On-site worker positioning method and system based on full-time and space precise perception

Abstract

The present invention discloses a method and system for locating on-site workers based on full-time and space precise perception, the method comprising: receiving a positioning analysis signal, the positioning analysis signal representing a signal for analyzing the position of the worker, the positioning analysis signal comprising a first positioning analysis signal and a second positioning analysis signal; when the first positioning analysis signal strength is greater than the second positioning analysis signal, determining that the worker is in the first working scene, and parsing the first positioning analysis signal to obtain the first positioning information of the worker; when the first positioning analysis signal strength is less than the second positioning analysis signal, determining that the worker switches from the first working scene to the second working scene, and parsing the second positioning analysis signal to obtain the second positioning information of the worker. The present invention uses different positioning system devices to collect different positioning analysis information in different scenes, and realizes the accurate positioning of on-site workers in full time and space.

Description

Technical Field

[0001] The present invention relates to the technical field of work site safety management and control, and in particular to a method and system for positioning on-site workers based on full-time and space precise perception. Background Art

[0002] At present, there are nearly 30,000 grid site operation projects during the peak period each week, with more than 400,000 on-site personnel. The large number of sites, the large number of operators, and the need for professional cooperation, various safety risks and potential accidents are intertwined and superimposed, making safety management and control difficult. Traditional safety management and control methods and capabilities cannot keep up with the requirements of the development of the new situation, and higher requirements are placed on the innovative research of on-site safety assurance technology. Intelligent algorithm analysis using real-time positioning data and digitalized operation site models can accurately identify personnel violations and abnormal conditions, but the complex power site environment poses great challenges to full-scene positioning services. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a method and system for positioning on-site workers based on full-time and space precise perception, so as to achieve precise positioning of the entire scene in a complex power field environment.

[0004] In a first aspect, the present application provides a method for locating on-site workers based on full-time and space precise perception, which is applied to a positioning terminal device. The positioning method includes:

[0005] Receiving a positioning analysis signal, wherein the positioning analysis signal represents a signal used to analyze the position of an operator, and the positioning analysis signal includes a first positioning analysis signal and a second positioning analysis signal;

[0006] When the first positioning analysis signal strength is greater than the second positioning analysis signal, it is determined that the operator is in the first working scene, and the first positioning analysis signal is analyzed to obtain the first positioning information of the operator, where the first positioning information is the position information in the first coordinate system used when analyzing the first positioning analysis signal;

[0007] When the strength of the first positioning analysis signal is less than that of the second positioning analysis signal, it is determined that the operator has switched from the first working scene to the second working scene, and the second positioning analysis signal is analyzed to obtain the second positioning information of the operator. The second positioning information is the position information in the second coordinate system used when analyzing the second positioning analysis signal.

[0008] In some implementations, the above-mentioned on-site worker positioning method based on full-time and space precise perception also includes:

[0009] The third positioning information of the second positioning information in the second coordinate system and the third positioning information in the first coordinate system are obtained according to a preset coordinate system conversion model, and the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system is smoothed to obtain the corrected first positioning information and the third positioning information.

[0010] In some embodiments, the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system is smoothed using a Kalman filter or a particle filter algorithm.

[0011] In some embodiments, the smoothing of the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system includes:

[0012] (1) Initialize the parameters of the Kalman filter algorithm;

[0013] (2) executing the filtering algorithm based on the initialization parameters, and recording the real-time iteration number of the filtering algorithm;

[0014] (3) controlling the filtering algorithm to stop when the filtering algorithm iterates a first preset number of times, and calling the intelligent optimization algorithm to iteratively search for the current optimal value of the parameters of the filtering algorithm, wherein the parameters include the covariance parameters of the system noise, and the fitness function of the intelligent optimization algorithm is determined based on the deviation between the observed value and the estimated value of the filtering algorithm under the parameters;

[0015] (4) starting the execution of the filtering algorithm based on the current optimal values ​​of the parameters of the filtering algorithm, and re-recording the real-time iteration number of the filtering algorithm;

