A wireless positioning anti-mistake safety helmet operation method and system

Abstract

The invention provides an operation method and system of a wirelessly positioned anti-mistaken safety helmet, and relates to the technical field of wireless positioning of anti-mistaken safety helmets. According to the invention, a positioning signal is sent two-way between a UWB tag installed in a helmet and a base station twice in a row, the transmission time of the positioning signal is calculated, the distance between the helmet and the base station is calculated, and a helmet positioning mathematical model composed of the base station coordinates and the distance between the base station and the helmet is constructed to calculate the coordinate position of the helmet. When the number of base stations connected to the helmet to be positioned is less than 3, the helmet to be positioned is positioned by using a helmet with a high communication score for determining the position as a temporary base station. When the number of base stations and helmets within the communication range of the helmet is insufficient to establish the helmet positioning mathematical model, the helmet updates the coordinate position of the helmet according to its own motion data, and corrects the coordinate position by the distance between the base station and the helmet.

Description

Technical Field

[0001] The invention relates to the technical field of wireless positioning of an anti-mistake safety helmet, and in particular to an operation method and system of a wirelessly positioned anti-mistake safety helmet. Background Art

[0002] With the development of industrialization and cities, the risk of industrial accidents has also increased accordingly. In high-risk environments such as construction sites, mines, and chemical plants, personal safety and real-time monitoring have become crucial. Anti-mistake safety helmets have become increasingly important. With the integration of wireless positioning technology into safety helmets, real-time positioning and tracking can be achieved, greatly improving the safety management efficiency and accident response speed in the workplace. However, since the use scenarios of anti-mistake safety helmets are usually complex, the positioning of anti-mistake safety helmets will be greatly affected. Therefore, how to improve the accuracy of wireless positioning and how to continue to maintain positioning accuracy when wireless signals are interfered have become urgent problems that need to be solved.

[0003] In the prior art, publication number CN118409345A discloses an operation method and system for an intelligent anti-mistake safety helmet for an electric power system, including: after the helmet is turned on, the latitude and longitude information of the helmet is calculated by a Beidou receiver, the position information of the helmet is measured by an inertial navigation module, and the optimal estimation result is obtained according to the latitude information and the position information; when there is an operation and maintenance task, an electronic grid map is constructed, and a path planning is performed according to the map, and the planned task route is sent to the corresponding operation and maintenance personnel helmet; after the helmet receives the task, it guides the operation and maintenance personnel to perform the operation and maintenance task, and if it is a multi-person task, the relative positions of the task personnel are calculated in real time; finally, a real-time state position estimate is calculated and compared with the range of the electronic fence. When it exceeds the specified range, the helmet alarms to prompt the staff. This invention receives the Beidou satellite navigation system signal through the Beidou satellite antenna on the safety helmet, calculates the current latitude and longitude information of the helmet through the Beidou receiver, and the inertial navigation module obtains the three-axis angular velocity and three-axis acceleration of the helmet by measurement to obtain the current helmet position information. However, this invention is suitable for open outdoor places, and the Beidou signal is not easily interfered with. When the environment in which the operation and maintenance personnel are located is relatively complex, positioning will be impossible if the Beidou signal is interfered with or lost.

[0004] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not constitute the prior art that is already known to one of ordinary skill in the art. Summary of the invention

[0005] The object of the present invention is to provide an operation method and system of a wirelessly positioned anti-misuse safety helmet to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A method and system for operating a wirelessly positioned anti-misuse safety helmet, the specific steps of which include:

[0008] Step 1: Establish a spatial coordinate system with any point in the area to be positioned as the origin, arrange a base station based on UWB technology in the working area, install a UWB communication tag and a gyroscope on the anti-mistake safety helmet, and the anti-mistake safety helmet sends the safety information of the anti-mistake safety helmet to the base station through the UWB signal;

[0009] Step 2: The helmet sends a positioning signal to each base station within the communication range in turn. After receiving the positioning signal, the base station feeds the signal back to the helmet. Then the base station sends a positioning signal to the helmet. After receiving the positioning signal, the helmet feeds it back to the base station. At the same time, the timestamp of each time the base station and the helmet receive and send the positioning signal is recorded. According to the transmission time of the positioning signal, the distance between the helmet and the base station is calculated;

[0010] Step 3: Obtain the coordinates of each base station, and build a helmet positioning mathematical model consisting of the base station coordinates and the distance between the base station and the helmet according to the distance between the helmet and the base station within the communication range. Calculate the coordinate position of the helmet by setting the coordinate error value;

