Construction site personnel positioning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a construction site personnel positioning method and device, electronic equipment and a storage medium. Acquiring a satellite positioning signal, a barometer signal and an inertial navigation signal; judging whether the strength of the satellite positioning signal is normal; and if not, determining the current floor and the current indoor position of the positioning equipment wearer in the building according to the barometer signal and the inertial navigation signal. According to the embodiment of the invention, the accuracy of personnel positioning in the building construction site is improved.

Description

Technical Field

[0001] Embodiments of the present application relate to positioning technology, and more particularly to a method, device, electronic device, and storage medium for positioning construction site personnel. Background Art

[0002] At a construction site, the positioning of construction workers can effectively help managers understand the working conditions of each site, and grasp personnel information when dangerous situations occur, providing fast and accurate rescue assistance.

[0003] In the prior art, the positions of personnel at a construction site can usually be located through the Global Navigation Satellite System (GNSS) technology.

[0004] However, there are a large number of buildings in the construction site, which may block the GNSS signal, resulting in low accuracy in positioning personnel in the construction site. Summary of the invention

[0005] The present application provides a construction site personnel positioning method, device, electronic equipment and storage medium to improve the accuracy of personnel positioning in a construction site.

[0006] In a first aspect, an embodiment of the present application provides a method for locating personnel at a construction site, the method comprising:

[0007] Obtain satellite positioning signals, barometer signals and inertial navigation signals;

[0008] Determine whether the strength of the satellite positioning signal is normal;

[0009] If not, the current floor and current indoor position of the person wearing the positioning device in the building are determined based on the barometer signal and the inertial navigation signal.

[0010] In a second aspect, an embodiment of the present application further provides a construction site personnel positioning device, the construction site personnel positioning device comprising:

[0011] A signal acquisition module, used to acquire satellite positioning signals, barometer signals and inertial navigation signals;

[0012] A satellite positioning signal judgment module is used to judge whether the strength of the satellite positioning signal is normal;

[0013] The positioning module for the person wearing the positioning device is used to determine the current floor and current indoor position of the person wearing the positioning device in the building based on the barometer signal and the inertial navigation signal.

[0014] In a third aspect, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0015] one or more processors;

[0016] A storage device for storing one or more programs;

[0017] When one or more programs are executed by one or more processors, the one or more processors implement any one of the methods for locating construction site personnel provided in the embodiments of the present application.

[0018] In a fourth aspect, an embodiment of the present application further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute any one of the methods for locating construction site personnel provided in the embodiments of the present application.

[0019] This application obtains satellite positioning signals, barometer signals and inertial navigation signals; determines whether the strength of the satellite positioning signal is normal; if not, determines the current floor and current indoor position of the person wearing the positioning device in the building based on the barometer signal and the inertial navigation signal. When the satellite signal is abnormal, positioning is performed based on the barometer signal and the inertial navigation signal. The positioning is performed based on the satellite positioning signal, the barometer signal and the inertial navigation signal to ensure the accuracy of the positioning of the personnel in the construction site. Therefore, the technical solution of this application solves the problem that the building will block the GNSS signal, resulting in low accuracy of the positioning of the personnel in the construction site, and achieves the effect of improving the accuracy of the positioning of the personnel in the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of a method for locating personnel at a construction site in Embodiment 1 of the present application;

[0021] Figure 2 It is a flow chart of a method for locating personnel at a construction site in Embodiment 2 of the present application;

[0022] Figure 3 It is a flow chart of a method for locating personnel at a construction site in Embodiment 3 of the present application;

[0023] Figure 4 This is a structural schematic diagram of a construction site personnel positioning device in Embodiment 4 of the present application;

[0024] Figure 5 It is a structural diagram of an electronic device in Embodiment 5 of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first" and "second" etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 A flowchart of a method for locating personnel on a construction site is provided in Example 1 of the present application. This embodiment can be applicable to the situation of locating personnel on a construction site. The method can be executed by a construction site personnel locating device, which can be implemented using software and / or hardware and specifically configured in the personnel's wearable device.

[0029] See also Figure 1 The construction site personnel positioning method shown in the figure specifically includes the following steps:

[0030] S110, obtaining satellite positioning signals, barometer signals and inertial navigation signals.

