Internal and external positioning system and method of chemical equipment based on positioning beacon

Abstract

The embodiment of the present invention provides a system and method for positioning inside and outside a chemical device based on a positioning beacon, which belongs to the field of personnel positioning technology. The system includes: a positioning beacon, which is used to broadcast a first wireless signal; a positioning terminal, which is used to determine the area information of the positioning terminal based on all the first wireless signals received; and if the area information is inside the device, the positioning terminal is positioned by the positioning beacon; if the area information is a boundary area, the positioning method is determined according to the strength of the first wireless signal and the signal strength of the navigation satellite; if the area information is outside the device, the positioning terminal is positioned by the navigation satellite; a communication base station, which is used to receive the positioning information output by the positioning terminal and send it to the monitoring server. The present invention determines the area information of the positioning terminal based on the positioning beacon, thereby realizing a smooth switching between wireless positioning and satellite navigation positioning, greatly reducing the number of wireless positioning beacons deployed while effectively improving the positioning accuracy within the device.

Description

Technical Field

[0001] The present invention relates to the technical field of personnel positioning, and in particular to an internal and external positioning system of a chemical device based on a positioning beacon and an internal and external positioning method of a chemical device based on a positioning beacon. Background Art

[0002] For the chemical industry, integrated positioning inside and outside the device is of great value. There are two main types of positioning systems for existing chemical companies: 1. Using wireless systems such as Bluetooth or Zigbee to achieve full coverage and positioning; 2. Using GPS / Beidou and other systems for positioning. Solution 1 can achieve seamless positioning, but it requires the deployment of positioning equipment throughout the field, which is too costly; Solution 2 is low-cost, but positioning is only good in open areas outside the device, and it is impossible to locate some parts in the city, it is difficult to distinguish between floors, the positioning accuracy is low next to buildings, and the power consumption of satellite navigation is large.

[0003] As a result of the above situation, Solution 2 is difficult to meet the application needs of chemical companies. Solution 1 can only be implemented in relatively small companies due to its high cost. It is difficult to implement for large companies with several square kilometers. A balanced solution is to use wireless systems such as Bluetooth or Zigbee for positioning inside the device and GPS / Beidou satellite positioning system outside the device. This solution has many problems in switching between inside and outside the device, and the effect is poor in the boundary area. For example, at the edge of the second floor inside the device, the wireless system should be used for positioning, but the satellite positioning system is mistakenly used to locate the personnel on the road outside the device. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to solve the problem of inaccurate switching of internal and external positioning of a device in the prior art by determining a positioning mode based on a positioning beacon.

[0005] In order to achieve the above object, in a first aspect of the present invention, a chemical plant internal and external positioning system based on a positioning beacon is provided, comprising:

[0006] A positioning terminal, a plurality of positioning beacons arranged in the device and in the boundary area between the device and the outside of the device, at least one communication base station, and a monitoring server;

[0007] The positioning beacon is used to broadcast a first wireless signal;

[0008] The positioning terminal is used for:

[0009] Determine area information of the positioning terminal according to all received first wireless signals, the area information including inside the device, a boundary area and outside the device; and

[0010] If the area information is within the device, positioning the positioning terminal through a positioning beacon and outputting positioning information;

[0011] If the area information is a border area, determining that the positioning terminal is positioned by a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;

[0012] If the area information is outside the device, positioning the positioning terminal through a navigation satellite and outputting positioning information;

[0013] The communication base station is used to receive the positioning information output by the positioning terminal and send it to the monitoring server.

[0014] Optionally, the communication base station is further used for:

[0015] Broadcasting auxiliary information of the navigation satellite to the positioning terminal, the auxiliary information including navigation satellite identity information and navigation satellite orbit information.

[0016] Optionally, the first wireless signal includes group information corresponding to the positioning beacon, and the group information is A or B, wherein A indicates that the positioning beacon is set in the device, and B indicates that the positioning beacon is set in the boundary area between the inside and outside of the device, and the positioning terminal is further used to:

[0017] According to the group information of all the received first wireless signals, the positioning beacons corresponding to the group information A of all the received first wireless signals are determined as group A, and the positioning beacons corresponding to the group information B of all the received first wireless signals are determined as group B;

[0018] The signal qualities of group A and group B are calculated respectively by a first preset algorithm, and the area information of the positioning terminal is determined according to the signal qualities of group A and group B.

[0019] Optionally, the positioning beacon is also set in a preset area outside the device, and the group information of the positioning beacon set in the preset area outside the device is B.

[0020] Optionally, the positioning terminal is further used for:

[0021] The first wireless signal strength in group A is greater than the first threshold R T The first wireless signal strength R AM , obtain the first wireless signal strength in group B greater than the first threshold R T The first wireless signal strength R BM ;

[0022] Calculate the signal quality w of group A according to the following formula A and the signal quality w of group B B :

[0023] wA =(R T +R A1 )+(R T +R A2 )+...+(R T +R AM );

[0024] w B =(R T +R B1 )+(R T +R B2 )+...+(R T +R BN );

[0025] If A >w B , and w A >w T , the area information of the positioning terminal is within the device;

[0026] If B ≥w A , and w B >w T , the area information of the positioning terminal is a border area;

[0027] Otherwise, the area information of the positioning terminal is outside the device;

[0028] where w T is the second threshold.

