Underground space Beidou positioning method and related equipment

Abstract

According to the underground space Beidou positioning method provided by the invention, the Beidou signal is introduced into the underground space through the ground receiver, and the Beidou signal coverage of the underground space is realized by using the leaky coaxial cable and the hole slot formed in the leaky coaxial cable, so that the low-cost coverage of the positioning signal of the underground space is realized, and the engineering complexity is reduced; the position characteristic quantity is calculated according to the observation data of the multiple satellites, the distance between the to-be-measured target and the ground receiver is obtained, the space coordinates of the to-be-measured target are calculated, and therefore the calculation precision of the space coordinates is improved.

Description

Technical Field

[0001] The present application relates to the field of underground environment positioning technology, and in particular to a Beidou positioning method for underground space. Background Art

[0002] With the continuous expansion of urban scale, the construction of underground pipelines and tunnel galleries has become an important part of modern urban infrastructure construction, and is increasingly playing the role of "underground lifeline" in cities. Its safety directly affects the stable operation of the city. Therefore, it also puts forward new and higher demands on its business management, including personnel attendance, tracking and positioning, post-disaster emergency treatment, and daily management.

[0003] In underground utility corridors, reliable location information is the key support for mobile inspections, equipment monitoring, emergency response and other underground utility corridor services. However, due to the fact that underground utility corridors generally have multi-layered complex structures, as well as characteristics such as concealment, closure and narrowness, base station signals and satellite signals are difficult to be directly transmitted to underground spaces. Traditional positioning solutions cannot meet their positioning and navigation needs. Indoor positioning solutions such as Bluetooth, UWB and WiFi also have defects such as low coverage, high cost and poor operational safety. It is urgent to develop wide-coverage, low-cost and high-efficiency positioning and navigation technologies for underground utility corridors and other spaces to support key business needs in underground utility corridor construction and safe operation and maintenance.

[0004] Therefore, in order to solve the above problems, the present invention aims to provide a Beidou positioning method in the scenario of leaky cable room distribution in underground utility corridor, introduce Beidou signal into the utility corridor by using leaky cable room distribution system, and realize low-cost and reliable positioning in the scenario of leaky cable room distribution in underground utility corridor based on Beidou bidirectional positioning link. Summary of the invention

[0005] In view of this, the purpose of this application is to propose a Beidou positioning method and related equipment for underground space.

[0006] Based on the above purpose, the present application provides a Beidou positioning method for underground space, wherein the Beidou signal is introduced into the underground space by the ground receiver and the leaky cable, and is transmitted to the target to be measured through the hole groove opened on the leaky cable. The method includes: obtaining multiple sets of satellite observation data, and calculating the corresponding position feature quantity based on the satellite observation data. Among them, the position feature quantity is used to represent the estimated value of the first distance between the ground receiver and the target to be measured. Among them, the first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole groove and the distance from the hole groove to the target to be measured. The spatial coordinates of the target to be measured are calculated based on multiple position feature quantities.

[0007] In some embodiments, the satellite observation data includes carrier-to-noise ratio data and altitude data. Acquiring multiple sets of satellite observation data further includes: setting constraints according to the altitude data and the carrier-to-noise ratio data, and filtering the satellite observation data according to the constraints. In response to the satellite observation data satisfying the constraints, calculating the position feature quantity corresponding to the satellite observation data.

[0008] In some embodiments, the satellite observation data is screened according to the altitude angle data and the carrier-to-noise ratio data, specifically including: constructing a random model according to the altitude angle data and the carrier-to-noise ratio data. The satellite observation data is screened according to the random model. The random model is represented by the following formula:

[0009]

[0010] Wherein, σ represents the standard deviation. α represents the altitude angle corresponding to different epochs of each BeiDou satellite. a0, a1, and α0 are weighting parameters respectively. S is the scaling factor. β can be the preset carrier-to-noise ratio threshold.

[0011] In some embodiments, the scaling factor is represented by the following formula:

[0012]

[0013] Among them, CNR represents the carrier-to-noise ratio data.

[0014] In some embodiments, the satellite observation data also includes pseudorange measurement values. Calculating the corresponding position feature based on the satellite observation data specifically includes: calculating the clock error value according to the pseudorange measurement value, and correcting the pseudorange measurement value according to the clock error value to obtain a corrected pseudorange. The corrected pseudorange is represented by the following formula:

[0015]

[0016] in, is the corrected pseudorange. 0Bn is the pseudorange measurement value. δ is the clock difference. n is the position feature. n is Gaussian random noise. The first position feature between the target to be measured and the specific hole slot is calculated according to the corrected pseudorange, which is expressed by the following formula:

[0017]

[0018] in, is the corrected pseudorange of n satellites W is the uncertainty of satellite distance observation.