[0031] Satellite positioning signals can be obtained through GNSS. GNSS is an air-based radio navigation positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the surface of the earth or in near-Earth space. Exemplarily, personnel at a construction site can wear a positioning device carrying a microcontroller, and the microcontroller can serve as a GNSS receiver to receive satellite positioning signals and locate the personnel wearing the positioning device. Exemplarily, the microcontroller can be installed in a safety helmet worn by personnel at a construction site. The personnel wearing the positioning device conduct a communication test between the GNSS receiver and the satellite system in an open outdoor area. After the satellite positioning signal is sent and received during the communication test, the GNSS receiver sends the Coodinated Universal Time (UTC) to update the time of the microcontroller.

[0032] Inertial navigation signals can be obtained through an inertial measurement unit (IMU). IMU can be a device for measuring the three-axis attitude angular rate and acceleration of an object. IMU usually includes a gyroscope, an accelerometer, and some also include a magnetometer and a barometer. Gyroscopes are used to measure the angle / angular velocity of three axes, and accelerometers are used to measure the acceleration of three axes. Magnetometers can provide magnetic field orientation information, which can be used to correct posture. Barometers can be used to correct altitude. IMU and microcontrollers can form an inertial navigation system. The basic working principle of the inertial navigation system is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it over time, and transforming it into the navigation coordinate system, information such as speed, yaw angle and position in the navigation coordinate system can be obtained.

[0033] The microcontroller receives the inertial navigation signal and uses a mutex lock to alternately receive data from the left and right modules. The mutex lock is used to achieve software synchronization of data between the two IMUs. For example, in two 100 Hz (Hertz, frequency unit) IMUs, the inertial data of the two serial ports is alternately read through a mutex lock, and the timestamps of the two sets of IMU data obtained alternately are synchronized. The mutex lock method can reduce the time error by alternately receiving the data of the left and right modules, and avoid the positioning accuracy affected by time asynchrony in real-time operation.

[0034] The barometer signal can be obtained by a barometer. Air pressure is negatively correlated with altitude, so the altitude can be determined by air pressure, and then the height of the current location relative to the ground can be determined based on the altitude of the plane where the building is located. Optionally, the barometer signal can be obtained by a barometer included in the IMU, or by a barometer outside the IMU.

[0035] S120: Determine whether the strength of the satellite positioning signal is normal.

[0036] When the strength of the satellite positioning signal is poor, its accuracy cannot be guaranteed, and even the satellite positioning signal cannot be obtained. Therefore, it is necessary to judge the strength of the satellite positioning signal. For example, a professional technician can determine the strength threshold for ensuring the accuracy of the satellite positioning signal in advance based on experience or experiments, and then judge whether the strength of the satellite positioning signal is normal, that is, whether the strength of the satellite positioning signal is greater than the strength threshold.

[0037] S130: If not, determine the current floor and the current indoor position of the person wearing the positioning device in the building according to the barometer signal and the inertial navigation signal.

[0038] If not, that is, the strength of the satellite positioning signal is abnormal, accurate positioning cannot be determined by the acquired satellite positioning signal. Therefore, the current floor and current indoor position of the person wearing the positioning device in the building are determined based on the barometer signal and inertial navigation signal.

[0039] The person wearing the positioning device is a person wearing positioning devices such as an IMU, a barometer, and a microcontroller. The current floor may be the floor where the person wearing the positioning device is currently located. The current indoor position may be the current indoor position of the person wearing the positioning device. When the strength of the satellite positioning signal is abnormal, the current height and current indoor position of the person wearing the positioning device may be determined based on the inertial navigation signal, and the current height may be corrected based on the barometer signal to locate the current floor.

[0040] The technical solution of this embodiment obtains satellite positioning signals, barometer signals and inertial navigation signals; determines whether the strength of the satellite positioning signal is normal; if not, determines the current floor and current indoor position of the person wearing the positioning device in the building according to the barometer signal and the inertial navigation signal. When the satellite signal is abnormal, positioning is performed based on the barometer signal and the inertial navigation signal. The positioning is performed based on the satellite positioning signal, the barometer signal and the inertial navigation signal to ensure the accuracy of the positioning of the personnel in the construction site. Therefore, the technical solution of this application solves the problem that the building will block the GNSS signal, resulting in low accuracy of the positioning of the personnel in the construction site, and achieves the effect of improving the accuracy of the positioning of the personnel in the construction site.

[0041] Embodiment 2

[0042] Figure 2 This is a flow chart of a method for locating personnel on a construction site provided in Example 2 of the present application. The technical solution of this embodiment is further refined on the basis of the above technical solution.