[0029] Optionally, the positioning terminal includes a satellite positioning module, and the positioning terminal is further used for:

[0030] If the area information is within the device, the satellite positioning module is turned off, the positioning terminal is positioned through a positioning beacon, and positioning information is output.

[0031] Optionally, the positioning terminal is further used for:

[0032] If the area information is a border area, turning on the satellite positioning module and acquiring a second wireless signal from a navigation satellite;

[0033] Calculating the signal qualities Q of all navigation satellites acquired by a second preset algorithm according to all acquired second wireless signals;

[0034] If B ≥Q, the location information of the positioning beacon corresponding to the first wireless signal with the largest received signal strength is used as the positioning information of the positioning terminal;

[0035] If Q<w B, the positioning terminal is positioned through the navigation satellite and the positioning information is output.

[0036] Optionally, the positioning terminal is further used for:

[0037] Determining a signal-to-noise ratio of a corresponding navigation satellite according to all acquired second wireless signals;

[0038] Obtain the signal-to-noise ratio C of the navigation satellite whose signal-to-noise ratio is greater than the third threshold K N ;

[0039] The signal quality Q of the navigation satellite is calculated according to the following formula:

[0040]

[0041] Where X is the GDoP value of the navigation satellite.

[0042] Optionally, the positioning terminal is further used for:

[0043] The positioning information generated by positioning beacon positioning and the positioning information generated by navigation satellite positioning are input into the filter in time series, and the positioning information output by the filter is used as the final positioning information;

[0044] The final positioning information is sent to the monitoring server through the communication base station.

[0045] In a second aspect of the present invention, a method for internal and external positioning of a chemical device based on a positioning beacon is provided, the method being applied to an internal and external positioning system of a chemical device based on a positioning beacon, the method comprising:

[0046] The positioning beacon broadcasts a first wireless signal;

[0047] The positioning terminal determines the area information of the positioning terminal according to all the received first wireless signals, where the area information includes inside the device, the boundary area and outside the device;

[0048] If the area information is within the device, positioning the positioning terminal through a positioning beacon and outputting positioning information;

[0049] If the area information is a border area, determining that the positioning terminal is positioned by a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;

[0050] If the area information is outside the device, positioning the positioning terminal through a navigation satellite and outputting positioning information;

[0051] The communication base station receives the positioning information output by the positioning terminal and sends it to the monitoring server.

[0052] Optionally, the method further comprises:

[0053] The communication base station broadcasts auxiliary information of the navigation satellite to the positioning terminal, and the auxiliary information includes navigation satellite identity information and navigation satellite orbit information.

[0054] Optionally, the first wireless signal includes group information corresponding to the positioning beacon, and the group information is A or B, wherein A indicates that the positioning beacon is set in the device, and B indicates that the positioning beacon is set in the boundary area between the device and the outside of the device, and the positioning terminal determines the area information of the positioning terminal according to all the received first wireless signals, including:

[0055] The positioning terminal determines, based on the group information of all received first wireless signals, the positioning beacons corresponding to group information A of all received first wireless signals as group A, and determines the positioning beacons corresponding to group information B of all received first wireless signals as group B;

[0056] The signal qualities of group A and group B are calculated respectively by a first preset algorithm, and the area information of the positioning terminal is determined according to the signal qualities of group A and group B.

[0057] Optionally, the positioning beacon is also set in a preset area outside the device, and the group information of the positioning beacon set in the preset area outside the device is B.

[0058] Optionally, the calculating the signal qualities of group A and group B respectively by using a first preset algorithm, and determining the area information of the positioning terminal according to the signal qualities of group A and group B includes:

[0059] The first wireless signal strength in group A is greater than the first threshold R T The first wireless signal strength R AM , obtain the first wireless signal strength in group B greater than the first threshold R T The first wireless signal strength R BM ;

[0060] Calculate the signal quality w of group A according to the following formula A and the signal quality w of group B B :

[0061] w A =(R T +R A1 )+(R T +R A2 )+...+(R T +R AM );

[0062] wB =(R T +R B1 )+(R T +R B2 )+...+(R T +R BN );

[0063] If A >w B , and w A >w T , the area information of the positioning terminal is within the device;

[0064] If B ≥w A , and w B >w T , the area information of the positioning terminal is a border area;

[0065] Otherwise, the area information of the positioning terminal is outside the device;

[0066] where w T is the second threshold.

[0067] Optionally, the positioning terminal includes a satellite positioning module, and if the area information is within the device, positioning the positioning terminal through a positioning beacon and outputting positioning information includes:

[0068] If the area information is within the device, the satellite positioning module is turned off, the positioning terminal is positioned through a positioning beacon, and positioning information is output.

