Intelligent tracking system integrating Beidou positioning and electric power internet of things

Abstract

The invention discloses a Beidou positioning and Internet of Things integrated intelligent tracking system, which comprises an electric power Internet of Things auxiliary positioning station building, an electric power Internet of Things auxiliary positioning node and a mobile terminal, the electric power internet of things auxiliary positioning station building comprises a signal strength enhancing and broadcasting unit and a node position signal source management unit which are arranged in a power transformation and distribution station building, and the electric power internet of things auxiliary positioning node is a node position signal source connected in the electric power internet of things. The mobile terminal is internally provided with a Beidou positioning unit, a differential enhancement signal receiving unit, an RSSI ranging unit, a positioning calculation unit and a control and decision unit. According to the invention, a huge electric power Internet of Things system is integrated into the Beidou positioning technology, existing facilities of the electric power Internet of Things are fully utilized, a large amount of equipment does not need to be additionally arranged, and the auxiliary positioning cost is reduced; meanwhile, through multi-source positioning fusion, positioning with centimeter-level, decimeter-level and even millimeter-level positioning precision can be achieved, and the positioning requirement in a complex environment is met.

Description

Technical Field

[0001] The present invention relates to a tracking technology using electric power Internet of Things for auxiliary positioning, and in particular to the application of an intelligent tracking system integrating Beidou positioning and electric power Internet of Things in complex environments. Background Art

[0002] As a global satellite navigation system independently built and operated by my country, the Beidou Satellite Navigation System occupies a pivotal position in the global satellite navigation field.

[0003] The BeiDou system itself has many remarkable advantages. Its positioning accuracy can reach meters or even higher under normal circumstances. This feature makes it very useful in many fields, such as accurate navigation for vehicles in the transportation industry and accurate mapping in the field of geographic surveying and mapping. The unique short message communication function of the BeiDou system is even more unique. In special scenarios such as remote areas, marine operations and emergency rescue, it can achieve two-way information exchange, becoming a key force to ensure communication. At the same time, its strong anti-interference ability comes from the carefully designed constellation layout and signal system, which can effectively resist a certain degree of electromagnetic interference and ensure the stable operation of the system. Moreover, the BeiDou system is not restricted by weather and time, and provides positioning, navigation and timing services to global users around the clock and all day, serving a wide range of industries.

[0004] However, Beidou technology also faces the problem of inaccurate positioning caused by unstable or shielded signals in practical applications. In urban environments, high-rise buildings are lined up one after another, satellite signals are frequently blocked and reflected, and the multipath effect is significant, resulting in positioning deviations. For example, in narrow city streets, the Beidou positioning of vehicles often fluctuates or is inaccurate, which has an adverse impact on vehicle scheduling in intelligent transportation systems and the application of autonomous driving technology. In areas with complex terrain such as mountainous areas, the blocking of signals by mountains causes serious signal attenuation, and unstable or even lost positioning signals often occur, causing many inconveniences and safety hazards to field operations such as exploration and geological surveys. In indoor places or underground spaces, such as large shopping malls, parking lots, mines, etc., Beidou signals are completely shielded and cannot be effectively positioned. In order to provide auxiliary positioning when the Beidou positioning signal is unstable, the methods used in the existing technology mainly include: 1. Integrate multiple sensor technologies, such as combining Beidou with an inertial navigation system (INS). The inertial navigation system uses sensors such as accelerometers and gyroscopes to achieve autonomous positioning in a short period of time without relying on external signals. When the Beidou signal is unstable or lost, the INS can provide continuous positioning information. When the Beidou signal is good, the high-precision positioning of Beidou can be used to correct the accumulated error of the INS. The two complement each other to achieve a more stable and reliable positioning effect.

[0005] 2. Using ground base station enhancement technology, ground base stations are deployed in cities and key areas. After receiving Beidou satellite signals, the base stations process and enhance the signals and send correction information to surrounding users, thereby improving positioning accuracy and enhancing signal stability. This is especially suitable for urban environments and local areas where signals are easily blocked.

[0006] 3. Explore the integration of indoor positioning technology based on wireless signals such as Bluetooth and Wi-Fi with Beidou. Indoors or in signal-shielded areas, determine the user's relative position through Bluetooth positioning and Wi-Fi positioning technology, and then combine it with Beidou's positioning information outdoors or in areas with good signals to achieve seamless positioning switching and integration, expand the application scope of the Beidou system, and provide users with accurate positioning services in all scenarios.