[0011] Step 4: When the helmet to be located is connected to less than 3 base stations, the communication score of each helmet with a determined position is calculated by obtaining the coordinate position and communication data of the helmet with a determined position within the communication range, and the helmet with a determined position with a high score is selected as a temporary base station, and the helmet to be located is located by the distance between the helmet to be located and the base station and the temporary base station;

[0012] Step 5: When the number of base stations within the communication range of the helmet to be located and the number of helmets with determined positions are insufficient to establish a mathematical model for helmet positioning, the helmet to be located updates the coordinate position of the helmet per unit time according to its own motion data, and corrects the coordinate position of the helmet to be located by the distance between the base station and the helmet to be located.

[0013] Furthermore, the specific steps of calculating the distance between the helmet and the base station according to the transmission time of the positioning signal are:

[0014] The calculation formula of the transmission time of the positioning signal is:

[0015]

[0016] in, is the transmission time of the positioning signal between the helmet and the base station, It is the time from when the base station receives the positioning signal to when it feeds back the positioning signal. The moment the positioning signal is sent to the helmet, The moment when the base station receives the positioning signal sent by the helmet. It is the moment when the base station receives the positioning signal sent by the helmet and then sends a feedback signal. It is the moment when the helmet receives the feedback signal sent by the base station. is the transmission time of the positioning signal between the base station and the helmet, It is the time from when the helmet receives the positioning signal to when it feeds back the positioning signal. This is the moment when the base station sends a positioning signal to the helmet. This is the moment when the helmet receives the positioning signal sent by the base station. It is the moment when the helmet sends feedback after receiving the positioning signal. The moment when the base station receives the helmet feedback signal;

[0017] The distance is calculated as follows:

[0018]

[0019] in, is the distance between the helmet and the base station, is the propagation speed of UWB waves.

[0020] Furthermore, the specific steps of constructing a helmet positioning mathematical model consisting of base station coordinates and the distance between the base station and the helmet are:

[0021] The distance between the helmet and each base station is calculated as;

[0022]

[0023] in, For helmets to The distance between base stations, is the position coordinate of the helmet, For the The location coordinates of the base stations, is a positive integer, ;

[0024] The calculation formula of the mathematical model of helmet positioning is:

[0025]

[0026] in, Mathematical model for helmet positioning, is the estimated position coordinates of the selected helmet, is the coordinate error between the coordinate position of the helmet and the random position coordinate of the helmet, To set the coordinate error value.

[0027] Furthermore, the specific steps of calculating the communication score of each helmet at a determined position by acquiring the coordinate position and communication data of the helmet at a determined position within the communication range are:

[0028] The communication data includes the distance between the helmet and the base station, the number of distance calculations, the number of times positioning signals are received and sent, the number of helmets connected to the base station, and the strength of positioning signals sent and received by the base station and the helmet;

[0029] The calculation formula for the volatility of the distance between the helmet and the base station is;

[0030]

[0031] in, is the fluctuation of the distance between the helmet and the base station, is the number of distance calculations, For the The distance calculated is is the average value of the distance between the helmet and the base station;

[0032] The calculation formula of signal loss rate is:

[0033]

[0034] in, is the signal loss rate, The number of times the positioning signal is sent between the helmet and the base station. The number of times the positioning signal is received between the helmet and the base station. is the number of base stations connected to the helmet, is a positive integer, ;

[0035] The calculation formula of power dispersion factor is:

[0036]

[0037] in, is the power spreading factor, is the number of base stations connected to the helmet, For helmet connection Base stations, is the strength of the sent positioning signal, is the received positioning signal strength;

[0038] The formula for calculating the communication score is;

[0039]

[0040] in, Rate the newsletter, are the volatility of the distance between the helmet and the base station, the signal loss rate, and the weight of the power dispersion factor. .

[0041] Furthermore, the specific steps of updating the coordinate position of the helmet according to the motion data of the helmet and correcting the coordinates according to the distance between the base station and the helmet are:

[0042] The motion data is real-time acceleration and direction of acceleration;

[0043] Calculate the real-time speed of the helmet in the coordinate system according to the real-time acceleration and the direction of acceleration;

[0044]

[0045] in, is the acceleration of the helmet in the moving direction, For The acceleration of the helmet in the horizontal direction of the coordinate system at the moment, For The acceleration of the helmet in the ordinate direction of the coordinate system at the moment, For The speed of the helmet moving in the horizontal direction of the coordinate system at this moment, For The moving speed of the helmet in the ordinate direction of the coordinate system at this moment, For The speed of the helmet moving in the horizontal direction of the coordinate system at this moment, For The moving speed of the helmet in the ordinate direction of the coordinate system at this moment, The time point when the coordinate position starts to update. The time interval for coordinate updates;