[0069] Optionally, if the area information is a boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of a navigation satellite, and outputting positioning information includes:

[0070] If the area information is a border area, turning on the satellite positioning module and acquiring a second wireless signal from a navigation satellite;

[0071] Calculating the signal qualities Q of all navigation satellites acquired by a second preset algorithm according to all acquired second wireless signals;

[0072] If B ≥Q, the location information of the positioning beacon corresponding to the first wireless signal with the largest received signal strength is used as the positioning information of the positioning terminal;

[0073] If Q<w B , the positioning terminal is positioned through the navigation satellite and the positioning information is output.

[0074] Optionally, the calculating, by a second preset algorithm based on all the acquired second wireless signals, the signal qualities Q of all the acquired navigation satellites includes:

[0075] Determining a signal-to-noise ratio of a corresponding navigation satellite according to all acquired second wireless signals;

[0076] Obtain the signal-to-noise ratio C of the navigation satellite whose signal-to-noise ratio is greater than the third threshold K N ;

[0077] The signal quality Q of the navigation satellite is calculated according to the following formula:

[0078]

[0079] Where X is the GDoP value of the navigation satellite.

[0080] Optionally, the communication base station receives the positioning information output by the positioning terminal and sends it to the monitoring server, including:

[0081] The positioning terminal inputs the positioning information generated by positioning beacon positioning and the positioning information generated by navigation satellite positioning into the filter in time series, and uses the positioning information output by the filter as the final positioning information;

[0082] The positioning terminal sends the final positioning information to the monitoring server through the communication base station.

[0083] The above technical solution of the present invention performs combined positioning through wireless positioning and satellite navigation, determines the area information of the positioning terminal based on the positioning beacon, and switches between wireless positioning and satellite navigation positioning, ensuring that the positioning terminal always selects the best positioning system for positioning, while achieving smooth switching of positioning inside and outside the chemical plant; compared with a simple wireless positioning system, the number of wireless positioning beacons deployed is greatly reduced, and at the same time, compared with a simple satellite navigation system, the positioning accuracy within the device is effectively improved.

[0084] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0086] Figure 1 It is a schematic diagram of the system structure of a chemical plant internal and external positioning system based on a positioning beacon provided in the preferred embodiment 1 of the present invention;

[0087] Figure 2 It is a method flow chart of a method for internal and external positioning of a chemical plant based on a positioning beacon provided in the preferred embodiment 2 of the present invention. DETAILED DESCRIPTION

[0088] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0089] Example 1

[0090] like Figure 1 As shown, this embodiment provides an internal and external positioning system of a chemical device based on a positioning beacon, including:

[0091] A positioning terminal, a plurality of positioning beacons arranged in the device and in the boundary area between the device and the outside of the device, at least one communication base station, and a monitoring server;

[0092] A positioning beacon, configured to broadcast a first wireless signal;

[0093] A positioning terminal, configured to determine area information of the positioning terminal according to all received first wireless signals, wherein the area information includes an area inside the device, a boundary area, and an area outside the device; and

[0094] If the area information is within the device, the positioning terminal is located through the positioning beacon and the positioning information is output;

[0095] If the area information is a border area, determine that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and output positioning information;

[0096] If the area information is outside the device, the positioning terminal is positioned through the navigation satellite and the positioning information is output;

[0097] The communication base station is used to receive the positioning information output by the positioning terminal and send it to the monitoring server.

[0098] In this way, this embodiment performs combined positioning through wireless positioning and satellite navigation, determines the area information of the positioning terminal based on the positioning beacon, and thus switches between wireless positioning and satellite navigation positioning, ensuring that the positioning terminal always selects the best positioning system for positioning, while achieving smooth switching of positioning inside and outside the chemical plant; compared with a simple wireless positioning system, the number of wireless positioning beacons deployed is greatly reduced, and at the same time, compared with a simple satellite navigation system, the positioning accuracy within the device is effectively improved.

