower.

[0140] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0141] In one embodiment, the fusion module 13 includes: a fusion unit, configured to fuse RTK positioning information, pulse positioning information, and measurement values ​​of the target sensor to determine target positioning information of the tower.

[0142] In one embodiment, the first determination module 11 includes: a first determination unit, configured to perform real-time differential processing on carrier phase observation values, satellite signals, and reference station coordinates to determine RTK positioning information of the tower.

[0143] In one embodiment, the second determining module 12 includes: a second determining unit and a third determining unit, wherein:

[0144] The second determining unit is used to determine the first positioning information according to the field strength value of the pulse signal received and sent by the IR-UWB sensor.

[0145] The third determining unit is configured to determine the second positioning information according to the time when the IR-UWB sensor sends and receives the pulse signal.

[0146] In one embodiment, the second determination unit is specifically used to determine a first field strength value of a first signal received by the IR-UWB sensor, and to determine a second field strength value of a second signal sent by the IR-UWB sensor; the first field strength value and the second field strength value are input into a preset channel fading model to determine the distance between the position of each sensor and the reference position; the channel fading model is trained based on the corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights; and the first positioning information is determined based on the distance between the position of each sensor and the reference position.

[0147] In one embodiment, the third determination unit is specifically used to determine the signal propagation time between the IR-UWB sensor and multiple reference nodes based on the time when the IR-UWB sensor sends and receives pulse signals and the time when multiple reference nodes send and receive pulse signals; the reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module; according to the signal propagation time between the tower and the multiple reference nodes, the tower is constrained to multiple trajectory circles centered on the reference nodes; the second positioning information is determined based on the principle of the circular positioning method or the three-circle intersection positioning method.

[0148] Each module in the tower positioning device described above can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0149] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store the positioning data of the iron tower. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for locating an iron tower is implemented.

[0150] Those skilled in the art will understand that Figure 10The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0151] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0152] Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors;

[0153] Determine the tower's RTK positioning information based on carrier phase observations, satellite signals, and reference station coordinates;

[0154] The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower;

[0155] Fuse RTK positioning information and pulse positioning information to determine the target positioning information of the tower;

[0156] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0157] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0158] The target positioning information of the tower is determined by fusing RTK positioning information, pulse positioning information and the measurement values ​​of the target sensor.

[0159] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0160] Perform real-time differential processing on the carrier phase observation value, satellite signal and reference station coordinates to determine the RTK positioning information of the tower.

[0161] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0162] Determining first positioning information according to a field strength value of a pulse signal received and transmitted by the IR-UWB sensor;

[0163] The second positioning information is determined according to the time when the IR-UWB sensor sends and receives the pulse signal.

[0164] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0165] determining a first field strength value of a first signal received by the IR-UWB sensor, and determining a second field strength value of a second signal transmitted by the IR-UWB sensor;

[0166] Inputting the first field strength value and the second field strength value into a preset channel fading model to determine the distance between the location of each sensor and the reference location; the channel fading model is trained based on the corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights;

[0167] First positioning information is determined according to the distance between the position of each sensor and the reference position.

[0168] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0169] The signal propagation time between the IR-UWB sensor and multiple reference nodes is determined based on the time it takes the IR-UWB sensor to transmit and receive pulse signals and the time it takes multiple reference nodes to transmit and receive pulse signals. The reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module.

[0170] According to the signal propagation time between the tower and multiple reference nodes, the tower is constrained to multiple trajectory circles centered on the reference nodes;

[0171] The second positioning information is determined according to the principle of the circumference positioning method or the three-circle intersection positioning method.

[0172] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0173] Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors;

[0174] Determine the tower's RTK positioning information based on carrier phase observations, satellite signals, and reference station coordinates;

[0175] The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower;

[0176] Fuse RTK positioning information and pulse positioning information to determine the target positioning information of the tower;

[0177] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0178] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0179] The target positioning information of the tower is determined by fusing RTK positioning information, pulse positioning information and the measurement values ​​of the target sensor.

[0180] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0181] Perform real-time differential processing on the carrier phase observation value, satellite signal and reference station coordinates to determine the RTK positioning information of the tower.

[0182] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0183] Determining first positioning information according to a field strength value of a pulse signal received and transmitted by the IR-UWB sensor;

[0184] The second positioning information is determined according to the time when the IR-UWB sensor sends and receives the pulse signal.

[0185] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0186] determining a first field strength value of a first signal received by the IR-UWB sensor, and determining a second field strength value of a second signal transmitted by the IR-UWB sensor;

[0187] Inputting the first field strength value and the second field strength value into a preset channel fading model to determine the distance between the location of each sensor and the reference location; the channel fading model is trained based on the corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights;

[0188] First positioning information is determined according to the distance between the position of each sensor and the reference position.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0190] The signal propagation time between the IR-UWB sensor and multiple reference nodes is determined based on the time it takes the IR-UWB sensor to transmit and receive pulse signals and the time it takes multiple reference nodes to transmit and receive pulse signals. The reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module.

[0191] According to the signal propagation time between the tower and multiple reference nodes, the tower is constrained to multiple trajectory circles centered on the reference nodes;

[0192] The second positioning information is determined according to the principle of the circumference positioning method or the three-circle intersection positioning method.