[0046] Calculate the coordinate position after movement based on the real-time speed of the helmet in the coordinate system;

[0047]

[0048] in; For helmets The coordinate position at the time, For helmets The coordinate position at the time;

[0049] According to the trajectory of the helmet movement and the distance between the helmet and the base station, the coordinates after movement are corrected by establishing a coordinate movement correction model. The calculation formula of the coordinate correction model after movement is:

[0050]

[0051] in, is the coordinate of the base station, The distance between the helmet and the base station is The estimated coordinate position of is the distance between the helmet and the base station, is the moving trajectory coordinate of the helmet, , are the corrected coordinate positions to be determined, The final corrected coordinates.

[0052] The present invention also provides an operating system of a wirelessly positioned anti-mistaken safety helmet, the operating system of the anti-mistaken safety helmet is used to execute the above-mentioned operating system of a wirelessly positioned anti-mistaken safety helmet, comprising:

[0053] UWB ranging module, the UWB ranging module is used to send positioning signals to each base station within the communication range through the helmet in turn, and the base station feeds back the signal to the helmet after receiving the positioning signal, and then the base station sends a positioning signal to the helmet, and the helmet feeds back the positioning signal to the base station after receiving the positioning signal, and records the timestamp of each time the base station and the helmet receive and send the positioning signal, and calculates the distance between the helmet and the base station according to the transmission time of the positioning signal;

[0054] A helmet positioning module, which is used to obtain the coordinates of each base station, and build a helmet positioning mathematical model consisting of the base station coordinates and the distance between the base station and the helmet according to the distance between the helmet and the base station within the communication range, and calculate the coordinate position of the helmet by setting the coordinate error value;

[0055] A positioning scoring module, which is used to obtain the coordinate position and communication data of the helmets at the determined position within the communication range, calculate the communication score of each helmet, and select the helmet with a high score as a temporary base station, and locate the helmet to be located by the distance between the helmet and the base station and the temporary base station;

[0056] A correction positioning module, wherein the correction positioning module is used to update the coordinate position of the helmet in a unit time according to the helmet's own motion data when a mathematical model for helmet positioning cannot be established, and to correct the coordinate position according to the distance between the base station and the helmet;

[0057] The positioning output module is used to send the coordinates of the helmet to be positioned obtained by the helmet positioning module, the positioning scoring module, and the corrected positioning module in different scenes to the base station.

[0058] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention calculates the distance between the helmet and the base station by calculating the transmission time of the positioning signal based on two consecutive bidirectional positioning signals sent between the UWB tag installed in the helmet and the base station, and constructs a helmet positioning mathematical model composed of the base station coordinates and the distance between the base station and the helmet to calculate the coordinate position of the helmet; when the number of base stations connected to the helmet to be positioned is less than 3, the helmet to be positioned is positioned by using a helmet with a high communication score for determining the position as a temporary base station; when the number of base stations and helmets within the communication range of the helmet is insufficient to establish the helmet positioning mathematical model, the helmet updates the coordinate position of the helmet according to its own motion data, and corrects the coordinate position by the distance between the base station and the helmet.

[0059] The invention is based on the method of sending and receiving signals alternately in two different directions, measuring the time between the signal going back and forth between a base station and a tag on a helmet, eliminating the synchronization delay error and effectively suppressing the timing frequency deviation error, not requiring clock synchronization between two communication nodes, and improving the ranging accuracy. By constructing a helmet positioning mathematical model composed of base station coordinates and the distance between the base station and the helmet, the positioning accuracy is further improved. When the base station positioning signal is interfered, the communication score of each helmet is calculated, and a helmet with a high score is selected as a temporary base station. The positioning is performed according to the distance between the helmet and the temporary base station, and the positioning influence on the safety helmet when the base station positioning signal is interfered in a special environment is effectively reduced. The helmet updates the coordinate position of the helmet within a unit time according to its own motion data, and corrects the coordinate position according to the distance between the base station and the helmet, so as to ensure that when the base station signal is incomplete, the system can still provide continuous position tracking and reduce the influence of positioning interruption. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of the overall method flow of the present invention;

[0061] Figure 2 It is a schematic diagram of the overall system structure of the present invention. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0063] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include 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 may 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.