[0016] (5) Repeat steps (3)-(4) until the filtering algorithm is executed for all the positioning information of the operators;

[0017] (6) analyzing abnormal positioning information in the first positioning information and the third positioning information in the same coordinate system based on the motion trajectory estimation value after each iteration of the filtering algorithm and the motion trajectory measured value at the corresponding moment;

[0018] (7) Obtaining the time when the abnormal location information occurs, for the current abnormal location information, determining the first number of times the abnormal location information occurs within a first preset length time period before and a second preset length time period after the time when the current abnormal location information occurs, and if the first number is less than a first preset value, replacing the current abnormal location information with the motion trajectory estimation value of the filtering algorithm at the corresponding moment.

[0019] In some embodiments, the first positioning analysis signal uses a Beidou RTK differential positioning signal, including observation data sent by a Beidou base station in a first operating scenario and satellite signals sent by Beidou satellites, and the second positioning analysis signal uses an ultra-wideband UWB positioning signal of each UWB base station in a second operating scenario.

[0020] In some implementations, the parsing the second positioning analysis signal to obtain the second positioning information of the operator includes:

[0021] Obtain fourth positioning information of each UWB base station in the second operating scene in the second coordinate system;

[0022] Analyze the distance between the operator and each UWB base station based on the second positioning analysis signal;

[0023] The second positioning information of the operator is analyzed based on the fourth positioning information of each UWB base station and the distance between the operator and each UWB base station.

[0024] In some implementations, the parsing the first positioning analysis signal to obtain the first positioning information of the operator includes:

[0025] The first positioning information is analyzed based on the observation data sent by the Beidou base station and the satellite signals sent by the Beidou satellite.

[0026] In some implementations, the step of parsing the first positioning analysis signal to obtain the first positioning information of the operator further includes:

[0027] When the satellite signal strength in the first positioning analysis signal is lower than a preset value or the signal quality is lower than a preset value, starting the working state of the temporary UWB base station in the first operating scenario;

[0028] parsing fifth positioning information of the temporary UWB base station in the first coordinate system based on a fourth positioning analysis signal sent by the Beidou satellite to the temporary UWB base station;

[0029] receiving a UWB positioning signal sent by the temporary UWB base station as a third positioning analysis signal;

[0030] Analyze the distance between the operator and each temporary UWB base station based on the third positioning analysis signal;

[0031] The first positioning information of the operator is analyzed based on the fifth positioning information of each temporary UWB base station and the distance between the operator and each outdoor temporary UWB base station.

[0032] In the second aspect, the present application provides a field worker positioning system based on full-time and space precise perception, the system comprising:

[0033] A multi-source positioning analysis signal acquisition unit, used to receive a positioning analysis signal, wherein the positioning analysis signal represents a signal used to analyze the position of an operator, and the positioning analysis signal includes a first positioning analysis signal and a second positioning analysis signal;

[0034] A first positioning analysis unit is used to determine that the operator is in a first working scene when the first positioning analysis signal strength is greater than the second positioning analysis signal, and to analyze the first positioning analysis signal to obtain first positioning information of the operator, where the first positioning information is position information in a first coordinate system used when analyzing the first positioning analysis signal;

[0035] The second positioning analysis unit is used to determine that the operator switches from the first working scene to the second working scene when the strength of the first positioning analysis signal is less than that of the second positioning analysis signal, and to parse the second positioning analysis signal to obtain the second positioning information of the operator, where the second positioning information is the position information in the second coordinate system used when parsing the second positioning analysis signal.

[0036] In some embodiments, the above-mentioned on-site worker positioning system based on full-time and space precise perception also includes: a full-time and space positioning information fusion unit, which is used to obtain the second positioning information in the second coordinate system and the third positioning information in the first coordinate system according to a preset coordinate system conversion model, and smooth the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system to obtain the corrected first positioning information and third positioning information.