[0019] In some embodiments, the clock error value is determined by the following formula:

[0020]

[0021] Among them, (x B ,y B ,z B ) is the coordinate of the ground receiver. (x n ,y n ,z n ) are the coordinates of the satellite. δ is the clock difference. is the pseudorange measurement between the ground receiver and a single satellite.

[0022] In some embodiments, the spatial coordinates of the target to be measured are calculated based on multiple positional characteristics, specifically including: calculating the second distance between the target to be measured and the multiple hole slots based on the hole slot position, the positional characteristics of the target to be measured and the specific hole slot. Calculating the coordinate position of the target to be measured based on the coordinates of the multiple hole slots and the second distances corresponding to the hole slots.

[0023] The present application also provides a Beidou positioning device for underground space, wherein the Beidou signal is introduced into the underground space by the ground receiver and the leaky cable, and is transmitted to the target to be measured through the hole groove opened on the leaky cable. The device includes: a position feature acquisition module, which obtains multiple sets of satellite observation data and calculates the corresponding position feature quantity based on the satellite observation data. The position feature quantity is used to represent the estimated value of the first distance between the ground receiver and the target to be measured. The first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole groove and the distance from the hole groove to the target to be measured. A coordinate calculation module calculates the spatial coordinates of the target to be measured based on multiple position feature quantities.

[0024] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above methods when executing the program.

[0025] The present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute any of the above methods.

[0026] From the above, it can be seen that the underground space Beidou positioning method provided by the present application introduces Beidou signals into the underground space through ground receivers, and utilizes leaky cables and holes and grooves opened on the leaky cables to achieve Beidou signal coverage of the underground space, thereby achieving low-cost coverage of underground space positioning signals and reducing engineering complexity; the position characteristic quantity is calculated based on the observation data of multiple satellites, the distance between the target to be measured and the ground receiver is obtained, and the spatial coordinates of the target to be measured are calculated, thereby improving the calculation accuracy of the spatial coordinates. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A flowchart of a Beidou positioning method for underground space provided in an embodiment of the present application;

[0029] Figure 2 A flowchart of a satellite observation data screening method provided in an embodiment of the present application;

[0030] Figure 3 A flowchart of a more specific satellite observation data screening method provided in an embodiment of the present application;

[0031] Figure 4 A flow chart of a method for calculating the position of a target to be measured provided in an embodiment of the present application;

[0032] Figure 5 A structural diagram of an underground space Beidou positioning device provided in an embodiment of the present application;

[0033] Figure 6 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0035] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0036] A Beidou positioning method for underground space, wherein Beidou signals are introduced into the underground space by a ground receiver and a leaky cable, and are transmitted to a target to be measured through holes and slots opened on the leaky cable.

[0037] In this embodiment, the Beidou signal is introduced by setting up a ground receiver, and the Beidou signal is provided to the target to be measured by using the leaky cable and the holes and grooves opened on the leaky cable, thereby achieving Beidou signal coverage in the underground space and reducing the cost required for underground equipment positioning.

[0038] There is no limit to the layout of the leaky cable, and a reasonable selection can be made according to the actual scene of the underground space. For example, it can be one of a mesh layout, a linear layout, and a star layout.

[0039] Preferably, when arranging leaky cables in an underground pipe gallery scene, in order to ensure high positioning accuracy while reasonably controlling costs, the leaky cables can be arranged on both sides of the underground pipe gallery.

[0040] l1 and l2 represent two leaky cable positioning signal links, which are composed of the leaky cable physical line topology and the introduced Beidou signal. There are periodically arranged holes and slots on both sides of the leaky cable line, and their respective position information can be obtained from the leaky cable topology. The hole and slot set adjacent to the target to be determined on a certain link is represented by B u express.

[0041]

[0042] Where L represents the link set, L lb Represents the first position feature between the target u and the slot b of link l, σ d The threshold value set for determining proximity. The first position feature represents the estimated observation of the link length from the ground receiver to the slot b and then to the target in a certain link. The link length represents the sum of the wired path length and the air interface path length of the signal transmission.