[0064] Example:

[0065] See also Figure 1 , the present invention provides a technical solution:

[0066] A method for operating a wirelessly positioned anti-mistaken safety helmet, the specific steps comprising:

[0067] Step 1: Establish a spatial coordinate system with any point in the area to be positioned as the origin, arrange a base station based on UWB technology in the working area, install UWB communication tags and gyroscopes on the anti-mistaken safety helmet, and the anti-mistaken safety helmet sends the safety information of the anti-mistaken safety helmet to the base station through UWB signals.

[0068] In the area to be positioned, that is, the activity area of ​​the workers wearing anti-mistake safety helmets, the center point of the area or the landmark building is used as the origin, the east-west direction is used as the horizontal coordinate, the north-south direction is used as the vertical coordinate, and the center point or the landmark building is used as the origin, making the coordinate system more intuitive and easy to understand. People are more sensitive and clear about the spatial position of the center point or landmark building, which helps workers and managers quickly understand the location of the coordinate point. Defining the coordinate axis by geographic orientation (east, west, south, and north) conforms to people's daily orientation habits and reduces the cost of learning and adaptation. Such a coordinate system is closer to natural orientation perception, and workers and managers can identify directions faster and improve efficiency.

[0069] The anti-mistake safety helmet is a high-tech device designed to improve safety and efficiency in specific working environments. It is used in different scenarios, but the anti-mistake safety helmet needs to provide accurate location information. The anti-mistake safety helmet can monitor the position of each worker in real time, manage the work area more effectively, and quickly locate specific individuals in emergency situations.

[0070] Ultra-wideband (UWB) technology is gaining increasing attention in anti-mistake safety helmets due to its excellent positioning accuracy and strong anti-interference ability. UWB technology can provide centimeter-level positioning accuracy, which is particularly important for construction sites and factory environments that require extremely high positioning accuracy. Due to its low power density and wide bandwidth, UWB can effectively resist interference in complex electromagnetic environments, ensuring the stability and reliability of positioning information.

[0071] When a signal encounters an obstacle during propagation, it will be reflected or refracted, causing the signal energy to attenuate, while low-frequency signals can penetrate obstacles for transmission. The rich low-frequency components in UWB enable the signal to have better penetration ability when encountering obstacles, and can penetrate media such as water and concrete. This feature makes UWB particularly suitable for environments such as multi-story buildings or underground projects, greatly improving the practicality and safety of safety helmets. At the same time, the UWB positioning system has low power consumption, which means longer service life and less battery replacement requirements for portable devices that need to be used for a long time, such as safety helmets.

[0072] Step 2: The helmet sends a positioning signal to each base station within the communication range in turn. After receiving the positioning signal, the base station feeds the signal back to the helmet. Then the base station sends a positioning signal to the helmet. After receiving the positioning signal, the helmet feeds it back to the base station. At the same time, the timestamp of each time the base station and the helmet receive and send the positioning signal is recorded. According to the transmission time of the positioning signal, the distance between the helmet and the base station is calculated.

[0073] By sending and receiving signals alternately in two different directions and measuring the time it takes for the signal to go back and forth between the base station and the tag on the helmet, the synchronization delay error can be effectively eliminated while effectively suppressing the timing frequency deviation error. Clock synchronization between the base station and the tag on the helmet is not required, which improves the ranging accuracy. Because the clocks of different devices may have slight frequency deviations or time drifts, this deviation is particularly obvious when the device is running for a long time, and even a slight time error will cause a huge distance error at the speed of UWB wave transmission. In this way, each device calculates the round-trip time separately, so that the clock deviation effect of each device is localized, and then the effect of this deviation is reduced by calculating the average round-trip time.

[0074] In this embodiment, the calculation formula for the transmission time of the positioning signal is:

[0075]

[0076] in, is the transmission time of the positioning signal between the helmet and the base station, It is the time from when the base station receives the positioning signal to when it feeds back the positioning signal. The moment the positioning signal is sent to the helmet, The moment when the base station receives the positioning signal sent by the helmet. It is the moment when the base station receives the positioning signal sent by the helmet and then sends a feedback signal. It is the moment when the helmet receives the feedback signal sent by the base station. is the transmission time of the positioning signal between the base station and the helmet, It is the time from when the helmet receives the positioning signal to when it feeds back the positioning signal. This is the moment when the base station sends a positioning signal to the helmet. This is the moment when the helmet receives the positioning signal sent by the base station. It is the moment when the helmet sends feedback after receiving the positioning signal. It is the moment when the base station receives the feedback signal from the helmet.