[0099] Specifically, large-scale chemical plants have the characteristics of continuity and complex process. Their devices are densely arranged, pipelines are crisscrossed, and they have the characteristics of large floor space and large volume. When staff members work on site at large-scale chemical plants, for example, when staff members inspect large-scale chemical plants, they often need to locate the staff members in real time. At the same time, when the on-site staff members find a fault or an accident occurs, they can obtain the fault location in time, which is conducive to the safety management of the large-scale chemical plant site. In this embodiment, the positioning terminal includes a wireless positioning module and a satellite positioning module, and the positioning terminal is worn by the staff members to locate the staff members in real time. The positioning beacon is a wireless device that can broadcast a first wireless signal to the outside. The first wireless signal includes the ID number and location information of the positioning beacon, and each positioning beacon has a unique ID number. In this embodiment, the positioning beacon can broadcast the first wireless signal to the outside based on a short-distance transmission protocol such as Bluetooth or Zigbee. Correspondingly, the wireless positioning module of the positioning terminal and the positioning beacon are connected based on the same short-distance transmission protocol. The communication base station is connected to the positioning terminal in communication, for example, through a 4G / 5G communication connection, the positioning information sent by the positioning terminal is transmitted back to the monitoring server through LPWAN, LoRa, NB-IoT, 5G, 4G, GSM, GPRS or Titanium Standard, so that the staff can obtain the real-time positioning information and positioning path of the on-site staff through the monitoring server. The positioning beacon of this embodiment is set in the device of the large-scale chemical plant and in the boundary area of ​​the device and outside the device of the large-scale chemical plant. For example, a number of positioning beacons are arranged in the device of the large-scale chemical plant so that the positioning beacon completely covers the part inside the device. At the same time, M, such as 4 positioning beacons, are arranged in the entrance and exit of the large-scale chemical plant and the area derived from the entrance and exit to N meters, such as 15 meters, and this area is the boundary area inside and outside the device. In this way, when the staff is working on site, the positioning terminal always maintains a communication connection with the positioning beacon. The positioning terminal calculates the signal strength of all received first wireless signals by receiving the first wireless signal broadcast by the positioning beacon, thereby judging the area information of the positioning terminal based on the signal strength of the first wireless signal, whether it is inside the device, outside the device or in the boundary area of ​​the large chemical device, wherein the calculation of the wireless signal strength is a prior art and will not be repeated here. The area information can be determined based on the strength of the received first wireless signal and the location information of the positioning beacon corresponding to the first wireless signal. For example, the positioning terminal receives the first wireless signal A, the first wireless signal B and the first wireless signal C broadcast by the positioning beacons A, B and C. The first wireless signal A, the first wireless signal B and the first wireless signal C carry the ID information and location information of the positioning beacons A, B and C respectively. For example, the ID information of the positioning beacons A, B and C are A, B and C respectively, and the location information is inside the device 1, inside the device 2 and boundary area 1 respectively.The positioning terminal calculates the signal strength of the three first wireless signals respectively. For example, if the calculated signal strength of the first wireless signal C is the largest, it is determined that the positioning terminal is closest to the position of positioning beacon C. Since the position information of positioning beacon C is boundary area 1, the area information of the positioning terminal is determined to be the boundary area.

[0100] In this embodiment, the positioning terminal is further used for:

[0101] If the area information is within the device, the satellite positioning module is turned off, the positioning terminal is positioned through the positioning beacon, and the positioning information is output. When the positioning terminal determines that the area information is within the device, the satellite positioning module is turned off, thereby avoiding invalid connection between the satellite positioning module and the navigation satellite, which can effectively reduce the power consumption of the positioning terminal.

[0102] At the same time, in order to improve the positioning speed, sensitivity and accuracy when the positioning terminal starts satellite positioning, the communication base station of this embodiment is also used to:

[0103] Broadcast the auxiliary information of the navigation satellite to the positioning terminal, the auxiliary information includes the navigation satellite identity information and the navigation satellite orbit information. In the existing satellite positioning technology, the satellite positioning module stores the information of the navigation satellite in a storage device and uses the satellite information regularly. However, when the satellite information is suspended due to a navigation satellite failure, the positioning terminal still uses the stored invalid satellite information for positioning, and the positioning result cannot be obtained, wasting time and electricity. The auxiliary information of the navigation satellite is obtained through the communication base station, and the auxiliary information of the navigation satellite is broadcast to the positioning terminal. The positioning terminal can determine whether to update the stored satellite information based on the received auxiliary information, so that when the satellite positioning module is started, the connection time with the navigation satellite can be effectively reduced, and the positioning efficiency can be improved.

[0104] In a preferred implementation method of this embodiment, the location information of the first wireless signal includes group information of the corresponding positioning beacon, and the group information is A or B, wherein A indicates that the positioning beacon is set in the device, and B indicates that the positioning beacon is set in the boundary area between the inside and outside of the device, so that the positioning terminal can determine whether the area information of the positioning beacon corresponding to the first wireless signal is inside the device or in the boundary area according to the group information in the first wireless signal. Therefore, the positioning terminal is further used to:

[0105] Based on the group information of all the received first wireless signals, the positioning beacons whose corresponding group information is A are determined as Group A, and the positioning beacons whose corresponding group information is B are determined as Group B; the signal qualities of Group A and Group B are calculated respectively by the first preset algorithm, and the area information of the positioning terminal is determined according to the effective signals of Group A and Group B; because when the positioning terminal is in certain areas outside the device, the obstruction of large-scale chemical equipment has a greater impact on the satellite signal, which may easily lead to poor satellite positioning accuracy. Therefore, in this embodiment, a positioning beacon is also set in a preset area outside the device, and the group information of the positioning beacon set in the preset area outside the device is B.

