Internet-of-things synchronous tracking method for traffic laboratory construction project construction

Abstract

The invention discloses an Internet of Things synchronous tracking method for traffic laboratory construction engineering construction, and belongs to the technical field of traffic laboratory construction, and the method comprises the steps: setting a UWB positioning tag, a UWB positioning base station, a LoRa communication node and an edge computing device at a construction site, and constructing a UWB positioning network; the UWB positioning base station receives the UWB pulse signal of the UWB positioning tag, calculates the distance between the UWB positioning tag and the UWB positioning base station and determines the position data of the UWB positioning tag, and the UWB positioning tag transmits the position data to the edge computing device through the LoRa communication node to obtain the positioning result of the LoRa communication node; and performing weighted fusion on the position data of the UWB positioning tag and the positioning result of the LoRa communication node to obtain the positioning result of the UWB positioning tag, thereby solving the problems of low positioning precision and poor real-time performance of the position information in the traditional Internet of Things synchronous tracking method.

Description

Technical Field

[0001] The invention relates to an Internet of Things synchronous tracking method for the construction of a traffic laboratory construction project, and belongs to the technical field of traffic laboratory construction. Background Art

[0002] Traffic laboratory construction projects are usually designed to meet the teaching, scientific research and experimental needs in the fields of transportation engineering, transportation planning and management, and intelligent transportation systems. Project goals include providing advanced experimental facilities, promoting interdisciplinary integration, improving scientific research and innovation capabilities, and cultivating high-quality transportation professionals. With the continuous development and innovation of transportation technology, traffic laboratory construction projects will continue to face new challenges and opportunities.

[0003] In the construction of the traffic laboratory construction project, the management of construction equipment is an important link. Improper management of construction equipment will cause chaos in the construction, affect the progress of the construction, and even cause safety accidents. It is very important to accurately track and manage the location information of construction equipment, mobile personnel and equipment. Traditional tracking methods often have problems such as low positioning accuracy and poor real-time performance. They are significantly affected by the quality of management personnel and are difficult to meet the needs of complex construction environments. Summary of the invention

[0004] The purpose of the present invention is to provide an Internet of Things synchronous tracking method for the construction of a traffic laboratory construction project. By combining UWB positioning technology, LoRa communication technology and edge computing technology, the problems of low positioning accuracy and poor real-time performance of position information in traditional Internet of Things synchronous tracking methods are solved.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0006] The present invention provides an Internet of Things synchronous tracking method for traffic laboratory construction engineering, comprising:

[0007] A UWB positioning network was built by setting up UWB positioning tags on construction equipment, tracking mobile personnel and equipment, and setting up UWB positioning base stations in key areas of the construction site of the traffic laboratory construction project;

[0008] The UWB positioning base station is used to receive the ultra-wideband pulse signal of the UWB positioning tag, and the distance between the UWB positioning tag and the UWB positioning base station is calculated according to the signal transmission time difference and the angle information of the signal arrival, so as to determine the position data of the UWB positioning tag;

[0009] Set up LoRa communication nodes at the construction site to form a LoRa communication network;

[0010] An edge computing device is set up at the construction site, and the UWB positioning tag transmits the location data to the edge computing device through the LoRa communication node for real-time processing and analysis to obtain the positioning result of the LoRa communication node;

[0011] The location data of the UWB positioning tag and the positioning results of the LoRa communication node are weighted and fused to obtain the positioning results of the UWB positioning tag, including the locations of construction equipment, tracked mobile personnel and equipment.

[0012] Further, after transmitting the location data to the edge computing device, it also includes:

[0013] The edge computing device is used to compare the location data with the location data of the preset safety area. If the location data deviates from the location data of the preset safety area, an early warning mechanism is triggered. The early warning mechanism is expressed as:

[0014] ;

[0015] In the formula, Indicates the early warning mechanism, Indicates the current time The location data of a UWB positioning tag, that is, the location of the construction equipment or personnel, Represents the location data of the preset safety area, that is, the preset safety boundary, a deviation threshold indicating that the preset position data deviates from the position data of the preset safety area, Indicates the conditional statement "if", Indicates the conditional statement "otherwise".