[0037] The present invention provides a method and system for locating on-site workers based on full-time and space precise perception, which has the following beneficial effects: automatic recognition of the first working scene and the second working scene is achieved through analysis of the first positioning analysis signal strength and the second positioning analysis signal strength. In addition, the first positioning information is obtained in the first working scene using the positioning system equipment in the first working scene and the second positioning information is obtained in the second working scene using the positioning system equipment set in the second working scene. Different positioning analysis information is collected by using different positioning system equipment in different scenes, thereby achieving accurate positioning of on-site workers in all time and space. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flow chart of a method for locating on-site workers based on full-time and space precise perception in an embodiment of the present application;

[0039] Figure 2 It is a schematic diagram of the process of optimizing the full-time and space positioning information in the embodiment of the present application;

[0040] Figure 3It is a schematic diagram of the composition structure of the on-site worker positioning system based on full-time and space precise perception in an embodiment of the present application. DETAILED DESCRIPTION

[0041] See also Figure 1 The embodiment of the present application provides a method for locating on-site workers based on full-time and space precise perception, which is applied to a positioning terminal device. The positioning method includes:

[0042] Step 1, receiving a positioning analysis signal, wherein the positioning analysis signal represents a signal used to analyze the position of an operator, and the positioning analysis signal includes a first positioning analysis signal and a second positioning analysis signal;

[0043] Step 2: when the first positioning analysis signal strength is greater than the second positioning analysis signal strength, determine that the operator is in the first working scene, and parse the first positioning analysis signal to obtain the first positioning information of the operator, where the first positioning information is the position information in the first coordinate system used when parsing the first positioning analysis signal;

[0044] Step 3, when the strength of the first positioning analysis signal is less than that of the second positioning analysis signal, determine that the operator switches from the first working scene to the second working scene, and parse the second positioning analysis signal to obtain the second positioning information of the operator. The second positioning information is the position information in the second coordinate system used when parsing the second positioning analysis signal.

[0045] In the embodiment of the present application, the first working scene and the second working scene are automatically identified by analyzing the first positioning analysis signal strength and the second positioning analysis signal strength. Furthermore, the first positioning information is obtained by using the positioning system device in the first working scene in the first working scene and the second positioning information is obtained by using the positioning system device set in the second working scene in the second working scene. Different positioning analysis information is collected by using different positioning system devices in different scenes, and accurate positioning of field workers in all time and space is achieved. It can be understood that the positioning system devices set in different scenes can realize the collection of the most accurate positioning analysis signals in the corresponding working scenes, and overcome the quality problems and various error problems of the positioning analysis signal collection in the corresponding scenes.

[0046] It can be understood that when receiving the positioning analysis signal, under ideal circumstances, in the first operating scenario, only the first positioning analysis signal can be collected. At this time, the strength of the second positioning analysis signal can be understood as 0, and the strength of the first positioning analysis signal is greater than that of the second positioning analysis signal. The first positioning analysis signal is used to parse the positioning information of the operator. In the second operating scenario, only the second positioning analysis signal can be collected. At this time, the strength of the first positioning analysis signal can be understood as 0, and the strength of the first positioning analysis signal is less than that of the second positioning analysis signal. The second positioning analysis signal is used to parse the positioning information of the operator. In actual situations, even if the operator is in the first operating scenario, he may receive a relatively weak second positioning analysis signal. Even if the operator is in the second operating scenario, he may receive a relatively weak first positioning analysis signal. Therefore, in the present application, when the strength of the first positioning analysis signal is greater than that of the second positioning analysis signal, it is determined that the operator is in the first operating scenario. When the strength of the first positioning analysis signal is less than that of the second positioning analysis signal, it is determined that the operator has switched from the first operating scenario to the second operating scenario.

[0047] The first working scene is an outdoor scene and the second working scene is an indoor scene, or the first working scene is an indoor scene and the second working scene is an outdoor scene. In the embodiment of the present application, the first working scene is described as an outdoor scene and the second working scene is an indoor scene.