[0043] like Figure 1 As shown, the method includes:

[0044] Step S1, obtaining multiple sets of satellite observation data, and calculating corresponding position feature quantities based on the satellite observation data.

[0045] The position feature is used to represent an estimated value of a first distance between the ground receiver and the target to be measured. The first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole and the distance from the hole to the target to be measured.

[0046] The position of the target to be measured can be solved by measuring the distance between the target to be measured and multiple holes and slots, and the target to be measured can also be located simultaneously through observation data from multiple satellites.

[0047] The satellite observation data include pseudo-range observations ρ, carrier-to-noise ratio CNR, and satellite elevation angle α of multiple satellites.

[0048] The pseudo-range observation from each satellite (1, ...n, ...N) to the target terminal U is expressed as:

[0049] {ρ U1 ...,ρ U2 ...,ρ UN}.

[0050] The pseudo-range observations from each satellite (1, ...n, ...N) to the reference receiver B are expressed as:

[0051] {ρ B1 ...,ρ B2 ...,ρ BN}.

[0052] Step S2, calculating the spatial coordinates of the target to be measured according to multiple position feature quantities.

[0053] Among them, since the position feature quantity is an estimated value of the first distance between the ground receiver and the target to be measured, it is necessary to obtain multiple position feature quantities of the target to be measured to calculate the spatial coordinates of the target to be measured, so as to improve the position accuracy of the target to be measured.

[0054] In some embodiments, Figure 2 As shown, satellite observation data includes carrier-to-noise ratio data and altitude angle data.

[0055] Acquiring multiple sets of satellite observation data also includes:

[0056] Step S101, setting constraint conditions according to altitude angle data and carrier-to-noise ratio data, and screening satellite observation data according to the constraint conditions.

[0057] Step S102, in response to the satellite observation data satisfying the constraint condition, calculating the position feature quantity corresponding to the satellite observation data.

[0058] In this embodiment, due to the different satellite operating angles, some satellite signals may be weak or interfered. Introducing satellite signals with poor signal quality into the calculation of position feature quantities may cause large deviations in the calculation results, which is not conducive to the precise positioning of the target to be measured. Therefore, it is necessary to eliminate satellite observation data with poor signal quality to improve the accuracy of the position calculation of the target to be measured. In practical applications, the main factors affecting satellite signals include the signal carrier-to-noise ratio and the satellite's altitude angle. Satellite signals with low carrier-to-noise ratios represent poor satellite signal quality, and low altitude angles will introduce greater multipath effects. Therefore, it is necessary to eliminate satellite observation data with low carrier-to-noise ratios and / or low altitude angles.

[0059] In some embodiments, Figure 3 As shown, step S101 specifically includes:

[0060] Step S111, constructing a random model according to the altitude angle data and the carrier-to-noise ratio data.

[0061] Step S112, screening the satellite observation data according to the random model.

[0062] The random model is expressed as follows:

[0063]

[0064] Wherein, σ represents the standard deviation. α represents the altitude angle corresponding to different epochs of each BeiDou satellite. a0, a1, and α0 are weighting parameters respectively. S is the scaling factor. β can be the preset carrier-to-noise ratio threshold.

[0065] In this embodiment, by establishing a random model, the influence of altitude angle data and carrier-to-noise ratio data on satellite signals is comprehensively considered, and the original satellite observation information obtained is cleaned and screened, thereby excluding data of poor quality and retaining high-quality observation values. Among them, the weighting parameters and scaling factors can be adjusted according to the actual application scenario, and the carrier-to-noise ratio threshold is determined according to the carrier-to-noise ratio range actually received by the ground receiver.

[0066] In some embodiments, the scaling factor is represented by the following formula:

[0067]

[0068] Among them, CNR represents the carrier-to-noise ratio data.

[0069] In this embodiment, the scaling factor is dynamically adjusted and the random model is constrained based on the scaling factor, so as to obtain satellite observation data with higher credibility.

[0070] In some embodiments, the satellite observation data also includes pseudorange measurements.

[0071] The corresponding position feature quantities are calculated based on satellite observation data, including:

[0072] Step S103, calculating the clock error value according to the pseudorange measurement value, and correcting the pseudorange measurement value according to the clock error value to obtain a corrected pseudorange.

[0073] Among them, the corrected pseudorange is expressed by the following formula:

[0074]

[0075] in, is the corrected pseudorange. 0Bnis the pseudorange measurement value. δ is the clock difference. n is the position feature. n is Gaussian random noise.