[0016] Further, the distance between the UWB positioning tag and the UWB positioning base station is calculated according to the signal transmission time difference and the angle information of the signal arrival, and the position data of the UWB positioning tag is determined, including:

[0017] By measuring the transmission time of the ultra-wideband pulse signal of the UWB positioning tag to the UWB positioning base station, the distance between the UWB positioning tag and the UWB positioning base station is calculated;

[0018] Using the triangulation positioning algorithm, the location data of the UWB positioning tag is determined according to the location of the UWB positioning base station and the distance between the UWB positioning tag and the UWB positioning base station.

[0019] Furthermore, the calculation formula of the distance between the UWB positioning tag and the UWB positioning base station is expressed as:

[0020] ;

[0021] In the formula, Indicates The location data of UWB positioning tags and UWB positioning base stations The distance The norm of .

[0022] Furthermore, after obtaining the positioning result of the UWB positioning tag, the method further includes:

[0023] Set up a cloud server at the construction site, transmit the positioning results of the UWB positioning tag to the cloud server, and use the cloud server to build a construction management platform;

[0024] The construction management platform is used to monitor and schedule the construction process in real time based on real-time data, and supports historical data backtracking and query;

[0025] The real-time data includes real-time location data and movement trajectories of construction equipment, tracking mobile personnel and equipment;

[0026] The historical data includes historical location data and movement trajectories of construction equipment, tracking mobile personnel and equipment.

[0027] Furthermore, the UWB positioning tag transmits the location data to the edge computing device through the LoRa communication node for real-time processing and analysis, including:

[0028] The Kalman filter is used to update the state of the position data, and the Kalman gain is used to perform weighted fusion to obtain the positioning result of the LoRa communication node.

[0029] Furthermore, the LoRa communication network performs LoRa-assisted positioning on the UWB positioning tag by measuring the RSSI value of the signal emitted by the UWB positioning tag at the LoRa communication node and indirectly inferring the positioning result of the LoRa communication node by combining the known signal propagation model and path loss index, which is expressed as:

[0030] ;

[0031] In the formula, It represents the fitted value, predicted value or estimated value from the UWB positioning tag to the UWB positioning base station. Indicates the RSSI value at the reference distance. Indicates the RSSI value provided by the LoRa communication network. Represents the path loss exponent.

[0032] Furthermore, the expression for updating the state of the position data using Kalman filtering is:

[0033] ;

[0034] In the formula, Indicates The location data of each UWB positioning tag, Indicates The state transition matrix of the location data of a UWB positioning tag is used to describe the change of location data over time. Indicates IMU sensor data of UWB positioning tags The control input matrix is ​​used to Extract the acceleration and angular velocity from

[0035] Furthermore, the positioning result of the LoRa communication node is expressed as:

[0036] ;

[0037] in, Indicates The positioning results of the LoRa communication nodes, Indicates The location data of each UWB positioning tag, Indicates The measured value of the position data of the UWB positioning tag, represents the observation matrix, represents the Kalman gain.

[0038] Furthermore, the positioning result of the UWB positioning tag is expressed as:

[0039] ;

[0040] In the formula, Indicates the positioning result of the UWB positioning tag. Indicates The location data of each UWB positioning tag, It is through The positioning results of LoRd communication nodes, and They represent the error criteria of UWB positioning tags and LoRd communication nodes respectively.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The present invention sets UWB positioning tags and UWB positioning base stations and constructs a UWB positioning network, and uses the signal transmission time difference and signal arrival angle information to calculate the distance to the UWB positioning tag, so as to obtain real-time and accurate position data of the UWB positioning tag. Furthermore, the present invention also uses LoRa communication nodes to construct a communication network, and quickly transmits the position data of the UWB positioning tag to the edge computing device through the edge computing device for in-depth processing and analysis, so as to obtain the positioning result of the LoRa communication node, thereby reducing the dependence on the cloud server and the transmission cost. Finally, by weighted fusion of the positioning data of the UWB positioning tag and the LoRa communication node, not only the monitoring and management level of the construction site is improved, a strong guarantee is provided for construction safety, and the accident risk is effectively reduced, but also the problems of low positioning accuracy and poor real-time performance of the position information existing in the traditional Internet of Things synchronous tracking method are solved;