[0048] It can be understood that the on-site worker positioning method based on full-time and space precise perception of the present application is applied in the power grid operation site safety management and control system. The power grid operation site safety management and control system is based on the "cloud, pipe, edge, and end" infrastructure to achieve remote on-site safety assurance of power grid operations. Among them, the end side is used for multi-dimensional data collection technology at the operation site to provide a data source for digital safety management and control. The on-site worker positioning method based on full-time and space precise perception of the embodiment of the present application can be applied to the positioning terminal equipment on the end side, specifically, it can be a wearable smart terminal worn by the workers.

[0049] Furthermore, the above-mentioned on-site worker positioning method based on full-time and space precise perception also includes:

[0050] Step 4: Obtain the third positioning information in the first coordinate system from the second positioning information in the second coordinate system according to a preset coordinate system conversion model, and smooth the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system to obtain the corrected first positioning information and third positioning information.

[0051] It can be understood that in the first working scenario, a first positioning analysis signal is collected based on the corresponding positioning system device. When analyzing the first positioning analysis signal, it is necessary to solve the position information of the operator based on the coordinate system (i.e., the first coordinate system) established under the position distribution of the positioning system device. In the second working scenario, a second positioning analysis signal is collected based on the corresponding positioning system device. When analyzing the second positioning analysis signal, it is necessary to solve the position information of the operator based on the coordinate system (i.e., the second coordinate system) established under the position distribution of the positioning system device. For different working scenarios between the first working scenario and the second working scenario, different coordinate systems are used when analyzing the positioning information of on-site workers. In order to achieve the unification of the positioning information of the workers in the first working scenario and the second working scenario in all time and space, it is necessary to convert the first positioning information in the first coordinate system and the second positioning information in the second coordinate system into positioning information in the same coordinate system. All positioning information can be uniformly converted to the first coordinate system, or all positioning information can be uniformly converted to the second coordinate system under the first coordinate system, or all positioning information can be uniformly converted to a third coordinate system. In the embodiment of the present application, all positioning information is uniformly converted to the first coordinate system.

[0052] In addition, considering the error caused by the coordinate system conversion to the positioning information of the on-site workers, the embodiment of the present application optimizes the motion trajectory of the workers in the switching process between the first working scene and the second working scene, so as to achieve smooth and seamless switching of positioning information in different working scenes. Specifically, the coordinate system conversion model adopts a seven-parameter model, and the conversion steps include: first, three reference points are selected to determine the local plane coordinate system, and then the coordinates of the reference points in the local coordinate system are calculated using spatial geometry, and then the seven parameters of the coordinate conversion are solved using the optimized nonlinear least squares method, wherein the optimization method of the nonlinear least squares method is to iteratively correct the iterative initial value of the nonlinear least squares method to obtain a new iterative initial value, and use the new iterative initial value to perform a new nonlinear least squares iterative calculation, and repeat the above iterative initial value update and solution process until the seven parameter values ​​that meet the accuracy requirements are found. After the parameter value calculation is completed, multiple targets to be located can be quickly converted, and the simultaneous conversion of multiple nodes can be realized, providing a globally unified personnel tracking digital mapping for the positioning of workers.

[0053] Furthermore, in the above step 4, the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system is smoothed by using a Kalman filter or a particle filter algorithm.

[0054] Specifically, see Figure 2 In the above step 4, the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system is smoothed, including:

[0055] (1) Initialize the parameters of the Kalman filter algorithm;

[0056] (2) executing the filtering algorithm based on the initialization parameters, and recording the real-time iteration number of the filtering algorithm;

[0057] (3) controlling the filtering algorithm to stop when the filtering algorithm iterates a first preset number of times, and calling the intelligent optimization algorithm to iteratively search for the current optimal value of the parameters of the filtering algorithm, wherein the parameters include the covariance parameters of the system noise, and the fitness function of the intelligent optimization algorithm is determined based on the deviation between the observed value and the estimated value of the filtering algorithm under the parameters;