[0007] However, all of the above methods involve the purchase of additional equipment; if the existing infrastructure can be used to achieve auxiliary positioning, the cost will be greatly reduced. The Internet of Things based on the power grid is called the "electric internet of things" (eIoT); the electric internet of things is an intelligent service system that fully utilizes modern information technologies such as mobile internet and artificial intelligence, and advanced communication technologies to realize the interconnection of all things and human-machine interaction in all aspects of the power system, with comprehensive state perception, efficient information processing, and convenient and flexible application. If the numerous sensors and station resources configured by the electric internet of things are effectively integrated into the Beidou auxiliary positioning system, the dense nodes of the electric internet of things on the ground will easily cover the Beidou signal blind spots, and information will be integrated with the Beidou system through specific data processing algorithms. When the Beidou signal is unstable, the node data of the electric internet of things can be used as a supplementary information source to assist in determining the target location. At the same time, the stations of the smart grid are widely distributed and fixed in position, so they can be used as ground reference points.

[0008] In summary, although BeiDou technology has made remarkable achievements, it still needs to deal with the challenge of unstable signals. By using existing smart grid and other infrastructure to carry out equipment configuration and technology integration, the positioning performance of the BeiDou system in complex environments can be effectively improved, laying a solid foundation for the further widespread application of the BeiDou system, thereby better serving the positioning and navigation needs of global users. Summary of the invention

[0009] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention provides an intelligent tracking system that integrates Beidou positioning and the power Internet of Things. Based on the huge structure of the power Internet of Things, it is integrated with the Beidou positioning system to improve the problem of inaccurate positioning caused by unstable or shielded signals, improve the accuracy and reliability of positioning, and realize more extensive and more accurate tracking services.

[0010] Technical solution: To achieve the above purpose, the technical solution adopted by the present invention is: An intelligent tracking system integrating Beidou positioning and electric power Internet of Things, comprising an electric power Internet of Things auxiliary positioning station, an electric power Internet of Things auxiliary positioning node and a mobile terminal, wherein the electric power Internet of Things auxiliary positioning station comprises a signal strength enhancement and broadcasting unit and a node position signal source management unit arranged in a substation, the electric power Internet of Things auxiliary positioning node is a node position signal source connected to the electric power Internet of Things, and the mobile terminal has a built-in Beidou positioning unit, a differential enhancement signal receiving unit, an RSSI ranging unit, a positioning calculation unit and a control and decision unit; the signal strength enhancement and broadcasting unit calculates the Beidou satellite navigation signal received by the substation as a ground reference station into a differential enhancement signal and broadcasts it; the node position signal source management unit manages the node position information source within the coverage of the substation, registers the node position, sets the transmission signal strength, and transmits the signal to the substation. degree; the node position signal source broadcasts the node position according to the set transmission signal strength; the Beidou positioning unit is used to obtain the basic position of the mobile terminal; the differential enhancement signal receiving unit is used to receive the differential enhancement signal sent by the substation, and use the differential enhancement signal to correct the basic position of the mobile terminal to obtain the enhanced position of the mobile terminal; the RSSI ranging unit is used to obtain the node position broadcast by the node position signal source and the corresponding received signal strength, and calculate the distance between the node position and the mobile terminal according to the received signal strength; the calculation result is sent to the positioning calculation unit; the positioning calculation unit screens out a group of node positions and their distances from the mobile terminal, and calculates the precise position of the mobile terminal; the control and decision unit performs confidence evaluation on the basic position, enhanced position and precise position, and displays the position with high credibility on the Beidou map.

[0011] This case takes advantage of the basic characteristics of the widespread deployment of the power Internet of Things in the country. The node position signal source that assists Beidou positioning is also set on the power Internet of Things and installed on the power grid equipment. By utilizing the existing network structure of the power Internet of Things and using the power grid equipment as a support, it is possible to widely popularize the technology by simply adding a node position signal source. The node position signal source can be set as needed. As far as the current user end is concerned, installing a node position signal source on power equipment in areas such as viaducts and tunnels that are more obscured can provide accurate positioning services for small areas.

[0012] Preferably, the mobile terminal is provided with a receiving antenna, and the node position broadcasted by the node position signal source and the corresponding received signal strength are obtained through the receiving antenna. The mobile terminal can be a mobile phone or a car. Setting an additional receiving antenna on the car will further improve the stability of the signal.