[0077] The distance is calculated as follows:

[0078]

[0079] in, is the distance between the helmet and the base station, is the propagation speed of UWB waves.

[0080] Step 3: Obtain the coordinates of each base station, and based on the distance between the helmet and the base station within the communication range, construct a helmet positioning mathematical model consisting of the base station coordinates and the distance between the base station and the helmet. By setting the coordinate error value, calculate the coordinate position of the helmet.

[0081] The mathematical model of helmet positioning is a calculation method that uses the Taylor series expansion idea to estimate the position. The principle is to perform Taylor expansion on the nonlinear equations at the initial estimated position, ignore the second-order and above terms in the expansion, and convert the nonlinear equations into linear equations. Then, the least squares method is used to solve them. This can achieve higher positioning accuracy. The convergence speed of the algorithm can be improved by selecting appropriate initial values ​​for iterations, and the number of iterations can be reduced. In addition, by gradually approaching the true solution, this method can improve the stability of the solution process. In situations where environmental factors are more complex or the signal propagation model does not fully conform to the simple linear assumption, the Taylor series method shows superior performance, so it is more suitable for the application scenario of safety and anti-mistake helmets.

[0082] In this embodiment, the specific steps of constructing a helmet positioning mathematical model consisting of base station coordinates and the distance between the base station and the helmet are:

[0083] The distance between the helmet and each base station is calculated as;

[0084]

[0085] in, For helmets to The distance between base stations, is the position coordinate of the helmet, For the The location coordinates of the base stations, is a positive integer, .

[0086] The calculation formula of the mathematical model of helmet positioning is:

[0087]

[0088] in, Mathematical model for helmet positioning, is the estimated position coordinates of the selected helmet, is the coordinate error between the coordinate position of the helmet and the random position coordinate of the helmet, To set the coordinate error value.

[0089] Step 4: When the helmet to be located is connected to less than 3 base stations, the communication score of each located helmet is calculated by obtaining the coordinate position and communication data of the located helmets within the communication range, and the located helmets with high scores are selected as temporary base stations. The helmet to be located is located by the distance between the helmet to be located and the base station and the temporary base station.

[0090] The positioning algorithm requires that there are at least three base station nodes that can communicate near the tag on the helmet to be positioned. However, when this condition cannot be met in a special working environment, the positioning of the safety helmet will be deviated or even impossible to locate. When positioning the helmet to be positioned, a nearby helmet that can communicate can be used for auxiliary positioning, and the helmet with a determined position can be used as a base station. This can not only increase the number of base stations and increase the positioning coverage, but also reduce the impact of the positioning of the safety helmet in special environments.

[0091] In this embodiment, the specific steps of calculating the communication score of each helmet at a determined position by acquiring the coordinate position and communication data of the helmet at a determined position within the communication range are:

[0092] The communication data includes the distance between the helmet and the base station, the number of distance calculations, the number of times positioning signals are received and sent, the number of helmets connected to the base station, and the strength of positioning signals sent and received by the base station and the helmet;

[0093] The calculation formula for the volatility of the distance between the helmet and the base station is;

[0094]

[0095] in, is the fluctuation of the distance between the helmet and the base station, is the number of distance calculations, For the The distance calculated is is the average distance between the helmet and the base station.

[0096] The volatility of the distance between the helmet and the base station reflects the stability of the distance calculated between the helmet and the base station. The greater the volatility, the greater the error in the positioning of the helmet. That is, the helmet with positioning error is used as a temporary base station. When positioning other helmets to be positioned, it will cause secondary errors, resulting in greater positioning deviations for the helmets to be positioned.

[0097] The calculation formula of signal loss rate is:

[0098]

[0099] in, is the signal loss rate, The number of times the positioning signal is sent between the helmet and the base station. The number of times the positioning signal is received between the helmet and the base station. is the number of base stations connected to the helmet, is a positive integer, .

[0100] The signal loss rate reflects that the positioning signal is blocked or affected and not captured by the helmet and the base station. A low signal loss rate indicates that there are fewer interferences and obstacles in the signal transmission process, so the signal path is clearer and the measurement error is smaller. By monitoring the loss rate, the system can select the path with the best signal quality for distance measurement and positioning calculation, and maintain the continuity and accuracy of the positioning service by dynamically adjusting the algorithm or using a backup signal path, thereby improving the overall positioning accuracy.

[0101] The calculation formula of power dispersion factor is:

[0102]

[0103] in, is the power spreading factor, is the number of base stations connected to the helmet, For helmet connection Base stations, is the strength of the sent positioning signal, is the received positioning signal strength.