[0043] 2. The present invention compares the location data with the location data of the preset safety zone in real time on the edge computing device. If the location data is detected to deviate from the safety zone, the early warning mechanism is immediately triggered, which greatly enhances the safety monitoring capability of the construction site and can timely discover and respond to potential safety hazards, such as unauthorized intrusion and construction equipment exceeding the safe operating range, so as to effectively prevent accidents and reduce safety risks.

[0044] 3. This invention uses UWB positioning technology to measure the signal transmission time difference and signal arrival angle information, combined with the triangulation positioning algorithm, and can achieve high-precision positioning of construction equipment, tracking mobile personnel and equipment. At the same time, combined with the real-time data processing capabilities of the LoRa communication network and edge computing devices, the location data can be quickly transmitted to the edge computing device for in-depth analysis to obtain more accurate positioning results, which not only improves the monitoring and management efficiency of the construction site, but also provides strong data support for subsequent construction analysis and optimization;

[0045] 4. The present invention sets up a cloud server at the construction site, transmits the positioning results of the UWB positioning tag to the cloud server, and builds a construction management platform. It can display the real-time location data and movement trajectory of construction equipment and track mobile personnel and equipment, and support the backtracking and query of historical data. It not only provides comprehensive construction site information for management personnel, but also facilitates subsequent construction analysis, scheduling and decision-making. At the same time, the data stored in the cloud server also provides a reliable basis for accident investigation and responsibility tracing. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Shown is a flow chart of an Internet of Things synchronous tracking method for the construction of a traffic laboratory construction project. DETAILED DESCRIPTION

[0047] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0048] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0049] Example 1

[0050] like Figure 1 As shown, this embodiment introduces an IoT synchronous tracking method for the construction of a traffic laboratory construction project, including:

[0051] Step 1: Build a UWB positioning network by setting up UWB positioning tags on construction equipment, tracking mobile personnel and equipment, and setting up UWB positioning base stations in key areas of the construction site of the traffic laboratory construction project. Key areas refer to areas in the construction site of the traffic laboratory construction project that require precise positioning and tracking, including the entrance and exit of the construction site, around important equipment, dangerous areas, crowded areas, etc., depending on the construction needs and safety management requirements.

[0052] UWB is a wireless communication technology that can provide high-precision positioning and transmit data by sending and receiving extremely narrow pulses in nanoseconds or sub-nanoseconds. The present invention sets UWB positioning tags on construction equipment, tracking mobile personnel and equipment, and sets UWB positioning base stations in key areas of the construction site. It can build a UWB positioning network covering the entire construction site, and can achieve high-precision positioning of all objects that need to be tracked in the construction area.

[0053] Step 2: Use the UWB positioning base station to receive the ultra-wideband pulse signal of the UWB positioning tag, and calculate the distance between the UWB positioning tag and the UWB positioning base station based on the signal transmission time difference and the angle information of the signal arrival, and determine the position data of the UWB positioning tag.

[0054] The UWB positioning base station of the present invention receives the ultra-wideband pulse signal from the UWB positioning tag, and can calculate the distance between the UWB positioning tag and the UWB positioning base station by measuring the time difference and arrival angle information of signal transmission. By utilizing multiple UWB positioning base stations to receive the ultra-wideband pulse signal of the UWB positioning tag, the precise position data of the UWB positioning tag can be calculated through triangulation positioning.

[0055] Step 3: Set up LoRa communication nodes at the construction site to form a LoRa communication network.

[0056] LoRa is a low-power wide area network communication technology suitable for long-distance, low-power data transmission. The present invention sets a LoRa communication node at the construction site to form a LoRa communication network for data transmission, which can achieve low-power, long-distance transmission of data within the construction site and provide a reliable communication channel for the location data transmission of UWB positioning tags.