[0193] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0194] Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors;

[0195] Determine the tower's RTK positioning information based on carrier phase observations, satellite signals, and reference station coordinates;

[0196] The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower;

[0197] Fuse RTK positioning information and pulse positioning information to determine the target positioning information of the tower;

[0198] The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0200] The target positioning information of the tower is determined by fusing RTK positioning information, pulse positioning information and the measurement values ​​of the target sensor.

[0201] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0202] Perform real-time differential processing on the carrier phase observation value, satellite signal and reference station coordinates to determine the RTK positioning information of the tower.

[0203] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0204] Determining first positioning information according to a field strength value of a pulse signal received and transmitted by the IR-UWB sensor;

[0205] The second positioning information is determined according to the time when the IR-UWB sensor sends and receives the pulse signal.

[0206] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0207] determining a first field strength value of a first signal received by the IR-UWB sensor, and determining a second field strength value of a second signal transmitted by the IR-UWB sensor;

[0208] Inputting the first field strength value and the second field strength value into a preset channel fading model to determine the distance between the location of each sensor and the reference location; the channel fading model is trained based on the corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights;

[0209] First positioning information is determined according to the distance between the position of each sensor and the reference position.

[0210] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0211] The signal propagation time between the IR-UWB sensor and multiple reference nodes is determined based on the time it takes the IR-UWB sensor to transmit and receive pulse signals and the time it takes multiple reference nodes to transmit and receive pulse signals. The reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module.

[0212] According to the signal propagation time between the tower and multiple reference nodes, the tower is constrained to multiple trajectory circles centered on the reference nodes;

[0213] The second positioning information is determined according to the principle of the circumference positioning method or the three-circle intersection positioning method.

[0214] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0215] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0216] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for positioning an iron tower, characterized in that: The method comprises: Receive base station carrier phase observations, satellite signals, and base station coordinates through real-time dynamic differential RTK sensors; Determine the RTK positioning information of the tower based on the carrier phase observation value, satellite signal and reference station coordinates; The pulse radio ultra-wideband IR-UWB sensor sends and receives pulse signals to determine the pulse positioning information of the tower; Fusing the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower; The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

2. The method according to claim 1, characterized in that The tower is further provided with a target sensor, which includes at least one of an IMU sensor, an angle monitoring sensor of a tower lifting platform, a perception sensor of a tower base, and an environmental monitoring sensor. The fusion of the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower includes: The RTK positioning information, the pulse positioning information and the measurement value of the target sensor are integrated to determine the target positioning information of the tower.

3. The method according to claim 1, characterized in that The determining of the RTK positioning information of the tower based on the carrier phase observation value, the satellite signal and the reference station coordinates includes: The carrier phase observation value, satellite signal and reference station coordinates are subjected to real-time differential processing to determine the RTK positioning information of the tower.

4. The method according to claim 1, wherein The pulse positioning information includes first positioning information and second positioning information, and the pulse positioning information of the tower is determined by transmitting and receiving pulse signals by the pulse radio ultra-wideband IR-UWB sensor, including: determining first positioning information according to a field strength value of a pulse signal transmitted and received by the IR-UWB sensor; The second positioning information is determined according to the time when the IR-UWB sensor sends and receives the pulse signal.

5. The method according to claim 4, characterized in that The determining the first positioning information according to the field strength value of the pulse signal received and sent by the IR-UWB sensor includes: determining a first field strength value of a first signal received by the IR-UWB sensor, and determining a second field strength value of a second signal sent by the IR-UWB sensor; Inputting the first field strength value and the second field strength value into a preset channel fading model to determine the distance between the location of each sensor and a reference location; the channel fading model is trained based on corresponding field strength values ​​of multiple signal propagation paths obtained by sensors at different locations and heights; The first positioning information is determined according to the distance between the position of each sensor and a reference position.

6. The method according to claim 4, characterized in that The determining the second positioning information according to the time when the IR-UWB sensor sends and receives the pulse signal includes: Determining the signal propagation time between the IR-UWB sensor and the multiple reference nodes based on the time when the IR-UWB sensor transmits and receives pulse signals and the time when multiple reference nodes transmit and receive pulse signals; the reference nodes are positioning reference points around the tower, and the reference nodes and the IR-UWB sensor include a unified time synchronization module; constraining the tower to a plurality of trajectory circles centered on the reference nodes according to signal propagation times between the tower and a plurality of reference nodes; The second positioning information is determined according to the principle of a circumferential positioning method or a three-circle intersection positioning method.

7. A positioning device for an iron tower, characterized in that: The device comprises: A receiving module is used to receive the base station carrier phase observation value, satellite signal and base station coordinates through the real-time dynamic differential RTK sensor; A first determination module is used to determine the RTK positioning information of the tower based on the carrier phase observation value, the satellite signal and the reference station coordinates; The second determination module is used to send and receive pulse signals through a pulse radio ultra-wideband IR-UWB sensor to determine the pulse positioning information of the tower; A fusion module, configured to fuse the RTK positioning information and the pulse positioning information to determine the target positioning information of the tower; The RTK sensor and the IR-UWB sensor are arranged on the tower and / or within a preset distance range of the tower.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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