[0013] Preferably, the node position signal source is provided with a marker, and the marker is registered in the node position signal source management unit; the mobile terminal is provided with a visual ranging unit, which identifies the marker by a target recognition method, and calculates the distance between the node position and the mobile terminal and the node position of the node position signal source by a monocular visual ranging method, and sends the calculation result to the positioning calculation unit. Visual recognition and ranging are relatively mature technologies at present, and integrating them into the positioning system of this case increases the environmental adaptability of the positioning system; it can provide auxiliary functions when the Beidou signal is unstable and the number of node positions provided by the RSSI ranging unit is insufficient.

[0014] Preferably, the node location signal sources are arranged in areas, and in the node location signal source management unit, each node location signal source is associated, and the node location signal sources arranged in the same area are associated as a group, or an associated node location signal source is set for each node location signal source separately; the node location signal sources associated in one group are set with the same label that is different from other groups, and the node location signal source broadcasts the node location and label according to the set transmission signal strength; the RSSI ranging unit simultaneously obtains the label, node location and corresponding received signal strength broadcast by the node location signal source, screens out a group of node locations with the same label and the largest received signal strength, and calculates the distance between the group of node locations and the mobile terminal according to the received signal strength. The design of grouping is to avoid the problem of confusion in the positioning of the three-dimensional space. When an abnormal situation occurs, the technician can perform troubleshooting, screen out a more preferred node location combination for a certain height space for positioning, and exclude the node location combination that is prone to positioning errors.

[0015] Preferably, the RSSI ranging unit calculates the distance between the node position and the mobile terminal according to the received signal strength: d =10 (abs(RSSI)-A) / 10n Where: abs means calculating the absolute value; d Indicates the distance between the node location and the mobile terminal, in meters; RSSI Indicates the received signal strength in dB; A Indicates the unit signal strength received at a distance of 1 meter from the signal source at the node location; n Represents the environmental attenuation factor, which depends on the transmission environment of the wireless signal.

[0016] Preferably, the RSSI ranging unit determines the precise position of the mobile terminal according to the positions of the two nodes and the corresponding distances; the precise position of the mobile terminal can be obtained through simple geometric calculations.

[0017] Preferably, the control and decision unit evaluates the confidence of the basic position, enhanced position and precise position: if the mobile terminal is located in the differential enhanced signal coverage area, the enhanced position is used, otherwise the basic position is used; if the mobile terminal is located in the coverage area of ​​the node position signal source, the precise position is used; if the mobile terminal is traveling along the road, the position fluctuates, then the user selects the return road or the forced return road to send abnormal information to the power Internet of Things auxiliary positioning station or the power Internet of Things auxiliary positioning node, and the abnormal information includes the basic position, enhanced position, accurate position and the position where the fluctuation occurs, and also includes the node position signal source used by the mobile terminal to calculate the accurate position. The control and decision unit is used to determine which positioning result is displayed on the Beidou map on the one hand, and on the other hand, it can also correct the obviously unreasonable positioning results, and at the same time, the unreasonable problems are fed back to the substation through the power Internet of Things for easy analysis and adjustment.

[0018] Preferably, the electric power Internet of Things auxiliary positioning node sends the received abnormal information to the electric power Internet of Things auxiliary positioning station; the electric power Internet of Things auxiliary positioning station performs statistical analysis on the abnormal information to facilitate adding or reducing node position signal sources and adjusting the grouping of node position signal sources in the electric power Internet of Things.