[0104] The power dispersion factor reflects the dispersion degree of the signal received by the receiving end. UWB signals are easily affected by multipath effects and non-line-of-sight conditions, which will lead to large deviations in the prediction of signal strength and arrival time. By calculating the dispersion factor of the signal, the dispersion of the signal can be analyzed to understand the stability and reliability of the signal during propagation. Lower signal dispersion indicates that the signal is more stable and less affected by the environment, so higher positioning accuracy can be expected.

[0105] The formula for calculating the communication score is;

[0106]

[0107] in, Rate the newsletter, are the volatility of the distance between the helmet and the base station, the signal loss rate, and the weight of the power dispersion factor. .

[0108] The communication score reflects the overall positioning quality of the helmet. Helmets with high communication scores mean that these helmets have better signal quality and stability. The data provided by such helmets is more reliable. Therefore, using the measurement data of these helmets for positioning can reduce errors and improve the overall positioning accuracy. The positioning of the helmet to be positioned is based on the ranging data of multiple base stations and the helmet that determines the positioning to determine the target position. By selecting a helmet with a high communication score, the secondary accumulation of errors caused by poor helmet signal quality can be effectively reduced, thereby more accurately calculating the position of the target.

[0109] Step 5: When the number of base stations within the communication range of the helmet to be located and the number of helmets with determined positions are insufficient to establish a mathematical model for helmet positioning, the helmet to be located updates the coordinate position of the helmet per unit time according to its own motion data, and corrects the coordinate position of the helmet to be located by the distance between the base station and the helmet to be located.

[0110] When the base station signal is limited, the helmet cannot obtain sufficient positioning signals for positioning. The helmet continues to update its position information through the built-in gyroscope, which can ensure that the system can still provide continuous position tracking when the base station signal is incomplete, reducing the impact of positioning interruptions. However, relying solely on the gyroscope will cause cumulative errors. By combining the distance measurement of a single base station to correct the updated position, the accumulation of errors can be effectively controlled. This method uses the update and correction mechanism to maintain positioning accuracy as much as possible even when the signal is limited.

[0111] In this embodiment, the specific steps of updating the coordinate position of the helmet according to the motion data of the helmet and correcting the coordinates according to the distance between the base station and the helmet are as follows:

[0112] The motion data is real-time acceleration and direction of acceleration;

[0113] Calculate the real-time speed of the helmet in the coordinate system according to the real-time acceleration and the direction of acceleration;

[0114]

[0115] in, is the acceleration of the helmet in the moving direction, For The acceleration of the helmet in the horizontal direction of the coordinate system at the moment, For The acceleration of the helmet in the ordinate direction of the coordinate system at the moment, For The speed of the helmet moving in the horizontal direction of the coordinate system at this moment, For The moving speed of the helmet in the ordinate direction of the coordinate system at this moment, For The speed of the helmet moving in the horizontal direction of the coordinate system at this moment, For The moving speed of the helmet in the ordinate direction of the coordinate system at this moment, The time point when the coordinate position starts to update. The time interval for coordinate updates.

[0116] Calculate the coordinate position after movement based on the real-time speed of the helmet in the coordinate system;

[0117]

[0118] in; For helmets The coordinate position at the time, For helmets The coordinate position at the moment.

[0119] According to the trajectory of the helmet movement and the distance between the helmet and the base station, the coordinates after movement are corrected by establishing a coordinate movement correction model. The calculation formula of the coordinate correction model after movement is:

[0120]

[0121] in, is the coordinate of the base station, The distance between the helmet and the base station is The estimated coordinate position of is the distance between the helmet and the base station, is the moving trajectory coordinate of the helmet, , are the corrected coordinate positions to be determined, The final corrected coordinates.

[0122] See also Figure 2 The present invention also provides an operating system of a wirelessly positioned anti-mistaken safety helmet, the operating system of the anti-mistaken safety helmet is used to execute the above-mentioned operating system of a wirelessly positioned anti-mistaken safety helmet, including:

[0123] UWB ranging module, the UWB ranging module is used to send positioning signals to each base station within the communication range through the helmet in turn, and the base station feeds back the signal to the helmet after receiving the positioning signal, and then the base station sends a positioning signal to the helmet, and the helmet feeds back the positioning signal to the base station after receiving the positioning signal, and records the timestamp of each time the base station and the helmet receive and send the positioning signal, and calculates the distance between the helmet and the base station according to the transmission time of the positioning signal;