[0057] Step 4: Set up an edge computing device at the construction site. The UWB positioning tag transmits the location data to the edge computing device through the LoRa communication node for real-time processing and analysis to obtain the positioning result of the LoRa communication node.

[0058] An edge computing device is a computing device that is close to the data source and can process and analyze data in real time. The present invention uses UWB positioning tags to transmit location data to the edge computing device through LoRa communication nodes, which can realize real-time processing and analysis of location data and improve the efficiency and accuracy of data processing.

[0059] Step 5: Weighted fusion of the location data of the UWB positioning tag and the positioning results of the LoRa communication node to obtain the positioning results of the UWB positioning tag, including the location of the construction device, tracked mobile personnel and equipment.

[0060] The present invention utilizes the complementarity of multiple data sources including the location data of UWB positioning tags and the positioning results of LoRa communication nodes, performs weighted fusion on the location data of UWB positioning tags and the positioning results of LoRa communication nodes, improves the reliability and accuracy of the positioning results, and ultimately obtains the precise location of construction equipment, tracks mobile personnel and equipment within the construction site, and provides strong support for construction management and monitoring.

[0061] Example 2

[0062] Based on the same inventive concept as Example 1, this embodiment introduces the specific implementation steps of an Internet of Things synchronous tracking method for construction of a traffic laboratory construction project, including:

[0063] Step 1: Build a UWB positioning network by setting up UWB positioning tags on construction equipment, tracking mobile personnel and equipment, and setting up UWB positioning base stations in key areas of the construction site of the traffic laboratory construction project.

[0064] UWB positioning technology has high positioning accuracy and can achieve millimeter or centimeter-level precise positioning. It is crucial for the precise management of construction equipment, mobile personnel and equipment. It can ensure the accuracy of the construction process and has strong anti-interference capabilities. It can maintain good positioning performance in multi-path propagation and multi-path interference environments. This means that in complex construction environments, UWB positioning tags can still work stably and provide reliable positioning information.

[0065] Step 2: Use the UWB positioning base station to receive the ultra-wideband pulse signal of the UWB positioning tag, and calculate the distance between the UWB positioning tag and the UWB positioning base station according to the signal transmission time difference and the angle information of the signal arrival, and determine the position data of the UWB positioning tag.

[0066] The UWB positioning network has high-speed data transmission capabilities, can update positioning data in real time, and can maintain stable positioning performance in complex construction environments. Even in the presence of multipath interference and noise, the UWB positioning network can still accurately track the target position and can penetrate some obstacles for positioning. This is particularly important at the construction site, helping to improve the level of refined management of the construction site, ensure the accuracy and safety of the construction process, reduce maintenance costs and improve overall construction efficiency.

[0067] In this embodiment, the distance between the UWB positioning tag and the UWB positioning base station is calculated using the signal transmission time difference and the angle information of the signal arrival, and the position data of the UWB positioning tag is determined, including:

[0068] By measuring the transmission time of the ultra-wideband pulse signal of the UWB positioning tag to the UWB positioning base station, the distance between the UWB positioning tag and the UWB positioning base station is calculated;

[0069] Using the triangulation positioning algorithm, the location data of the UWB positioning tag is determined according to the location of the UWB positioning base station and the distance between the UWB positioning tag and the UWB positioning base station.

[0070] Set the first The location data of a UWB positioning tag is expressed as:

[0071] x k UWB = [ x k uWb , y k uWb ,z k uWb ] T ;

[0072] In the formula, Indicates The location data of each UWB positioning tag, Indicates The horizontal axis coordinate of a UWB positioning tag, Indicates The vertical axis coordinate of a UWB positioning tag, Indicates The vertical axis coordinate of a UWB positioning tag, T represents transposition.

[0073] In this embodiment, the calculation formula of the distance between the UWB positioning tag and the UWB positioning base station is expressed as:

[0074] ;

[0075] In the formula, Indicates The location data of UWB positioning tags and UWB positioning base stations The distance The norm of a vector is a scalar value that describes the length or magnitude of a vector.