[0058] (4) starting the execution of the filtering algorithm based on the current optimal values ​​of the parameters of the filtering algorithm, and re-recording the real-time iteration number of the filtering algorithm;

[0059] (5) Repeat steps (3) to (4) until the filtering algorithm is executed for all the positioning information of the operator, and the filtering algorithm stops executing;

[0060] (6) analyzing abnormal positioning information in the first positioning information and the third positioning information in the same coordinate system based on the motion trajectory estimation value after each iteration of the filtering algorithm and the motion trajectory measured value at the corresponding moment;

[0061] (7) Obtaining the time when the abnormal location information occurs, for the current abnormal location information, determining the first number of times the abnormal location information occurs within a first preset length time period before and a second preset length time period after the time when the current abnormal location information occurs, and if the first number is less than a first preset value, replacing the current abnormal location information with the motion trajectory estimation value of the filtering algorithm at the corresponding moment.

[0062] It can be understood that in step (7), if the first number is not less than the first preset value, the collection status and collection quality of the positioning analysis signal in the first preset length time period before and the second preset length time period after the occurrence time of the current abnormal positioning information are detected. If the total number of times the abnormal positioning information occurs is recorded as the second number, when the second number is greater than the second preset value, the collection status and collection quality of the positioning analysis signal at all times are detected.

[0063] Specifically, the method for determining abnormal positioning information in step (6), that is, the method for determining whether the first positioning information or the third positioning information at the current moment is abnormal positioning information, includes: detecting whether the actual value of the motion trajectory is within a range with a preset error distance length as a radius centered on the estimated value of the motion trajectory; if so, detecting whether the angle between a first line segment between the actual value of the motion trajectory at the previous moment and the actual value of the motion trajectory at the current moment and a second line segment between the actual value of the motion trajectory at the previous moment and the estimated value of the motion trajectory at the current moment is less than a preset angle deviation threshold; if so, the first positioning information or the third positioning information at the current moment is normal.

[0064] Specifically, in the above step (3), the fitness function of the intelligent optimization algorithm is determined based on the deviation between the observed value and the estimated value of the filtering algorithm under the parameters, and the fitness function can be:

[0065] Where x is the parameter of the filtering algorithm that the intelligent optimization algorithm needs to iteratively search for the current optimal value, m is the total number of dimensions of the observed values ​​and the estimated values, k is the kth dimension value of the observed values ​​and the estimated values, and λ is the deviation adjustment coefficient.

[0066] Furthermore, in an embodiment of the present application, in the above step 1, the first positioning analysis signal adopts the Beidou RTK differential positioning signal, including the observation data sent by the Beidou base station in the first operating scenario and the satellite signal sent by the Beidou satellite, and the second positioning analysis signal adopts the ultra-wideband UWB positioning signal of each UWB base station in the second operating scenario.

[0067] In this application, in the first operating scenario, the original Beidou positioning technology is kept unchanged in the Beidou locatable part, and different Beidou carrier phase difference technology (RTK) positioning schemes are adopted according to different on-site environments to accurately calculate the coordinates of the target personnel. In the second operating scenario, ultra-wideband positioning technology is adopted, and the algorithm based on the fusion of TOF algorithm, TDoA algorithm and AoA algorithm is used to enable the positioning in the second operating scenario to obtain fast and high-precision positioning information.

[0068] Furthermore, in the above step 3, parsing the second positioning analysis signal to obtain the second positioning information of the operator includes:

[0069] Step 31, obtaining fourth positioning information of each UWB base station in the second operating scene in the second coordinate system;

[0070] Step 32, analyzing the distance between the operator and each UWB base station based on the second positioning analysis signal;

[0071] Step 33: Analyze the second positioning information of the operator based on the fourth positioning information of each UWB base station and the distance between the operator and each UWB base station.

[0072] In the above step 2, parsing the first positioning analysis signal to obtain the first positioning information of the operator includes:

[0073] Step 21, parsing the first positioning information based on the observation data sent by the Beidou reference station and the satellite signal sent by the Beidou satellite.