[0106] Specifically, the positioning terminal periodically monitors the first wireless signal broadcast by the positioning beacon, for example, the positioning terminal can be set to monitor once every 5 seconds. Since the coverage of each positioning beacon is limited, the positioning terminal will only receive the first wireless signals broadcast by specific n positioning beacons in a certain area. The positioning terminal obtains the group information of each first wireless signal by parsing all the received first wireless signals, and divides the positioning beacons with the same group information A into group A, and divides the positioning beacons with the same group information B into group B, and calculates the signal quality of group A and group B respectively, so as to judge whether group A is valid or group B is valid according to the signal quality. For example, when the signal quality of group A is greater than the signal quality of group B, group A is judged to be valid, and the area information of the positioning terminal is within the device; when the signal quality of group A is not greater than the signal quality of group B, group B is judged to be valid, and the area information of the positioning terminal is the boundary area; when the signal quality of group A and the signal quality of group B do not meet the above conditions, for example, when the first wireless signal of group A and group B is not received, group A and group B are both invalid, and the area information of the positioning terminal is outside the device.

[0107] The positioning terminal calculates the signal quality of the group A and the group B by using a preset first preset algorithm. Therefore, the positioning terminal is further used for:

[0108] The first wireless signal strength in group A is greater than the first threshold R T The first wireless signal strength R AM , obtain the first wireless signal strength in group B greater than the first threshold R T The first wireless signal strength R BM ; The first wireless signals in Group A and Group B whose signal strength is lower than the first threshold, for example, -85db, are discarded. Since the first wireless signal lower than -85db can be considered that the positioning terminal is at the edge of the coverage range of the positioning beacon, after discarding the first wireless signal broadcasted by it, the interference of invalid signals can be effectively avoided, thereby more accurately calculating the signal quality of Group A and Group B.

[0109] Calculate the signal quality w of group AA and the signal quality w of group B B The specific calculation formula is as follows:

[0110] w A =(R T +R A1 )+(R T +R A2 )+...+(R T +R AM );

[0111] w B =(R T +R B1 )+(R T +R B2 )+...+(R T +R BN );

[0112] If A >w B , and w A >w T , the area information of the positioning terminal is within the device; if w B ≥w A , and w B >w T , the area information of the positioning terminal is the border area; otherwise, the area information of the positioning terminal is outside the device; where w T For example, after the positioning terminal discards the invalid signals, the first wireless signals in group A with signal strength greater than -85db are R A1 =-70db, R A2 =-55db and R A3 =-35db, substitute it into the formula to calculate w A =(-85db+(-70db))+(-85db+(-55db))+(-85db+(-35db))=-415db; the first wireless signals in group B with signal strength greater than -85db obtained by the positioning terminal after discarding the invalid signals are R B1 =-75db, R B2 =-77db, R B3 =-80db and R B4 =-83db, substituting it into the formula, we get w B =(-85db+(-75db))+(-85db+(-77db))+(-85db+(-80db))+(-85db+(-83db))=-655db; due to w A >w BTherefore, it is determined that group A is valid, and the area information of the positioning terminal is determined to be inside the device, which means that the positioning terminal is located inside the device of the large chemical plant at this time.

[0113] When the area information of the positioning terminal is determined to be a border area through the first preset algorithm, the positioning method needs to be determined through the first wireless signal and the satellite signal. Then, the positioning terminal is further used to:

[0114] If the area information is a border area, the satellite positioning module is turned on and the second wireless signal of the navigation satellite is obtained; based on all the obtained second wireless signals, the signal quality Q of all the navigation satellites is calculated by a second preset algorithm; if w B ≥Q, the location information of the positioning beacon corresponding to the first wireless signal with the largest received signal strength is used as the positioning information of the positioning terminal; if Q<w B , the positioning terminal is positioned through the navigation satellite and the positioning information is output.

[0115] In this embodiment, the positioning terminal calculates the signal quality of the second wireless signal by using the second preset algorithm. Therefore, the positioning terminal is further configured to:

[0116] Determine the signal-to-noise ratio of the corresponding navigation satellite according to all the acquired second wireless signals; obtain the signal-to-noise ratio C of the navigation satellite whose signal-to-noise ratio is greater than the third threshold K N ; Calculate the signal quality Q of the navigation satellite according to the following formula: Wherein, X is the GDoP value of the navigation satellite, which may be regarded as a fixed value or the average value of the GDoP values ​​of all the navigation satellites obtained.

[0117] Specifically, when the positioning terminal determines that the area information of the positioning terminal is a boundary area according to the first preset algorithm, the positioning terminal turns on the satellite positioning module and searches for the second wireless signal of the navigation satellite, and calculates the signal-to-noise ratio of all the second wireless signals received, and calculates the signal-to-noise ratios C1, C2, ..., C of all the second wireless signals whose signal-to-noise ratios are greater than the third threshold K. N Substitute the above formula to calculate the signal quality Q of the navigation satellite, where K is 25db. The calculation of the GDoP value of the navigation satellite is a prior art and will not be repeated here. By comparing the signal quality Q of the navigation satellite and the signal quality w of group B, B The size of the signal is determined and the positioning method with the best signal quality is selected for positioning, which can effectively improve the positioning accuracy.