[0124] A helmet positioning module, which is used to obtain the coordinates of each base station, and build a helmet positioning mathematical model consisting of the base station coordinates and the distance between the base station and the helmet according to the distance between the helmet and the base station within the communication range, and calculate the coordinate position of the helmet by setting the coordinate error value;

[0125] A positioning scoring module, which is used to obtain the coordinate position and communication data of the helmets at the determined position within the communication range, calculate the communication score of each helmet, and select the helmet with a high score as a temporary base station, and locate the helmet to be located by the distance between the helmet and the base station and the temporary base station;

[0126] A correction positioning module, wherein the correction positioning module is used to update the coordinate position of the helmet in a unit time according to the helmet's own motion data when a mathematical model for helmet positioning cannot be established, and to correct the coordinate position according to the distance between the base station and the helmet;

[0127] The positioning output module is used to send the coordinates of the helmet to be positioned obtained by the helmet positioning module, the positioning scoring module, and the corrected positioning module in different scenes to the base station.

[0128] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0129] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a computer program product. Those skilled in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software methods depends on the specific application and design constraints of the technical solution.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0131] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for operating a wirelessly positioned anti-misuse safety helmet, characterized in that: The specific steps include: Step 1: Establish a spatial coordinate system with any point in the area to be positioned as the origin, arrange a base station based on UWB technology in the working area, install a UWB communication tag and a gyroscope on the anti-mistake safety helmet, and the anti-mistake safety helmet sends the safety information of the anti-mistake safety helmet to the base station through the UWB signal; Step 2: The helmet sends a positioning signal to each base station within the communication range in turn. After receiving the positioning signal, the base station feeds the signal back to the helmet. Then the base station sends a positioning signal to the helmet. After receiving the positioning signal, the helmet feeds it back to the base station. At the same time, the timestamp of each time the base station and the helmet receive and send the positioning signal is recorded. According to the transmission time of the positioning signal, the distance between the helmet and the base station is calculated; Step 3: Obtain the coordinates of each base station, and build a helmet positioning mathematical model consisting of the base station coordinates and the distance between the base station and the helmet according to the distance between the helmet and the base station within the communication range. Calculate the coordinate position of the helmet by setting the coordinate error value; Step 4: When the helmet to be located is connected to less than 3 base stations, the communication score of each helmet with a determined position is calculated by obtaining the coordinate position and communication data of the helmet with a determined position within the communication range, and the helmet with a determined position with a high score is selected as a temporary base station, and the helmet to be located is located by the distance between the helmet to be located and the base station and the temporary base station; Step 5: When the number of base stations within the communication range of the helmet to be located and the number of helmets whose positions are determined are insufficient to establish a mathematical model for helmet positioning, the helmet to be located updates the coordinate position of the helmet in unit time according to its own motion data, and corrects the coordinate position of the helmet to be located according to the distance between the base station and the helmet to be located; The specific steps of updating the coordinate position of the helmet according to the motion data of the helmet and correcting the coordinates according to the distance between the base station and the helmet are as follows: The motion data is real-time acceleration and direction of acceleration; Calculate the real-time speed of the helmet in the coordinate system according to the real-time acceleration and the direction of acceleration; in, is the acceleration of the helmet in the moving direction, For The acceleration of the helmet in the horizontal direction of the coordinate system at the moment, For The acceleration of the helmet in the ordinate direction of the coordinate system at the moment, For The speed of the helmet moving in the horizontal direction of the coordinate system at this moment, For The moving speed of the helmet in the ordinate direction of the coordinate system at this moment, For The speed of the helmet moving in the horizontal direction of the coordinate system at this moment, For The moving speed of the helmet in the ordinate direction of the coordinate system at this moment, The time point when the coordinate position starts to update. The time interval for coordinate update; Calculate the coordinate position after the movement according to the real-time speed of the helmet in the coordinate system; in; For helmets The coordinate position at the time, For helmets The coordinate position at the time; According to the trajectory of the helmet movement and the distance between the helmet and the base station, the coordinates after movement are corrected by establishing a coordinate movement correction model. The calculation formula of the coordinate correction model after movement is: in, is the coordinate of the base station, The distance between the helmet and the base station is The estimated coordinate position of is the distance between the helmet and the base station, is the moving trajectory coordinate of the helmet, , are the corrected coordinate positions to be determined, The final corrected coordinates.