[0043] Furthermore, "determine the current floor and current indoor position of the person wearing the positioning device in the building based on the barometer signal and the inertial navigation signal" is refined as: "determine the current floor of the person wearing the positioning device in the building based on the altitude information and the barometer signal in the inertial navigation signal; determine the current indoor position of the person wearing the positioning device in the building based on the motion information in the inertial navigation signal" to determine the current floor and current indoor position of the person wearing the positioning device in the building.

[0044] See also Figure 2 A method for positioning personnel at a construction site is shown, comprising:

[0045] S210, obtaining satellite positioning signals, barometer signals and inertial navigation signals.

[0046] S220: Determine whether the strength of the satellite positioning signal is normal.

[0047] S230: If not, determine the current floor of the person wearing the positioning device in the building based on the altitude information in the inertial navigation signal and the barometer signal.

[0048] IMU can obtain the wearer's three-dimensional motion trajectory. The height change generally refers to the z-axis (height) value in the observer's positioning state. The inertial navigation signal includes height information, specifically the displacement in height. The inertial navigation signal is acquired periodically. According to the last determined height value, the accumulated height displacement can determine the current height. The current height can be corrected according to the barometer signal to obtain the corrected height value. According to the height of each floor of the current building, the current floor of the person wearing the positioning device in the building can be determined.

[0049] In an optional embodiment, the current floor of the person wearing the positioning device in the building is determined based on the altitude information and the barometer signal in the inertial navigation signal, including: determining the current altitude displacement based on the altitude information in the inertial navigation signal; determining the current altitude based on the altitude at the previous moment and the current altitude displacement, and correcting the current altitude through the barometer signal; determining the current floor of the person wearing the positioning device in the building based on the corrected current altitude and the floor height of the building.

[0050] IMU periodically acquires altitude information and provides relative displacement. The current altitude displacement acquired each time is the altitude displacement between two signal acquisition time periods. The current altitude displacement can be the altitude displacement corresponding to the time period from the last acquisition of the inertial navigation signal to the current acquisition of the inertial navigation signal.

[0051] The sum of the altitude at the previous moment and the current altitude displacement is the current altitude. The IMU will determine the altitude change based on the change of the barometer signal of the barometer within two signal acquisition cycles, correct the current altitude based on the altitude change, and obtain the corrected current altitude. The floor height of a building can be the height of each floor of the building, which can be obtained in advance based on the building structure data. According to the corrected current altitude and the floor height of the building, determine the current floor of the person wearing the positioning device in the building. Before the GNSS signal is lost, the height of the GNSS / barometer is used as the starting altitude, and then in a room without GNSS, the current altitude is calculated and determined by fusing the inertial navigation signal and the barometer signal, and the current floor is determined.

[0052] The current altitude displacement is determined according to the altitude information in the inertial navigation signal; the current altitude is determined according to the altitude at the previous moment and the current altitude displacement, and the current altitude is corrected by the barometer signal to improve the accuracy of the current altitude; the current floor of the person wearing the positioning device in the building is determined according to the corrected current altitude and the floor height of the building. When the satellite positioning signal cannot be obtained, the current floor of the person wearing the positioning device in the building can be accurately determined according to the barometer signal and the inertial navigation signal.

[0053] S240: Determine the current indoor position of the person wearing the positioning device in the building according to the horizontal motion information in the inertial navigation signal.

[0054] The horizontal motion information may be motion information at the same height, that is, motion information in the X-axis and Y-axis directions of the coordinate axis. The current indoor position may be the position of the person wearing the positioning device in the X-axis and Y-axis directions at the current moment when the horizontal motion information is obtained. The moving trajectory of the person wearing the positioning device on the horizontal plane at the same height may be determined based on the horizontal motion information. Combined with the historical indoor position of the person wearing the positioning device in the building when the horizontal motion information was obtained last time, the current indoor position of the person wearing the positioning device in the building may be determined.

[0055] In an optional embodiment, the current indoor position of the person wearing the positioning device in the building is determined based on the horizontal motion information in the inertial navigation signal, including: determining the current indoor displacement based on the horizontal motion information in the inertial navigation signal; determining the current indoor position of the person wearing the positioning device in the building based on the indoor position at the previous moment and the current indoor displacement.