[0019] Specifically, the intelligent tracking process includes the following steps: Step 1: Use the substation as a ground reference station to receive Beidou satellite navigation signals, resolve the Beidou satellite navigation signals into differential enhancement signals and broadcast them; Step 2. Arrange the node position signal source in the selected area, connect the node position signal source to the power Internet of Things, calculate the unit signal strength and environmental attenuation factor received at a distance of 1 meter from the node position signal source, and register the node position, the label of the group to which it belongs, the transmission signal strength, the unit signal strength and the environmental attenuation factor of the node position signal source in the node position signal source management unit; the node position signal source broadcasts the node position according to the set transmission signal strength, as well as the label of the group to which it belongs, the unit signal strength and the environmental attenuation factor; Step 3: The mobile terminal drives along the road, obtains the basic position of the mobile terminal through the Beidou positioning unit, and displays the basic position on the Beidou map; when the mobile terminal enters the differential enhanced signal coverage area, the enhanced position is used; Step 4: When the mobile terminal enters the coverage area of ​​the node position signal source, the enhanced position is adopted; Step 5. During the driving process of the mobile terminal, search for the node position signal source in real time to obtain the received signal strength, as well as the node position, the label of the group to which it belongs, the unit signal strength and the environmental attenuation factor; select a node position signal source with the largest received signal strength, and then select a node position signal source with the same label of the group to which it belongs and the second largest received signal strength, first calculate the distance between the node positions of the two node position signal sources and the mobile terminal, and then calculate the precise position of the mobile terminal, and use the precise position; if there is no node position signal source with the second largest received signal strength, consider eliminating the node position signal source and reselecting it; if the number of node positions is insufficient, the node position obtained by the monocular vision ranging method can also be considered; the design scheme can be adjusted as needed; Step 6. The precise location has the highest priority, the enhanced location has the second priority, and the basic location has the lowest priority. If the location of the mobile terminal fluctuates while driving along the road, the user selects to return to the road or force return to the road, and sends abnormal information to the power Internet of Things auxiliary positioning station or to the power Internet of Things auxiliary positioning station through the power Internet of Things auxiliary positioning node. The abnormal information includes the basic location, enhanced location, accurate location and the location where the fluctuation occurs, and also includes the node location signal source used by the mobile terminal to calculate the accurate location.

[0020] Preferably, an identifier is provided on the node position signal source, and the identifier is registered in the node position signal source management unit; if the mobile terminal recognizes the identifier on the node position signal source, the distance between the node position and the mobile terminal and the node position of the node position signal source are calculated by a monocular vision ranging method, and the calculation result is sent to the positioning calculation unit.

[0021] Beneficial effects: The intelligent tracking system that integrates Beidou positioning and power Internet of Things provided by the present invention has the following advantages over the existing technology: 1. It integrates the huge power Internet of Things system into Beidou positioning technology, fully utilizes the existing facilities of the power Internet of Things, does not require the purchase of a large number of additional equipment, and reduces the cost of auxiliary positioning; 2. The dense distribution of sensors and station layout of the power Internet of Things can provide richer and more accurate environmental data, thereby significantly improving the positioning accuracy and stability in complex environments, especially in urban high-rise buildings, mountainous areas and indoor areas; 3. Through multi-source positioning fusion, centimeter-level, decimeter-level and even millimeter-level positioning accuracy can be achieved to meet the positioning needs in complex environments; 4. The positioning strategy can be flexibly adjusted according to different environments and needs to improve the stability and reliability of the system; 5. Expand the application scenarios of the Beidou system to achieve broader and more accurate tracking services; promote the integrated development of the industry: 6. Promote the integration of various fields of "Beidou + Electricity" and "New Infrastructure", bring value to industries such as energy, and promote industrial upgrading and innovation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an implementation flow chart of the present invention. DETAILED DESCRIPTION

[0023] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] An intelligent tracking system integrating Beidou positioning and electric power Internet of Things, using the network system of the electric power Internet of Things for signal propagation and processing, using power grid equipment as a bracket to install newly added equipment, so that the area covered by the electric power Internet of Things and the area covered by the Beidou positioning system can be integrated and expanded. The intelligent tracking system includes an electric power Internet of Things auxiliary positioning station, an electric power Internet of Things auxiliary positioning node and a mobile terminal, and a receiving antenna can be set for the mobile terminal; the electric power Internet of Things auxiliary positioning station includes a signal strength enhancement and broadcasting unit, a node position signal source management unit and an abnormal analysis module set in a transformer substation, the electric power Internet of Things auxiliary positioning node is a node position signal source connected to the electric power Internet of Things, and a marker is set on the node position signal source, and the mobile terminal has a built-in Beidou positioning unit, a differential enhancement signal receiving unit, an RSSI ranging unit, a visual ranging unit, a positioning calculation unit and a control and decision unit.

[0025] The signal strength enhancement and broadcasting unit converts the Beidou satellite navigation signal received by the substation as a ground reference station into a differential enhancement signal and broadcasts it. A signal receiving and forwarding device compatible with the Beidou system is added to the substation to enhance the Beidou satellite signal and improve the signal strength in the local area. On the other hand, the substation can be used as a signal relay station to broadcast the received Beidou signal and the auxiliary positioning information after the fusion processing of its own sensors to the surrounding areas, effectively improving the positioning effect in the signal shielded area.