[0076] The first position feature quantity between the target to be measured and the specific hole slot is calculated according to the corrected pseudorange, which is expressed by the following formula:

[0077]

[0078] in, is the corrected pseudorange of n satellites W is the uncertainty of satellite distance observation.

[0079] In this embodiment, the known ground receiver position is used Indicates that the position of the Beidou satellite is obtained according to the Beidou satellite ephemeris At this time, the actual distance between satellite n and the ground receiver is the pseudo-range measurement value ρ 0Bn It can be expressed as:

[0080]

[0081] For satellite n, the observed pseudorange ρ to the target terminal U Un and the observed pseudorange ρ of the reference station B Bn Perform differential calculation and then add it to the actual position distance of the reference station, which can be expressed as The pseudorange value obtained It is the pseudorange correction number after compensating for intrinsic errors such as atmospheric error and ionization error.

[0082] In some embodiments, the clock error value is determined by the following formula:

[0083]

[0084] Among them, (x B ,y B ,z B ) is the coordinate of the ground receiver. (x n ,y n ,z n ) are the coordinates of the satellite. δ is the clock difference. is the pseudorange measurement between the ground receiver and a single satellite.

[0085] In this embodiment, based on the pseudo-range measurement values ​​between the screened ground receiver and n satellites obtained by the Beidou receiving terminal set on the target to be measured, and their respective spatial position coordinates, a nonlinear equation group is established and solved by the Newton iteration method to estimate the clock error value of the ground receiver.δ The pseudorange correction can be further corrected. The distance ρ from satellite n to the ground receiver 0Bn , which can be directly calculated from the spatial position of the ground receiver and the satellite n.

[0086] In some embodiments, Figure 4 As shown, step S2 specifically includes:

[0087] Step S201 , calculating second distances between the target to be measured and the plurality of holes and slots according to the hole and slot positions, and positional feature quantities of the target to be measured and the specific hole and slot.

[0088] Step S202, calculating the coordinate position of the target to be measured according to the coordinates of the plurality of holes and the second distances corresponding to the holes.

[0089] In this embodiment, since the position of the hole slot is known, the length of the leaky cable from the hole slot to the ground receiver can be calculated according to the position of the leaky cable, and the entire second distance can be obtained by calculating the interpolation of multiple position feature quantities and the corresponding leaky cable length. represents the coordinate position of the hole slot, ρ lb Indicates the length of the leaky cable between the slot and the ground receiver. The second distance can be expressed as d lb =L lb -ρ lb .

[0090] After calculating multiple second distances, assume that the three-dimensional coordinates of the target to be measured are (x, y, z), and the three-dimensional coordinates of the hole corresponding to the second distance are (x ln ,y ln ,z ln ), the simultaneous equations:

[0091]

[0092] The above equations are solved to obtain an estimate of the optimal position of the target to be measured.

[0093] It can be seen from the above embodiments of the present application that the technical solution disclosed in the present application introduces Beidou signals into the underground space through a ground receiver, and utilizes leaky cables and holes and grooves opened on the leaky cables to achieve Beidou signal coverage of the underground space, thereby achieving low-cost coverage of underground space positioning signals and reducing engineering complexity; the position feature quantity is calculated based on the observation data of multiple satellites, the distance between the target to be measured and the ground receiver is obtained, and the spatial coordinates of the target to be measured are calculated, thereby improving the calculation accuracy of the spatial coordinates.

[0094] In an optional embodiment of the present application, the calculation accuracy of the spatial coordinates is improved by eliminating satellite observation data with weak or inaccurate signals; and the satellite observation data that meets the requirements is retained by comprehensively calculating the satellite's altitude angle data and carrier-to-noise ratio data.

[0095] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0096] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0097] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a Beidou positioning device for an underground space.

[0098] refer to Figure 5 , underground space Beidou positioning device, in which the Beidou signal is introduced into the underground space by the ground receiver and the leaky cable, and is transmitted to the target to be measured through the holes and grooves opened on the leaky cable.

[0099] The device includes:

[0100] The position feature acquisition module 301 acquires multiple sets of satellite observation data and calculates corresponding position feature quantities based on the satellite observation data. The position feature quantity is used to represent an estimated value of a first distance between a ground receiver and a target to be measured. The first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole slot and the distance from the hole slot to the target to be measured.