[0056] The current indoor displacement may be the displacement of the horizontal motion information between two acquisition cycles, that is, the horizontal displacement corresponding to the time period between the current acquisition moment and the previous acquisition moment. The current indoor displacement includes displacement in the X-axis and Y-axis directions. According to the indoor position at the previous moment and the current indoor displacement, the current indoor position of the person wearing the positioning device in the building may be inferred. Exemplarily, the current indoor position may be inferred based on the indoor position at the previous moment and the current indoor displacement according to pedestrian derivation or dead reckoning (PDR).

[0057] The current indoor displacement is determined based on the horizontal motion information in the inertial navigation signal. The current indoor position of the person wearing the positioning device in the building is determined based on the indoor position at the previous moment and the current indoor displacement. The current indoor position is inferred by the current indoor displacement. When the satellite positioning signal cannot be obtained, the current indoor position of the person wearing the positioning device in the building can be accurately determined.

[0058] Optionally, after determining the current floor and current indoor position of the person wearing the positioning device in the building, the current floor and current indoor position can be transcoded, and the transcoded positioning data can be sent to the visualization platform for visualization. Transcoding can reduce unnecessary data transmission (data tags and units, etc.), compress data size, improve signal transmission reliability, and reduce the possibility of packet loss.

[0059] The technical solution of this embodiment determines the current floor of the person wearing the positioning device in the building based on the altitude information and barometer signal in the inertial navigation signal; determines the current indoor position of the person wearing the positioning device in the building based on the motion information in the inertial navigation signal, and accurately locates the person wearing the positioning device in combination with the inertial navigation signal and the barometer signal, thereby solving the problem that buildings may block GNSS signals, resulting in low accuracy in positioning of personnel in construction sites, and achieves the effect of improving the accuracy of positioning of personnel in construction sites.

[0060] Embodiment 3

[0061] Figure 3 This is a flow chart of a method for locating personnel on a construction site provided in Example 3 of the present application. The technical solution of this embodiment is further refined on the basis of the above technical solution.

[0062] Furthermore, after “determine whether the strength of the satellite positioning signal is normal”, add: “If so, correct the satellite positioning signal according to the barometer signal and the inertial navigation signal to determine the current floor and current indoor position of the person wearing the positioning device in the building” to determine the current floor and current indoor position of the person wearing the positioning device in the building.

[0063] See also Figure 3A method for positioning personnel at a construction site is shown, comprising:

[0064] S310, obtaining satellite positioning signals, barometer signals and inertial navigation signals.

[0065] S320: Determine whether the strength of the satellite positioning signal is normal.

[0066] S330: If not, determine the current floor and current indoor position of the person wearing the positioning device in the building according to the barometer signal and the inertial navigation signal.

[0067] S340: If yes, the satellite positioning signal is corrected according to the barometer signal and the inertial navigation signal to determine the current floor and the current indoor position of the person wearing the positioning device in the building.

[0068] If yes, that is, the strength of the satellite positioning signal is normal, accurate positioning can be obtained through the satellite positioning signal at this time, so the satellite positioning signal is corrected according to the barometer signal and the inertial navigation signal to accurately determine the current floor and current indoor position of the person wearing the positioning device in the building. When the strength of the satellite positioning signal is normal, the current floor and current indoor position of the person wearing the positioning device in the building can be determined with the satellite positioning signal as the core. Since the satellite positioning signal may be unstable or other situations may affect the accuracy of positioning. Therefore, the satellite positioning signal can be corrected according to the barometer signal and the inertial navigation signal to improve the accuracy of positioning. Exemplarily, the altitude information in the satellite positioning signal can be corrected by the barometer signal, and then the current floor can be determined according to the corrected altitude information; the indoor position information in the satellite positioning signal can be corrected by the inertial navigation signal to obtain the current indoor position.

[0069] In an optional embodiment, the satellite positioning signal is corrected according to the barometer signal and the inertial navigation signal, including: correcting the altitude information in the satellite positioning signal according to the barometer signal, and correcting the indoor position in the satellite positioning signal according to the inertial navigation signal.

[0070] The accuracy of the satellite positioning signal may be reduced due to reasons such as signal instability. Therefore, the altitude information in the satellite positioning signal can be corrected according to the barometer signal, and the indoor position in the satellite positioning signal can be corrected according to the inertial navigation signal. Exemplarily, when the satellite positioning signal is unstable, the altitude information in the satellite positioning signal can be corrected by the distribution of the measurement errors of the barometer signal and the satellite positioning signal based on the Kalman filter that fuses the barometer signal with the altitude information data in the satellite positioning signal. Exemplarily, the IMU error distribution can be optimized by the extended Kalman filter (EKF) and the long short-term memory network to reduce the measurement drift. When the satellite positioning signal is unstable, the indoor position in the satellite positioning signal can be corrected according to the inertial navigation signal to improve the accuracy of the indoor position.