[0118] In order to improve the smoothness of the output positioning results, the positioning terminal also needs to filter the positioning results. Therefore, the positioning terminal is also used to:

[0119] The positioning information generated by positioning the positioning beacon and the positioning information generated by positioning the navigation satellite are input into the filter in time series. The filter can be a Kalman filter, a particle filter or a combination thereof. After filtering by the filter, the positioning information is output in time series and used as the final positioning information. The positioning terminal sends the final positioning information to the monitoring server through the communication base station, so that the background staff can monitor the real-time positioning and movement trajectory of the on-site staff in real time.

[0120] Example 2

[0121] like Figure 2 As shown, based on Example 1, the present invention also provides a method for internal and external positioning of a chemical device based on a positioning beacon, comprising:

[0122] Each positioning beacon broadcasts a first wireless signal respectively;

[0123] The positioning terminal determines the area information of the positioning terminal according to all the received first wireless signals, where the area information includes inside the device, a boundary area, and outside the device;

[0124] If the area information is within the device, the positioning terminal is located through the positioning beacon and the positioning information is output;

[0125] If the area information is a border area, determine that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and output positioning information;

[0126] If the area information is outside the device, the positioning terminal is positioned through the navigation satellite and the positioning information is output;

[0127] The communication base station receives the positioning information output by the positioning terminal and sends it to the monitoring server.

[0128] Optionally, the method further comprises:

[0129] The communication base station broadcasts the auxiliary information of the navigation satellite to the positioning terminal, and the auxiliary information includes the navigation satellite identity information and the navigation satellite orbit information.

[0130] Optionally, the first wireless signal includes group information corresponding to the positioning beacon, and the group information is A or B, wherein A indicates that the positioning beacon is set in the device, and B indicates that the positioning beacon is set in a boundary area between the device and the outside of the device. The positioning terminal determines the area information of the positioning terminal based on all the received first wireless signals, including:

[0131] The positioning terminal determines, according to the group information of all the received first wireless signals, the positioning beacons whose group information corresponding to all the received first wireless signals is A as group A, and determines the positioning beacons whose group information corresponding to all the received first wireless signals is B as group B;

[0132] The signal qualities of group A and group B are calculated respectively by a first preset algorithm, and the area information of the positioning terminal is determined according to the effective signals of group A and group B.

[0133] Optionally, the positioning beacon is also set in a preset area outside the device, and the group information of the positioning beacon set in the preset area outside the device is B.

[0134] Optionally, calculating the signal qualities of group A and group B respectively by using a first preset algorithm, and determining the area information of the positioning terminal according to the valid signals of group A and group B includes:

[0135] The first wireless signal strength in group A is greater than the first threshold R T The first wireless signal strength R AM , obtain the first wireless signal strength in group B greater than the first threshold R T The first wireless signal strength R BM ;

[0136] Calculate the signal quality w of group A according to the following formula A and the signal quality w of group B B :

[0137] w A =(R T +R A1 )+(R T +R A2 )+...+(R T +R AM );

[0138] w B =(R T +R B1 )+(R T +R B2 )+...+(R T +R BN );

[0139] If A >w B , and w A >w T , the area information of the positioning terminal is within the device;

[0140] If B ≥w A , and w B >wT , the area information of the positioning terminal is the boundary area;

[0141] Otherwise, the area information of the positioning terminal is outside the device;

[0142] where w T is the second threshold.

[0143] Optionally, the positioning terminal includes a satellite positioning module. If the area information is within the device, the positioning terminal is positioned by a positioning beacon, and positioning information is output, including:

[0144] If the area information is within the device, the satellite positioning module is turned off, the positioning terminal is positioned through the positioning beacon, and the positioning information is output.

[0145] Optionally, if the area information is a border area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information includes:

[0146] If the area information is a border area, the satellite positioning module is turned on and a second wireless signal of the navigation satellite is acquired;

[0147] Calculate the effective signals Q of all navigation satellites acquired by a second preset algorithm according to all acquired second wireless signals;

[0148] If B ≥Q, the location information of the positioning beacon corresponding to the first wireless signal with the largest received signal strength is used as the positioning information of the positioning terminal;

[0149] If Q<w B , the positioning terminal is positioned through the navigation satellite and the positioning information is output.

[0150] Optionally, according to all the acquired second wireless signals, calculating the acquired effective signals Q of all navigation satellites by a second preset algorithm includes:

[0151] Determining a signal-to-noise ratio of a corresponding navigation satellite according to all acquired second wireless signals;

[0152] Obtain the signal-to-noise ratio C of the navigation satellite whose signal-to-noise ratio is greater than the third threshold K N ;

[0153] The signal quality Q of the navigation satellite is calculated according to the following formula:

[0154]

[0155] Where X is the GDoP value of the navigation satellite.