[0101] The coordinate calculation module 302 calculates the spatial coordinates of the target to be measured according to a plurality of position feature quantities.

[0102] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0103] The device of the above-mentioned embodiment is used to implement the corresponding underground space Beidou positioning method in any of the aforementioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0104] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the underground space Beidou positioning method described in any of the above embodiments is implemented.

[0105] Figure 6 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0106] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0107] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0108] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0109] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0110] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0111] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0112] The electronic device of the above-mentioned embodiment is used to implement the corresponding underground space Beidou positioning method in any of the aforementioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0113] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the underground space Beidou positioning method as described in any of the above embodiments.

[0114] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0115] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the underground space Beidou positioning method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0116] It should be noted that the embodiments of the present application can be further described in the following manner:

[0117] A Beidou positioning method for underground space, wherein Beidou signals are introduced into the underground space by a ground receiver and a leaky cable, and are transmitted to a target to be measured through holes and slots opened on the leaky cable.

[0118] Methods include:

[0119] Acquire multiple sets of satellite observation data, and calculate corresponding position feature quantities based on the satellite observation data. The position feature quantity is used to represent an estimated value of a first distance between a ground receiver and a target to be measured. The first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole slot and the distance from the hole slot to the target to be measured.

[0120] The spatial coordinates of the target to be measured are calculated based on multiple position feature quantities.

[0121] Optionally, the satellite observation data includes carrier-to-noise ratio data and altitude angle data.

[0122] Acquiring multiple sets of satellite observation data also includes:

[0123] Constraints are set based on the altitude angle data and the carrier-to-noise ratio data, and the satellite observation data are screened based on the constraints.

[0124] In response to the satellite observation data satisfying the constraint condition, a position feature quantity corresponding to the satellite observation data is calculated.

[0125] Optional, where

[0126] The satellite observation data is screened based on the altitude angle data and the carrier-to-noise ratio data, including:

[0127] A random model is constructed based on the altitude angle data and the carrier-to-noise ratio data.

[0128] Satellite observation data are screened according to random models.

[0129] The random model is expressed as follows:

[0130]

[0131] Wherein, σ represents the standard deviation. α represents the altitude angle corresponding to different epochs of each BeiDou satellite. a0, a1, and α0 are weighting parameters respectively. S is the scaling factor. β can be the preset carrier-to-noise ratio threshold.

[0132] Optional, where

[0133] The scaling factor is expressed as follows:

[0134]

[0135] Among them, CNR represents the carrier-to-noise ratio data.

[0136] Optionally, the satellite observation data also includes pseudorange measurements.

[0137] The corresponding position feature quantities are calculated based on satellite observation data, including:

[0138] The clock error value is calculated according to the pseudorange measurement value, and the pseudorange measurement value is corrected according to the clock error value to obtain the corrected pseudorange.

[0139] Among them, the corrected pseudorange is expressed by the following formula:

[0140]

[0141] in, is the corrected pseudorange. 0Bn is the pseudorange measurement value. δ is the clock difference. n is the position feature. n is Gaussian random noise.

[0142] The first position feature quantity between the target to be measured and the specific hole slot is calculated according to the corrected pseudorange, which is expressed by the following formula:

[0143]

[0144] in, is the corrected pseudorange of n satellites W is the uncertainty of satellite distance observation.

[0145] Optional, where

[0146] The clock error is determined by the following formula:

[0147]

[0148] Among them, (x B ,y B ,z B ) is the coordinate of the ground receiver. (x n ,y n ,z n ) are the coordinates of the satellite. δ is the clock difference. is the pseudorange measurement between the ground receiver and a single satellite.

[0149] Optional, where

[0150] The spatial coordinates of the target to be measured are calculated according to multiple position feature quantities, specifically including:

[0151] The second distances between the target to be measured and the plurality of holes are calculated according to the hole positions, the positional characteristics of the target to be measured and the specific holes.

[0152] The coordinate position of the target to be measured is calculated according to the coordinates of the plurality of holes and the second distances corresponding to the holes.

[0153] The present application also provides a Beidou positioning device for an underground space, wherein the Beidou signal is introduced into the underground space by a ground receiver and a leaky cable, and is transmitted to a target to be measured through holes and grooves opened on the leaky cable.

[0154] The device includes:

[0155] The position feature acquisition module acquires multiple sets of satellite observation data and calculates the corresponding position feature quantity based on the satellite observation data. The position feature quantity is used to represent the estimated value of the first distance between the ground receiver and the target to be measured. The first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole slot and the distance from the hole slot to the target to be measured.