[0074] For step 21, in the actual application scenario, a Beidou receiver is set up at a known point in the surrounding area as a base station to receive Beidou positioning information. At the same time, the received Beidou positioning information is sent to the positioning terminal through a radio station. The positioning terminal will differentiate the Beidou distance information obtained from the base station and the distance information obtained from Beidou, thereby eliminating most of the errors and obtaining clean distance information (the distance information at this time is the distance information of the positioning terminal relative to the base station). After solution, the high-precision information of the positioning terminal is obtained.

[0075] Specifically, in the above step 2, parsing the first positioning analysis signal to obtain the first positioning information of the operator also includes:

[0076] Step 22, when the satellite signal strength in the first positioning analysis signal is lower than a preset value or the signal quality is lower than a preset value, starting the working state of the temporary UWB base station in the first operating scenario;

[0077] Step 23, parsing fifth positioning information of the temporary UWB base station in the first coordinate system based on the fourth positioning analysis signal sent by the Beidou satellite to the temporary UWB base station;

[0078] Step 24, receiving the UWB positioning signal sent by the temporary UWB base station as a third positioning analysis signal;

[0079] Step 25, analyzing the distance between the operator and each temporary UWB base station based on the third positioning analysis signal;

[0080] Step 26: Analyze the first positioning information of the operator based on the fifth positioning information of each temporary UWB base station and the distance between the operator and each outdoor temporary UWB base station.

[0081] In the embodiment of the present application, in the first working scenario, considering that the first working scenario of the power grid includes large cities and mountainous areas, high-rise buildings, dense buildings and trees will block satellite signals, resulting in Beidou's inability to perform high-precision positioning. For this complex environment where Beidou cannot perform positioning, this embodiment adopts the positioning technology that integrates Beidou satellites and UWB base stations. Specifically, in the complex environment of the first working scenario, Beidou cannot perform high-precision positioning, while UWB wireless positioning technology can achieve high-precision positioning in these areas. However, the use of UWB base stations requires them to be assigned fixed coordinates. By adopting the positioning technology that integrates Beidou satellites and UWB base stations, Beidou satellites provide UWB base stations with real-time high-precision coordinates to complete UWB's high-precision positioning. After the operator enters the ultra-wideband coverage area, the positioning terminal device estimates the distance and phase information of the target based on the ultra-wideband base station, and integrates and calculates the position of the target, thereby solving the problem that Beidou cannot perform high-precision positioning in the first working scenario.

[0082] See also Figure 3 Based on the above method embodiment, the present application embodiment also provides a field worker positioning system based on full-time and space precise perception, the system comprising:

[0083] A multi-source positioning analysis signal acquisition unit, used to receive a positioning analysis signal, wherein the positioning analysis signal represents a signal used to analyze the position of an operator, and the positioning analysis signal includes a first positioning analysis signal and a second positioning analysis signal;

[0084] A first positioning analysis unit is used to determine that the operator is in a first working scene when the first positioning analysis signal strength is greater than the second positioning analysis signal, and to analyze the first positioning analysis signal to obtain first positioning information of the operator, where the first positioning information is position information in a first coordinate system used when analyzing the first positioning analysis signal;

[0085] The second positioning analysis unit is used to determine that the operator switches from the first working scene to the second working scene when the strength of the first positioning analysis signal is less than that of the second positioning analysis signal, and to parse the second positioning analysis signal to obtain the second positioning information of the operator, where the second positioning information is the position information in the second coordinate system used when parsing the second positioning analysis signal.

[0086] Furthermore, the above-mentioned on-site worker positioning system further includes:

[0087] The full-time and space positioning information fusion unit is used to obtain the second positioning information in the second coordinate system and the third positioning information in the first coordinate system according to a preset coordinate system conversion model, and to smooth the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system to obtain the corrected first positioning information and third positioning information.