[0071] The accuracy of the altitude information is improved by correcting the altitude information in the satellite positioning signal according to the barometer signal, and the accuracy of the indoor position in the satellite positioning signal is improved by correcting the indoor position according to the inertial navigation signal.

[0072] The technical solution of this embodiment is that if yes, the satellite positioning signal is corrected according to the barometer signal and the inertial navigation signal to determine the current floor and the current indoor position of the person wearing the positioning device in the building. When the signal strength is normal, the satellite positioning signal is still corrected according to the barometer signal and the inertial navigation signal to ensure the positioning accuracy of the person wearing the positioning device at the current floor and the current indoor position in the building.

[0073] Embodiment 4

[0074] Figure 4 The figure shows a schematic diagram of the structure of a construction site personnel positioning device provided in the fourth embodiment of the present application. This embodiment can be applied to the situation of positioning personnel in a construction site. The specific structure of the construction site personnel positioning device is as follows:

[0075] The signal acquisition module 410 is used to acquire satellite positioning signals, barometer signals and inertial navigation signals;

[0076] The satellite positioning signal determination module 420 is used to determine whether the strength of the satellite positioning signal is normal;

[0077] The positioning module 430 for positioning the person wearing the positioning device is used to determine the current floor and current indoor position of the person wearing the positioning device in the building based on the barometer signal and the inertial navigation signal if not.

[0078] The technical solution of this embodiment obtains satellite positioning signals, barometer signals and inertial navigation signals; determines whether the strength of the satellite positioning signal is normal; if not, determines the current floor and current indoor position of the person wearing the positioning device in the building according to the barometer signal and the inertial navigation signal. When the satellite signal is abnormal, positioning is performed based on the barometer signal and the inertial navigation signal. The positioning is performed based on the satellite positioning signal, the barometer signal and the inertial navigation signal to ensure the accuracy of the positioning of the personnel in the construction site. Therefore, the technical solution of this application solves the problem that the building will block the GNSS signal, resulting in low accuracy of the positioning of the personnel in the construction site, and achieves the effect of improving the accuracy of the positioning of the personnel in the construction site.

[0079] Optionally, the positioning module 430 for the person wearing the positioning device includes:

[0080] a current floor determination unit, configured to determine the current floor of the person wearing the positioning device in the building according to the altitude information in the inertial navigation signal and the barometer signal;

[0081] The current indoor position determination unit is used to determine the current indoor position of the person wearing the positioning device in the building according to the horizontal motion information in the inertial navigation signal.

[0082] Optionally, the current floor determination unit includes:

[0083] a current altitude displacement determining subunit, configured to determine a current altitude displacement according to altitude information in the inertial navigation signal;

[0084] A current altitude correction subunit, used to determine the current altitude according to the altitude at the previous moment and the current altitude displacement, and to correct the current altitude through a barometer signal;

[0085] The current floor determination subunit is used to determine the current floor of the person wearing the positioning device in the building according to the corrected current height and the floor height of the building.

[0086] Optionally, the current indoor position determination unit includes:

[0087] a current indoor displacement determination subunit, configured to determine the current indoor displacement according to the horizontal motion information in the inertial navigation signal;

[0088] The current indoor position determination subunit is used to determine the current indoor position of the person wearing the positioning device in the building according to the indoor position at the previous moment and the current indoor displacement.

[0089] Optionally, the construction site personnel positioning method and device further includes:

[0090] The satellite positioning signal positioning module is used to correct the satellite positioning signal according to the barometer signal and the inertial navigation signal to determine the current floor and current indoor position of the person wearing the positioning device in the building.

[0091] Optional, satellite positioning signal positioning module, including:

[0092] The satellite positioning signal correction unit is used to correct the altitude information in the satellite positioning signal according to the barometer signal, and to correct the indoor position in the satellite positioning signal according to the inertial navigation signal.

[0093] The construction site personnel positioning device provided in the embodiments of the present application can execute the construction site personnel positioning method provided in any embodiment of the present application, and has the corresponding functional modules and beneficial effects for executing the construction site personnel positioning method.