[0156] Optionally, the communication base station receives the positioning information output by the positioning terminal and sends it to the monitoring server, including:

[0157] The positioning terminal inputs the positioning information generated by positioning beacon positioning and the positioning information generated by navigation satellite positioning into the filter in time series, and uses the positioning information output by the filter as the final positioning information;

[0158] The positioning terminal sends the final positioning information to the monitoring server through the communication base station.

[0159] To sum up, the present invention calculates and compares the signal strengths of the positioning beacon group and the navigation satellite through a preset algorithm, and determines which group of positioning beacons or navigation satellites to use to position the positioning terminal based on the comparison results. This effectively solves the problem in the prior art that it is impossible to accurately switch the positioning of mobile personnel inside and outside the device, resulting in large positioning errors. This is beneficial to improving the positioning efficiency of on-site workers of large chemical plants in the chemical industry and greatly improves the positioning accuracy.

[0160] The optional embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the technical concept of the embodiments of the present invention, a variety of simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

[0161] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0162] Those skilled in the art will understand that all or part of the steps in the method for implementing the above-mentioned embodiments can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) execute all or part of the steps of the method of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0163] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A chemical plant internal and external positioning system based on positioning beacons, characterized in that: include: A positioning terminal, a plurality of positioning beacons arranged in the device and in the boundary area between the device and the outside of the device, at least one communication base station, and a monitoring server; The positioning beacon is used to broadcast a first wireless signal; The positioning terminal is used for: Determine area information of the positioning terminal according to all received first wireless signals, the area information including inside the device, a boundary area and outside the device; and If the area information is within the device, positioning the positioning terminal through a positioning beacon and outputting positioning information; If the area information is a border area, determining that the positioning terminal is positioned by a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information; If the area information is outside the device, positioning the positioning terminal through a navigation satellite and outputting positioning information; A communication base station, used for receiving the positioning information output by the positioning terminal and sending it to the monitoring server; The communication base station is further used for: Broadcasting auxiliary information of the navigation satellite to the positioning terminal, so that the positioning terminal can determine whether to update the stored satellite information according to the received auxiliary information, wherein the auxiliary information includes navigation satellite identity information and navigation satellite orbit information; The first wireless signal includes group information corresponding to the positioning beacon, and the group information is A or B, wherein A indicates that the positioning beacon is set in the device, and B indicates that the positioning beacon is set in the boundary area between the inside and outside of the device, and the positioning terminal is further used for: According to the group information of all the received first wireless signals, the positioning beacons corresponding to the group information A of all the received first wireless signals are determined as group A, and the positioning beacons corresponding to the group information B of all the received first wireless signals are determined as group B; Calculate the signal qualities of group A and group B respectively by using a first preset algorithm, and determine the area information of the positioning terminal according to the signal qualities of group A and group B; The positioning terminal is also used for: The first wireless signal strength in group A is greater than the first threshold R T The first wireless signal strength R AM , obtain the first wireless signal strength in group B greater than the first threshold R T The first wireless signal strength R BM ; Calculate the signal quality w of group A according to the following formula A and the signal quality w of group B B : w A =(R T +R A1 )+(R T +R A2 )+...+(R T +R AM ); w B =(R T +R B1 )+(R T +R B2 )+...+(R T +R BN ); If A >w B , and w A >w T , the area information of the positioning terminal is within the device; If B ≥w A , and w B >w T , the area information of the positioning terminal is a border area; Otherwise, the area information of the positioning terminal is outside the device; where w T is the second threshold.

2. The chemical plant internal and external positioning system based on positioning beacons according to claim 1, characterized in that: The positioning beacon is also set in a preset area outside the device, and the group information of the positioning beacon set in the preset area outside the device is B.

3. The chemical plant internal and external positioning system based on positioning beacons according to claim 1, characterized in that: The positioning terminal includes a satellite positioning module, and the positioning terminal is further used for: If the area information is within the device, the satellite positioning module is turned off, the positioning terminal is positioned through a positioning beacon, and positioning information is output.

4. The chemical plant internal and external positioning system based on positioning beacons according to claim 3 is characterized in that: The positioning terminal is also used for: If the area information is a border area, turning on the satellite positioning module and acquiring a second wireless signal from a navigation satellite; Calculating the signal qualities Q of all navigation satellites acquired by a second preset algorithm according to all acquired second wireless signals; If B ≥Q, the location information of the positioning beacon corresponding to the first wireless signal with the largest received signal strength is used as the positioning information of the positioning terminal; If Q<w B , the positioning terminal is positioned through the navigation satellite and the positioning information is output.

5. The chemical plant internal and external positioning system based on positioning beacons according to claim 4, characterized in that: The positioning terminal is also used for: Determining a signal-to-noise ratio of a corresponding navigation satellite according to all acquired second wireless signals; Obtain the signal-to-noise ratio C of the navigation satellite whose signal-to-noise ratio is greater than the third threshold K N ; The signal quality Q of the navigation satellite is calculated according to the following formula: Where X is the GDoP value of the navigation satellite.