[0088] It should be noted that: the on-site worker positioning system based on full-time and space precise perception provided in this embodiment only uses the division of the above-mentioned functional units as an example when performing worker positioning analysis. In actual applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the positioning system is divided into different functional units to complete all or part of the functions described above. In addition, the on-site worker positioning system based on full-time and space precise perception provided in this embodiment and the on-site worker positioning method embodiment based on full-time and space precise perception provided in the above embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0089] The present invention is not limited to the above-mentioned specific implementation modes. Various changes made by ordinary technicians in this field based on the above-mentioned concepts without creative work are all within the protection scope of the present invention.

Claims

1. A method for locating on-site workers based on full-time and space precise perception, applied to positioning terminal equipment, characterized in that: The positioning method comprises: Receiving a positioning analysis signal, wherein the positioning analysis signal represents a signal used to analyze the position of an operator, and the positioning analysis signal includes a first positioning analysis signal and a second positioning analysis signal; When the first positioning analysis signal strength is greater than the second positioning analysis signal, it is determined that the operator is in the first working scene, and the first positioning analysis signal is analyzed to obtain the first positioning information of the operator, where the first positioning information is the position information in the first coordinate system used when analyzing the first positioning analysis signal; When the first positioning analysis signal strength is less than the second positioning analysis signal, it is determined that the operator switches from the first working scene to the second working scene, and the second positioning analysis signal is analyzed to obtain the second positioning information of the operator, where the second positioning information is the position information in the second coordinate system used when analyzing the second positioning analysis signal; The positioning method further includes: acquiring the third positioning information of the second positioning information in the second coordinate system in the first coordinate system according to a preset coordinate system conversion model, and smoothing the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system to obtain the corrected first positioning information and the third positioning information; the smoothing of the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system is performed by using Kalman filtering; the smoothing of the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system includes: (1) Initialize the parameters of the Kalman filter algorithm; (2) executing the filtering algorithm based on the initialization parameters, and recording the real-time iteration number of the filtering algorithm; (3) when the filtering algorithm iterates a first preset number of times, controlling the filtering algorithm to stop, and calling the intelligent optimization algorithm to iteratively search for the current optimal value of the parameters of the filtering algorithm, the parameters including the covariance parameters of the system noise, the fitness function of the intelligent optimization algorithm being determined based on the deviation between the observed value and the estimated value of the filtering algorithm under the parameters; (4) starting the execution of the filtering algorithm based on the current optimal values ​​of the parameters of the filtering algorithm, and re-recording the real-time iteration number of the filtering algorithm; (5) Repeat steps (3) to (4) until the filtering algorithm is executed for all the positioning information of the operators; (6) analyzing abnormal positioning information in the first positioning information and the third positioning information in the same coordinate system based on the motion trajectory estimation value after each iteration of the filtering algorithm and the motion trajectory measured value at the corresponding moment; (7) Obtaining the time when the abnormal location information occurs, and for the current abnormal location information, determining the first number of times the abnormal location information occurs within a first preset length time period before and a second preset length time period after the time when the current abnormal location information occurs; if the first number is less than a first preset value, replacing the current abnormal location information with the motion trajectory estimation value of the filtering algorithm at the corresponding moment.

2. The method for locating on-site workers based on full-time and space precise perception according to claim 1, characterized in that: The first positioning analysis signal adopts the Beidou RTK differential positioning signal, including the observation data sent by the Beidou base station in the first operating scenario and the satellite signal sent by the Beidou satellite. The second positioning analysis signal adopts the ultra-wideband UWB positioning signal of each UWB base station in the second operating scenario.

3. The method for locating on-site workers based on full-time and space precise perception according to claim 2, characterized in that: The step of analyzing the second positioning analysis signal to obtain the second positioning information of the operator includes: Obtain fourth positioning information of each UWB base station in the second operating scene in the second coordinate system; Analyze the distance between the operator and each UWB base station based on the second positioning analysis signal; The second positioning information of the operator is analyzed based on the fourth positioning information of each UWB base station and the distance between the operator and each UWB base station.