[0094] According to an embodiment of the present invention, the present invention also provides an electronic device, a readable storage medium and a computer program product.

[0095] Embodiment 5

[0096] Figure 5 A schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present application is shown in FIG. Figure 5 As shown, the electronic device includes a processor 510, a memory 520, an input device 530 and an output device 540; the number of the processor 510 in the electronic device can be one or more. Figure 5 A processor 510 is taken as an example; the processor 510, the memory 520, the input device 530 and the output device 540 in the electronic device can be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0097] The memory 520, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the method for locating construction site personnel in the embodiment of the present application (for example, the signal acquisition module 410, the satellite positioning signal judgment module 420 and the positioning device wearing personnel positioning module 430). The processor 510 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 520, that is, realizing the above-mentioned method for locating construction site personnel.

[0098] The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 520 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include a memory remotely arranged relative to the processor 510, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0099] The input device 530 may be used to receive input character information and generate key signal input related to user settings and function control of the electronic device. The output device 540 may include a display device such as a display screen.

[0100] Embodiment 6

[0101] Embodiment 6 of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a method for locating personnel at a construction site, the method comprising: acquiring satellite positioning signals, barometer signals, and inertial navigation signals; determining whether the strength of the satellite positioning signal is normal; if not, determining the current floor and current indoor position of the person wearing the positioning device in the building based on the barometer signal and the inertial navigation signal.

[0102] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application is not limited to the method operations described above, and the computer executable instructions can also execute related operations in the construction site personnel positioning method provided in any embodiment of the present application.

[0103] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present application can be implemented with the help of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for an electronic device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0104] It is worth noting that in the above-mentioned embodiment of the construction site personnel positioning device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0105] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for locating personnel at a construction site, characterized in that: include: Obtain satellite positioning signals, barometer signals and inertial navigation signals; Determining whether the strength of the satellite positioning signal is normal; If not, the current floor and the current indoor position of the person wearing the positioning device in the building are determined according to the barometer signal and the inertial navigation signal.

2. The method according to claim 1, characterized in that Determining the current floor and the current indoor position of the person wearing the positioning device in the building according to the barometer signal and the inertial navigation signal includes: Determining the current floor of the person wearing the positioning device in the building according to the altitude information in the inertial navigation signal and the barometer signal; The current indoor position of the person wearing the positioning device in the building is determined according to the horizontal motion information in the inertial navigation signal.

3. The method according to claim 2, characterized in that The step of determining the current floor of the person wearing the positioning device in the building according to the altitude information in the inertial navigation signal and the barometer signal comprises: Determining a current altitude displacement according to altitude information in the inertial navigation signal; Determine the current altitude based on the altitude at the last moment and the current altitude displacement, and correct the current altitude using a barometer signal; According to the corrected current height and the floor height of the building, the current floor of the building where the person wearing the positioning device is located is determined.

4. The method according to claim 2, characterized in that: The step of determining the current indoor position of the person wearing the positioning device in the building according to the horizontal motion information in the inertial navigation signal comprises: Determining a current indoor displacement according to horizontal motion information in the inertial navigation signal; The current indoor position of the person wearing the positioning device in the building is determined according to the indoor position at the last moment and the current indoor displacement.

5. The method according to claim 1, characterized in that After determining whether the strength of the satellite positioning signal is normal, the method further includes: If so, the satellite positioning signal is corrected according to the barometer signal and the inertial navigation signal to determine the current floor and current indoor position of the person wearing the positioning device in the building.

6. The method according to claim 5, characterized in that The correcting the satellite positioning signal according to the barometer signal and the inertial navigation signal comprises: The altitude information in the satellite positioning signal is corrected according to the barometer signal, and the indoor position in the satellite positioning signal is corrected according to the inertial navigation signal.

7. A construction site personnel positioning device, characterized in that: include: A signal acquisition module, used to acquire satellite positioning signals, barometer signals and inertial navigation signals; A satellite positioning signal determination module is used to determine whether the strength of the satellite positioning signal is normal; The positioning module for the person wearing the positioning device is used to determine the current floor and current indoor position of the person wearing the positioning device in the building based on the barometer signal and the inertial navigation signal if not.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the construction site personnel positioning method as described in any one of claims 1-6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for locating construction site personnel as described in any one of claims 1-6 is implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method for locating personnel on a construction site according to any one of claims 1 to 6 is implemented.

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