6. The chemical plant internal and external positioning system based on positioning beacons according to claim 5, characterized in that: The positioning terminal is also used for: The positioning information generated by positioning beacon positioning and the positioning information generated by navigation satellite positioning are input into the filter in time series, and the positioning information output by the filter is used as the final positioning information; The final positioning information is sent to the monitoring server through the communication base station.

7. A method for internal and external positioning of a chemical plant based on a positioning beacon, characterized in that: The method is applied to an internal and external positioning system of a chemical plant based on a positioning beacon, and the method comprises: The positioning beacon broadcasts a first wireless signal; The positioning terminal determines the area information of the positioning terminal according to all the received first wireless signals, where the area information includes inside the device, the boundary area and outside the device; If the area information is within the device, positioning the positioning terminal through a positioning beacon and outputting positioning information; If the area information is a border area, determining that the positioning terminal is positioned by a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information; If the area information is outside the device, positioning the positioning terminal through a navigation satellite and outputting positioning information; The communication base station receives the positioning information output by the positioning terminal and sends it to the monitoring server; The method further comprises: The communication base station broadcasts auxiliary information of the navigation satellite to the positioning terminal, so that the positioning terminal can determine whether to update the stored satellite information according to the received auxiliary information, wherein the auxiliary information includes navigation satellite identity information and navigation satellite orbit information; There are multiple positioning beacons, and the first wireless signal includes group information corresponding to the positioning beacons, and the group information is A or B, wherein A indicates that the positioning beacon is set in the device, and B indicates that the positioning beacon is set in the boundary area between the inside and outside of the device, and the positioning terminal determines the area information of the positioning terminal according to all the received first wireless signals, including: The positioning terminal determines, based on the group information of all received first wireless signals, the positioning beacons corresponding to group information A of all received first wireless signals as group A, and determines the positioning beacons corresponding to group information B of all received first wireless signals as group B; Calculate the signal qualities of group A and group B respectively by using a first preset algorithm, and determine the area information of the positioning terminal according to the signal qualities of group A and group B; The calculating the signal qualities of group A and group B respectively by using a first preset algorithm, and determining the area information of the positioning terminal according to the signal qualities of group A and group B, comprises: The first wireless signal strength in group A is greater than the first threshold R T The first wireless signal strength R AM , obtain the first wireless signal strength in group B greater than the first threshold R T The first wireless signal strength R BM ; Calculate the signal quality w of group A according to the following formula A and the signal quality w of group B B : w A =(R T +R A1 )+(R T +R A2 )+...+(R T +R AM ); w B =(R T +R B1 )+(R T +R B2 )+...+(R T +R BN ); If A >w B , and w A >w T , the area information of the positioning terminal is within the device; If B ≥w A , and w B >w T , the area information of the positioning terminal is a border area; Otherwise, the area information of the positioning terminal is outside the device; where w T is the second threshold.

8. The method for internal and external positioning of a chemical plant based on positioning beacons according to claim 7, characterized in that: The positioning beacon is also set in a preset area outside the device, and the group information of the positioning beacon set in the preset area outside the device is B.

9. The method for internal and external positioning of a chemical plant based on positioning beacons according to claim 7, characterized in that: The positioning terminal includes a satellite positioning module. If the area information is within the device, the positioning terminal is positioned by a positioning beacon and positioning information is output, including: If the area information is within the device, the satellite positioning module is turned off, the positioning terminal is positioned through a positioning beacon, and positioning information is output.

10. The method for internal and external positioning of a chemical plant based on positioning beacons according to claim 9, characterized in that: If the area information is a border area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information includes: If the area information is a border area, turning on the satellite positioning module and acquiring a second wireless signal from a navigation satellite; Calculating the signal qualities Q of all navigation satellites acquired by a second preset algorithm according to all acquired second wireless signals; If B ≥Q, the location information of the positioning beacon corresponding to the first wireless signal with the largest received signal strength is used as the positioning information of the positioning terminal; If Q<w B , the positioning terminal is positioned through the navigation satellite and the positioning information is output.

11. The method for internal and external positioning of a chemical plant based on positioning beacons according to claim 10, characterized in that: The step of calculating the acquired effective signals Q of all navigation satellites by a second preset algorithm based on all acquired second wireless signals includes: Determining a signal-to-noise ratio of a corresponding navigation satellite according to all acquired second wireless signals; Obtain the signal-to-noise ratio C of the navigation satellite whose signal-to-noise ratio is greater than the third threshold K N ; The signal quality Q of the navigation satellite is calculated according to the following formula: Where X is the GDoP value of the navigation satellite.

12. The method for internal and external positioning of a chemical plant based on positioning beacons according to claim 11, characterized in that: The communication base station receives the positioning information output by the positioning terminal and sends it to the monitoring server, including: The positioning terminal inputs the positioning information generated by positioning beacon positioning and the positioning information generated by navigation satellite positioning into the filter in time series, and uses the positioning information output by the filter as the final positioning information; The positioning terminal sends the final positioning information to the monitoring server through the communication base station.

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