4. The method for locating on-site workers based on full-time and space precise perception according to claim 2, characterized in that: The step of analyzing the first positioning analysis signal to obtain first positioning information of the operator includes: The first positioning information is analyzed based on the observation data sent by the Beidou base station and the satellite signals sent by the Beidou satellite.

5. The method for locating on-site workers based on full-time and space precise perception according to claim 4 is characterized in that: The step of analyzing the first positioning analysis signal to obtain the first positioning information of the operator also includes: When the satellite signal strength in the first positioning analysis signal is lower than a preset value or the signal quality is lower than a preset value, starting the working state of the temporary UWB base station in the first operating scenario; parsing fifth positioning information of the temporary UWB base station in the first coordinate system based on a fourth positioning analysis signal sent by the Beidou satellite to the temporary UWB base station; receiving a UWB positioning signal sent by the temporary UWB base station as a third positioning analysis signal; Analyze the distance between the operator and each temporary UWB base station based on the third positioning analysis signal; The first positioning information of the operator is analyzed based on the fifth positioning information of each temporary UWB base station and the distance between the operator and each outdoor temporary UWB base station.

6. The on-site operator positioning system based on full-time and space precise perception is characterized by: include: A multi-source positioning analysis signal acquisition unit, used to receive a positioning analysis signal, wherein the positioning analysis signal represents a signal used to analyze the position of an operator, and the positioning analysis signal includes a first positioning analysis signal and a second positioning analysis signal; A first positioning analysis unit is used to determine that the operator is in a first working scene when the first positioning analysis signal strength is greater than the second positioning analysis signal, and to analyze the first positioning analysis signal to obtain first positioning information of the operator, where the first positioning information is position information in a first coordinate system used when analyzing the first positioning analysis signal; A second positioning analysis unit is used to determine that the operator switches from the first working scene to the second working scene when the strength of the first positioning analysis signal is less than that of the second positioning analysis signal, and to analyze the second positioning analysis signal to obtain second positioning information of the operator, where the second positioning information is position information in a second coordinate system used when analyzing the second positioning analysis signal; The operator positioning system also includes: a full-time and space positioning information fusion unit, which is used to obtain the third positioning information of the second positioning information in the second coordinate system in the first coordinate system according to a preset coordinate system conversion model, and smooth the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system to obtain the corrected first positioning information and the third positioning information; the smoothing of the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system adopts Kalman filtering; the smoothing of the motion trajectory formed by the first positioning information and the third positioning information in the same coordinate system includes: (1) Initialize the parameters of the Kalman filter algorithm; (2) executing the filtering algorithm based on the initialization parameters, and recording the real-time iteration number of the filtering algorithm; (3) when the filtering algorithm iterates a first preset number of times, controlling the filtering algorithm to stop, and calling the intelligent optimization algorithm to iteratively search for the current optimal value of the parameters of the filtering algorithm, the parameters including the covariance parameters of the system noise, the fitness function of the intelligent optimization algorithm being determined based on the deviation between the observed value and the estimated value of the filtering algorithm under the parameters; (4) starting the execution of the filtering algorithm based on the current optimal values ​​of the parameters of the filtering algorithm, and re-recording the real-time iteration number of the filtering algorithm; (5) Repeat steps (3) to (4) until the filtering algorithm is executed for all the positioning information of the operators; (6) analyzing abnormal positioning information in the first positioning information and the third positioning information in the same coordinate system based on the motion trajectory estimation value after each iteration of the filtering algorithm and the motion trajectory measured value at the corresponding moment; (7) Obtaining the time when the abnormal location information occurs, and for the current abnormal location information, determining the first number of times the abnormal location information occurs within a first preset length time period before and a second preset length time period after the time when the current abnormal location information occurs; if the first number is less than a first preset value, replacing the current abnormal location information with the motion trajectory estimation value of the filtering algorithm at the corresponding moment.

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