[0156] The coordinate calculation module calculates the spatial coordinates of the target to be measured based on multiple position feature quantities.

[0157] The present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above methods when executing the program.

[0158] The present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute any of the above methods.

[0159] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0160] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0161] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0162] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. A Beidou positioning method for underground space, wherein: Beidou signals are introduced into the underground space by ground receivers and leaky cables, and are transmitted to the target to be measured through the holes and slots opened on the leaky cables; The method comprises: Acquire multiple groups of satellite observation data, and calculate corresponding position feature quantities based on the satellite observation data; wherein the position feature quantity is used to represent an estimated value of a first distance between the ground receiver and the target to be measured; wherein the first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole slot and the distance from the hole slot to the target to be measured; The spatial coordinates of the target to be measured are calculated according to the plurality of position feature quantities.

2. The underground space Beidou positioning method according to claim 1, wherein: The satellite observation data includes carrier-to-noise ratio data and altitude angle data; The obtaining of multiple sets of satellite observation data also includes: Setting constraint conditions according to the altitude angle data and the carrier-to-noise ratio data, and screening the satellite observation data according to the constraint conditions; In response to the satellite observation data satisfying the constraint condition, the position feature quantity corresponding to the satellite observation data is calculated.

3. The underground space Beidou positioning method according to claim 2, wherein: The screening of the satellite observation data according to the altitude angle data and the carrier-to-noise ratio data specifically includes: Constructing a random model according to the altitude angle data and the carrier-to-noise ratio data; Screening the satellite observation data according to the random model; The stochastic model is represented by the following formula: Among them, σ represents the standard deviation; α represents the altitude angle corresponding to different epochs of each Beidou satellite; a0, a1, and α0 are weighting parameters respectively; S is the scaling factor; β can be the preset carrier-to-noise ratio threshold.

4. The underground space Beidou positioning method according to claim 3, wherein: The scaling factor is expressed by the following formula: Wherein, CNR represents the carrier-to-noise ratio data.

5. The underground space Beidou positioning method according to claim 1, wherein: The satellite observation data also includes pseudorange measurements; The calculating the corresponding position feature quantity based on the satellite observation data specifically includes: Calculating a clock error value according to the pseudorange measurement value, and correcting the pseudorange measurement value according to the clock error value to obtain a corrected pseudorange; Wherein, the corrected pseudorange is expressed by the following formula: in, is the corrected pseudorange; 0Bn is the pseudorange measurement value; t δ is the clock difference value; L n is the position feature; n is Gaussian random noise; The first position characteristic quantity between the target to be measured and the specific hole slot is calculated according to the corrected pseudorange, which is expressed by the following formula: in, is the corrected pseudorange of n satellites W is the uncertainty of the satellite distance observation.

6. The underground space Beidou positioning method according to claim 5, wherein: The clock error value is determined by the following formula: Among them, (x B ,y B , z B ) is the coordinate of the ground receiver; (x n ,y n , Z n ) are the coordinates of the satellite; t δ is the clock difference value; is the pseudorange measurement value between the ground receiver and a single satellite.

7. The underground space Beidou positioning method according to claim 5, wherein: The step of calculating the spatial coordinates of the target to be measured according to the plurality of position feature quantities specifically includes: Calculating a second distance between the object to be measured and the plurality of the hole slots according to the hole slot positions, the position feature quantities of the object to be measured and the specific hole slots; The coordinate position of the target to be measured is calculated according to the coordinates of the plurality of holes and the second distances corresponding to the holes.

8. A Beidou positioning device for underground space, wherein: Beidou signals are introduced into the underground space by ground receivers and leaky cables, and are transmitted to the target to be measured through the holes and slots opened on the leaky cables; The device comprises: A position feature acquisition module, which acquires multiple sets of satellite observation data and calculates corresponding position feature quantities based on the satellite observation data; wherein the position feature quantity is used to represent an estimated value of a first distance between the ground receiver and the target to be measured; wherein the first distance is used to represent the sum of the length of the leaky cable between the ground receiver and the hole slot and the distance from the hole slot to the target to be measured; A coordinate calculation module calculates the spatial coordinates of the target to be measured according to the plurality of position feature quantities.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 7 when executing the program. 10 . A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method according to claim 1 .

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