[0026] The node location signal source management unit manages the node location information sources within the coverage of the substation, registers the node location and identifiers, and sets the transmission signal strength; in the node location signal source management unit, each node location signal source is associated, and the node location signal sources arranged in the same area are associated as a group, or an associated node location signal source is set for each node location signal source separately, so as to solve the precise positioning problem of a smaller area in a targeted manner; the node location signal sources associated in a group are set with the same label that is different from that of other groups, and the node location signal source broadcasts the node location and label according to the set transmission signal strength.

[0027] The abnormality analysis module performs statistical analysis on the abnormal information to determine whether to increase or decrease the node position signal source in the electric power Internet of Things, or to update the node position signal source in groups.

[0028] The node position signal source broadcasts the node position according to the set transmission signal strength; the node position signal sources are arranged in areas, for example, several node position signal sources are arranged in areas such as overpasses and roundabouts where the signal is unstable or prone to errors. For special environments such as three-dimensional space, the point position signal sources can be grouped and managed, and the node positions of the same group are used for calculation when calculating the position.

[0029] The Beidou positioning unit is used to obtain the basic position of the mobile terminal.

[0030] The differential enhanced signal receiving unit is used to receive the differential enhanced signal sent by the transformer substation, and use the differential enhanced signal to correct the basic position of the mobile terminal to obtain the enhanced position of the mobile terminal.

[0031] The RSSI ranging unit is used to obtain the node position broadcasted by the node position signal source and the corresponding received signal strength, and calculate the distance between the node position and the mobile terminal according to the received signal strength d=10 (abs(RSSI)-A) / 10n; where: abs represents the calculated absolute value; d represents the distance between the node position and the mobile terminal, in meters; RSSI represents the received signal strength, in dB; A represents the unit signal strength received at a distance of 1 meter from the node position signal source; n represents the environmental attenuation factor, which depends on the transmission environment of the wireless signal. The calculation result is sent to the positioning calculation unit.

[0032] The visual ranging unit identifies the marker through a target recognition method, and calculates the distance between the node position and the mobile terminal and the node position of the node position signal source through a monocular visual ranging method, and sends the calculation result to the positioning calculation unit.

[0033] The positioning calculation unit screens out a group of node positions and the distances from the mobile terminal, and calculates the precise position of the mobile terminal. Generally speaking, a group of node positions with the same label and the largest received signal strength is screened out, and the distances from the group of node positions and the mobile terminal are calculated based on the received signal strength. If the node positions in the same group are limited, other groups or node positions calculated from a monocular vision ranging method may be considered for precise position calculation. Generally speaking, two position nodes are sufficient. For greater accuracy, more node positions may be used, and multiple schemes may be weighted for analysis to obtain the final precise position. However, this may require a relatively high computing power for the mobile terminal. However, it may be a better solution for some special devices.

[0034] The control and decision unit evaluates the confidence of the basic position, enhanced position and precise position, and displays the position with high credibility on the Beidou map: if the mobile terminal is located in the coverage area of ​​the node position signal source, the precise position is used; if the position of the mobile terminal jumps while driving along the road, the user selects the return road or the forced return road to send abnormal information to the power Internet of Things auxiliary positioning station or the power Internet of Things auxiliary positioning node. The abnormal information includes the basic position, enhanced position, accurate position and the position where the jump occurs, and also includes the node position signal source used by the mobile terminal to calculate the accurate position.

[0035] In addition, based on this design, the potential of other existing infrastructure can be further explored. For example, by using the communication base stations in the city, adding Beidou signal receiving modules and positioning data processing units on the basis of their existing equipment, the powerful signal coverage capability of the communication base stations can assist the Beidou system to expand the signal coverage range. At the same time, the location information of the base stations themselves is accurate and stable, which can be used as an important reference coordinate for auxiliary positioning. In areas with complex terrain such as mountainous areas, existing meteorological monitoring stations can be relied on. The various meteorological monitoring sensors equipped in the meteorological monitoring stations and their relatively stable power supply and communication links can work in coordination with the Beidou system. Meteorological sensors can sense factors such as atmospheric refraction and humidity that affect the propagation of Beidou signals. Through data modeling and comprehensive analysis of Beidou positioning data, the accuracy and stability of Beidou positioning in complex meteorological environments can be improved.