2. The method for operating a wireless positioning anti-misuse safety helmet according to claim 1, characterized in that: The specific steps of calculating the distance between the helmet and the base station according to the transmission time of the positioning signal are: The calculation formula of the transmission time of the positioning signal is: in, is the transmission time of the positioning signal between the helmet and the base station, It is the time from when the base station receives the positioning signal to when it feeds back the positioning signal. The moment the positioning signal is sent to the helmet, The moment when the base station receives the positioning signal sent by the helmet. It is the moment when the base station receives the positioning signal sent by the helmet and then sends a feedback signal. It is the moment when the helmet receives the feedback signal sent by the base station. is the transmission time of the positioning signal between the base station and the helmet, It is the time from when the helmet receives the positioning signal to when it feeds back the positioning signal. This is the moment when the base station sends a positioning signal to the helmet. This is the moment when the helmet receives the positioning signal sent by the base station. It is the moment when the helmet sends feedback after receiving the positioning signal. The moment when the base station receives the helmet feedback signal; The distance is calculated as follows: in, is the distance between the helmet and the base station, is the propagation speed of UWB waves.

3. The method for operating a wireless positioning anti-misuse safety helmet according to claim 1, characterized in that: The specific steps of constructing the helmet positioning mathematical model composed of the base station coordinates and the distance between the base station and the helmet are: The distance between the helmet and each base station is calculated as; in, For helmets to The distance between base stations, is the position coordinate of the helmet, For the The location coordinates of the base stations, is a positive integer, ; The calculation formula of the mathematical model of helmet positioning is: in, Mathematical model for helmet positioning, is the estimated position coordinates of the selected helmet, is the coordinate error between the coordinate position of the helmet and the random position coordinate of the helmet, To set the coordinate error value.

4. The method for operating a wireless positioning anti-misuse safety helmet according to claim 1, characterized in that: The specific steps of calculating the communication score of each helmet at a determined position by acquiring the coordinate position and communication data of the helmet at a determined position within the communication range are: The communication data includes the distance between the helmet and the base station, the number of distance calculations, the number of times positioning signals are received and sent, the number of helmets connected to the base station, and the strength of positioning signals sent and received by the base station and the helmet; The calculation formula for the volatility of the distance between the helmet and the base station is; in, is the fluctuation of the distance between the helmet and the base station, is the number of distance calculations, For the The distance calculated is is the average value of the distance between the helmet and the base station; The calculation formula of signal loss rate is: in, is the signal loss rate, The number of times the positioning signal is sent between the helmet and the base station. The number of times the positioning signal is received between the helmet and the base station. is the number of base stations connected to the helmet, is a positive integer, ; The calculation formula of power dispersion factor is: in, is the power spreading factor, is the number of base stations connected to the helmet, For helmet connection Base stations, is the strength of the sent positioning signal, is the received positioning signal strength; The formula for calculating the communication score is; in, Rate the newsletter, are the volatility of the distance between the helmet and the base station, the signal loss rate, and the weight of the power dispersion factor. .

5. A wireless positioning anti-misuse safety helmet operation system, characterized in that: The operating system of the anti-mistake safety helmet is used to execute the operating method of the wireless positioning anti-mistake safety helmet according to any one of claims 1 to 4, comprising: UWB ranging module, the UWB ranging module is used to send positioning signals to each base station within the communication range through the helmet in turn, and the base station feeds back the signal to the helmet after receiving the positioning signal, and then the base station sends a positioning signal to the helmet, and the helmet feeds back the positioning signal to the base station after receiving the positioning signal, and records the timestamp of each time the base station and the helmet receive and send the positioning signal, and calculates the distance between the helmet and the base station according to the transmission time of the positioning signal; A helmet positioning module, which is used to obtain the coordinates of each base station, and build a helmet positioning mathematical model consisting of the base station coordinates and the distance between the base station and the helmet according to the distance between the helmet and the base station within the communication range, and calculate the coordinate position of the helmet by setting the coordinate error value; A positioning scoring module, which is used to obtain the coordinate position and communication data of the helmets at the determined position within the communication range, calculate the communication score of each helmet, and select the helmet with a high score as a temporary base station, and locate the helmet to be located by the distance between the helmet and the base station and the temporary base station; A correction positioning module, wherein the correction positioning module is used to update the coordinate position of the helmet in a unit time according to the helmet's own motion data when a mathematical model for helmet positioning cannot be established, and to correct the coordinate position according to the distance between the base station and the helmet; The positioning output module is used to send the coordinates of the helmet to be positioned obtained by the helmet positioning module, the positioning scoring module, and the corrected positioning module in different scenes to the base station.

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