[0036] The software architecture of the intelligent tracking system that integrates Beidou positioning and the power Internet of Things in this case needs to fully consider the functional requirements and performance requirements of the system, and adopts a layered architecture design mode to divide the system into an application layer, a service layer, and a data layer. The application layer mainly provides users with various functional interfaces of the system, including map display, location query, trajectory playback and other functions; the application layer implements various functions by calling the interface provided by the service layer, and at the same time passes the user's operation request to the service layer for processing. The service layer is the core part of the system and is responsible for implementing various business logics and algorithms of the system. The service layer includes differential enhancement signal processing services, node location signal source management services, ranging and positioning services, and confidence evaluation services; the service layer obtains the required data by calling the data interface provided by the data layer, and returns the processing results to the application layer. The data layer is mainly responsible for the storage and management of system data, including Beidou satellite navigation data, node location signal source data, mobile terminal location data, etc.; the data layer uses a database management system for data storage and management to ensure the security and integrity of the data.

[0037] The data processing and algorithms in this case include differential enhancement signal processing algorithm, node position signal source management algorithm, ranging and positioning algorithm, confidence evaluation algorithm and map display algorithm.

[0038] The differential enhancement signal processing algorithm is one of the key algorithms in the intelligent tracking system integrating Beidou positioning and power Internet of Things. The main function of the algorithm is to resolve the received Beidou satellite navigation signal into a differential enhancement signal to improve the positioning accuracy of the mobile terminal. The specific steps of the algorithm are as follows: ① Receiving Beidou satellite navigation signal: receiving Beidou satellite navigation signal through the signal strength enhancement and broadcasting unit of the substation; ② Signal resolution: resolving the received Beidou satellite navigation signal to obtain the original position information (basic position); ③ Differential calculation: performing differential calculation on the original position information and the known reference position information to obtain a differential enhancement signal; ④ Signal broadcasting: broadcasting the differential enhancement signal for reception by the mobile terminal.

[0039] The node location signal source management algorithm is mainly responsible for managing the node location information source within the coverage of the substation, registering the node location, setting the signal strength, etc.; the specific steps of the algorithm are as follows: ① Node location registration: register the node location signal source connected to the power Internet of Things and record its location information; ② Signal strength setting: set the broadcast strength of the node location signal source according to different application scenarios and requirements; ③ Database management: establish an efficient database management system to store and update the node location information.

[0040] The ranging and positioning algorithm is one of the core algorithms in the intelligent tracking system that integrates Beidou positioning and the power Internet of Things. The main function of the algorithm is to calculate the distance between the node position and the mobile terminal based on the node position broadcast by the node position signal source and the corresponding signal strength, and determine the precise location of the mobile terminal. The specific steps of the algorithm are as follows: ① Signal reception: The ranging and positioning unit of the mobile terminal receives the node position and the corresponding signal strength broadcast by the node position signal source; ② Signal screening: Screen out the node position and the corresponding distance for positioning calculation; ③ Distance calculation: Use RSSI algorithm or monocular vision ranging method to calculate the distance; ④ Position determination: Determine the precise location of the mobile terminal based on the node position and the corresponding distance.

[0041] The confidence evaluation algorithm is mainly responsible for evaluating the confidence of the basic position, enhanced position and precise position, and displaying the position with high credibility on the Beidou map; the specific steps of the algorithm are as follows: ① Position judgment: judge the position of the mobile terminal. If it is located in the coverage area of ​​the differential enhancement signal, the enhanced position is used; if it is located in the coverage area of ​​the node position signal source, the precise position is used; ② Position jump processing: If the position of the mobile terminal jumps while driving along the road, the user selects the return road or forced return road to report the abnormal information.

[0042] The intelligent tracking process of the intelligent tracking system integrating Beidou positioning and power Internet of Things includes the following steps: Step 1: Use the substation as a ground reference station to receive Beidou satellite navigation signals, resolve the Beidou satellite navigation signals into differential enhancement signals and broadcast them; Step 2. Arrange the node position signal source in the selected area, connect the node position signal source to the power Internet of Things, calculate the unit signal strength and environmental attenuation factor received at a distance of 1 meter from the node position signal source, and register the node position, the label of the group to which it belongs, the transmission signal strength, the unit signal strength and the environmental attenuation factor of the node position signal source in the node position signal source management unit; the node position signal source broadcasts the node position according to the set transmission signal strength, as well as the label of the group to which it belongs, the unit signal strength and the environmental attenuation factor; Step 3: The mobile terminal drives along the road, obtains the basic position of the mobile terminal through the Beidou positioning unit, and displays the basic position on the Beidou map; when the mobile terminal enters the differential enhanced signal coverage area, the enhanced position is used; Step 4: When the mobile terminal enters the coverage area of ​​the node position signal source, the enhanced position is adopted; Step 5. During the driving process of the mobile terminal, search for the node position signal source in real time to obtain the received signal strength, as well as the node position, the label of the group to which it belongs, the unit signal strength and the environmental attenuation factor; select a node position signal source with the largest received signal strength, and then select a node position signal source with the same label of the group to which it belongs and the second largest received signal strength, first calculate the distance between the node positions of the two node position signal sources and the mobile terminal, and then calculate the precise position of the mobile terminal, and use the precise position; Step 6. The precise location has the highest priority, the enhanced location has the second priority, and the basic location has the lowest priority. If the location of the mobile terminal fluctuates while driving along the road, the user selects to return to the road or force return to the road, and sends abnormal information to the power Internet of Things auxiliary positioning station or to the power Internet of Things auxiliary positioning station through the power Internet of Things auxiliary positioning node. The abnormal information includes the basic location, enhanced location, accurate location and the location where the fluctuation occurs, and also includes the node location signal source used by the mobile terminal to calculate the accurate location.

[0043] In addition, an identifier can be set on the node position signal source and registered in the node position signal source management unit; if the mobile terminal recognizes the identifier on the node position signal source, the distance between the node position and the mobile terminal and the node position of the node position signal source are calculated by a monocular vision ranging method, and the calculation result is sent to the positioning calculation unit to perform auxiliary positioning when the node position obtained by the positioning calculation unit is limited.

[0044] The intelligent tracking system provided in this case, which integrates Beidou positioning and power Internet of Things, will further improve Beidou positioning accuracy, strengthen data transmission processing capabilities, and optimize multi-system fusion technology in terms of technology; in terms of application scenarios, it will be expanded to areas such as power dispatching, smart grid construction, and new energy access, and will bring huge value to the energy and related industries, promote industrial upgrading and innovation, and has important application value and development prospects.

[0045] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. An intelligent tracking system integrating Beidou positioning and power Internet of Things, characterized by: It includes an electric power Internet of Things auxiliary positioning station, an electric power Internet of Things auxiliary positioning node and a mobile terminal. The electric power Internet of Things auxiliary positioning station includes a signal strength enhancement and broadcasting unit and a node position signal source management unit arranged in a transformer substation. The electric power Internet of Things auxiliary positioning node is a node position signal source connected to the electric power Internet of Things. The mobile terminal has a built-in Beidou positioning unit, a differential enhancement signal receiving unit, an RSSI ranging unit, a positioning calculation unit and a control and decision unit. The signal strength enhancement and broadcasting unit converts the Beidou satellite navigation signal received by the substation as a ground reference station into a differential enhancement signal and broadcasts it; The node location signal source management unit manages the node location information source within the coverage of the substation, registers the node location, and sets the transmission signal strength; The node position signal source broadcasts the node position according to the set transmission signal strength; The Beidou positioning unit is used to obtain the basic position of the mobile terminal; The differential enhanced signal receiving unit is used to receive the differential enhanced signal sent by the transformer substation, and use the differential enhanced signal to correct the basic position of the mobile terminal to obtain the enhanced position of the mobile terminal; The RSSI ranging unit is used to obtain the node position broadcasted by the node position signal source and the corresponding received signal strength, and calculate the distance between the node position and the mobile terminal according to the received signal strength; Sending the calculation result to the positioning calculation unit; The positioning calculation unit selects a group of node positions and their distances from the mobile terminal to calculate the precise position of the mobile terminal; The control and decision-making unit performs confidence evaluation on the basic position, enhanced position and precise position, and displays the position with high credibility on the Beidou map.

2. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 1 is characterized in that: The mobile terminal is provided with a receiving antenna, through which the node position broadcasted by the node position signal source and the corresponding receiving signal strength are obtained.

3. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 1 is characterized in that: The node position signal source is provided with an identifier, which is registered in the node position signal source management unit; the mobile terminal is provided with a visual ranging unit, which identifies the identifier through a target recognition method, and calculates the distance between the node position and the mobile terminal and the node position of the node position signal source through a monocular visual ranging method, and sends the calculation result to the positioning calculation unit.

4. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 1 is characterized in that: The node position signal sources are arranged in areas, and in the node position signal source management unit, each node position signal source is associated, and the node position signal sources arranged in the same area are associated as a group, or an associated node position signal source is separately set for each node position signal source; The node position signal source associated with a group sets the same label that is different from other groups. The node position signal source broadcasts the node position and label according to the set transmission signal strength; The RSSI ranging unit simultaneously obtains the label broadcast by the node position signal source, the node position and the corresponding received signal strength, selects a group of node positions with the same label and the largest received signal strength, and calculates the distance between the group of node positions and the mobile terminal according to the received signal strength.

5. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 1 is characterized in that: The RSSI ranging unit calculates the distance between the node location and the mobile terminal according to the received signal strength: d =10 (abs(RSSI)-A) / 10n Where: abs means calculating the absolute value; d Indicates the distance between the node location and the mobile terminal, in meters; RSSI Indicates the received signal strength in dB; A Indicates the unit signal strength received at a distance of 1 meter from the signal source at the node location; n Represents the environmental attenuation factor, which depends on the transmission environment of the wireless signal.

6. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 1 is characterized by: The RSSI ranging unit determines the precise position of the mobile terminal according to the positions of the two nodes and the corresponding distances.

7. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 1 is characterized by: The control and decision unit performs confidence evaluation on the basic position, the enhanced position and the precise position: if the mobile terminal is located in the differential enhanced signal coverage area, the enhanced position is adopted, otherwise the basic position is adopted; If the mobile terminal is within the coverage area of ​​the node position signal source, the precise position is used; if the position of the mobile terminal fluctuates while driving along the road, the user selects the return road or forced return road to send abnormal information to the power Internet of Things auxiliary positioning station or the power Internet of Things auxiliary positioning node. The abnormal information includes the basic position, enhanced position, accurate position and the position where the fluctuation occurs, and also includes the node position signal source used by the mobile terminal to calculate the accurate position.

8. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 7 is characterized in that: The electric power Internet of Things auxiliary positioning node sends the received abnormal information to the electric power Internet of Things auxiliary positioning station; The power Internet of Things auxiliary positioning station conducts statistical analysis on abnormal information and increases or decreases node location signal sources in the power Internet of Things.

9. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 1 is characterized in that: The smart tracking process includes the following steps: Step 1: Use the substation as a ground reference station to receive Beidou satellite navigation signals, resolve the Beidou satellite navigation signals into differential enhancement signals and broadcast them; Step 2: Arrange the node position signal source in the selected area, connect the node position signal source to the power Internet of Things, calculate the unit signal strength and environmental attenuation factor received at a distance of 1 meter from the node position signal source, and register the node position, label of the group to which it belongs, transmission signal strength, unit signal strength and environmental attenuation factor of the node position signal source in the node position signal source management unit; The node location signal source broadcasts the node location according to the set transmission signal strength, as well as the tag of the group to which it belongs, the unit signal strength and the environmental attenuation factor; Step 3: The mobile terminal drives along the road, obtains the basic position of the mobile terminal through the Beidou positioning unit, and displays the basic position on the Beidou map; when the mobile terminal enters the differential enhanced signal coverage area, the enhanced position is used; Step 4: When the mobile terminal enters the coverage area of ​​the node position signal source, the enhanced position is adopted; Step 5: During the driving process of the mobile terminal, search for the signal source of the node position in real time to obtain the received signal strength, as well as the node position, the label of the group to which it belongs, the unit signal strength and the environmental attenuation factor; Select a node location signal source with the largest received signal strength, and then select a node location signal source with the same label as the group to which it belongs and the second largest received signal strength. First calculate the distance between the node locations of the two node location signal sources and the mobile terminal, and then calculate the precise location of the mobile terminal, and use the precise location; Step 6. The precise location has the highest priority, the enhanced location has the second priority, and the basic location has the lowest priority. If the location of the mobile terminal fluctuates while driving along the road, the user selects to return to the road or force return to the road, and sends abnormal information to the power Internet of Things auxiliary positioning station or to the power Internet of Things auxiliary positioning station through the power Internet of Things auxiliary positioning node. The abnormal information includes the basic location, enhanced location, accurate location and the location where the fluctuation occurs, and also includes the node location signal source used by the mobile terminal to calculate the accurate location.

10. The intelligent tracking system integrating Beidou positioning and electric power Internet of Things according to claim 9 is characterized in that: An identifier is set on the node position signal source, and the identifier is registered in the node position signal source management unit; if the mobile terminal recognizes the identifier on the node position signal source, the distance between the node position and the mobile terminal and the node position of the node position signal source are calculated by a monocular vision ranging method, and the calculation result is sent to the positioning calculation unit.

Images