[0076] Step 3: Set up LoRa communication nodes at the construction site to form a LoRa communication network.

[0077] LoRa communication technology has the characteristics of low power consumption and long-distance transmission, and is suitable for data transmission in complex environments at construction sites.

[0078] Since the LoRa communication network provides the signal strength or transmission delay of the UWB tag, the positioning result of the LoRa communication node can assist the positioning of the UWB positioning tag, especially when the UWB signal is weak or there is a multipath effect.

[0079] In this embodiment, the LoRa communication network performs LoRa-assisted positioning on the UWB positioning tag by measuring the RSSI value of the signal emitted by the UWB positioning tag at the LoRa communication node, and indirectly infers the positioning result of the LoRa communication node by combining the known signal propagation model and path loss index, which is expressed as:

[0080] ;

[0081] In the formula, It represents the fitted value, predicted value or estimated value from the UWB positioning tag to the UWB positioning base station. Indicates the RSSI value at the reference distance. Indicates the RSSI value provided by the LoRa communication network. Represents the path loss index. The reference distance is a known distance used to calibrate and measure the RSSI value. It is used to calibrate the system, build models, and perform subsequent distance measurement or positioning. By properly selecting the reference distance and accurately measuring the RSSI value at the distance, reliable basic data support can be provided for subsequent applications.

[0082] Step 4: An edge computing device is set up at the construction site. The UWB positioning tag transmits the location data to the edge computing device through the LoRa communication node for real-time processing and analysis to obtain the positioning result of the LoRa communication node.

[0083] In this embodiment, the UWB positioning tag transmits the location data to the edge computing device through the LoRa communication node for real-time processing and analysis, including:

[0084] The Kalman filter is used to update the state of the position data, and the Kalman gain is used to perform weighted fusion to obtain the positioning result of the LoRa communication node.

[0085] In this embodiment, the position data is also filtered, smoothed and detected for anomalies through a preprocessing algorithm to improve positioning accuracy and stability, reduce noise and correct position estimation. Smoothing can eliminate short-term fluctuations and improve data stability and accuracy.

[0086] In this embodiment, the expression for updating the state of the position data using Kalman filtering is:

[0087] ;

[0088] In the formula, Indicates The location data of each UWB positioning tag, Indicates The state transition matrix of the location data of a UWB positioning tag is used to describe the change of location data over time. Indicates IMU sensor data of UWB positioning tags The control input matrix is ​​used to Extract the acceleration and angular velocity from

[0089] In this embodiment, the positioning result of the LoRa communication node is expressed as:

[0090] ;

[0091] in, Indicates The positioning results of the LoRa communication nodes, Indicates The location data of each UWB positioning tag, Indicates The measurement value of the location data of a UWB positioning tag is the quantitative data related to the location of the positioning tag obtained by a specific measurement method. Common acquisition methods include the arrival time method, the arrival time difference method, the arrival angle method or the received signal strength indication method to obtain the measurement value of the location data. Represents the observation matrix, which is used to represent the linear relationship between the observed variable (referring to the location data or its measured value of the UWB positioning tag) and the system state (referring to the positioning result of the LoRa communication node). In the Kalman filter algorithm, the observation matrix H is used to map the system state to the observation space, thereby allowing the algorithm to update the estimate of the system state based on the observed data. The observed variable refers to the location data or its measured value of the UWB positioning tag, and the system state refers to the positioning result of the LoRa communication node. represents the Kalman gain.

[0092] Step 5: After transmitting the location data to the edge computing device, the step further includes:

[0093] The edge computing device is used to compare the location data with the location data of the preset safety area. If the location data deviates from the location data of the preset safety area, an early warning mechanism is triggered. The early warning mechanism is expressed as:

[0094] ;

[0095] In the formula, Indicates the early warning mechanism, Indicates the current time The location data of a UWB positioning tag, that is, the location of the construction equipment or personnel, Represents the location data of the preset safety area, that is, the preset safety boundary, a deviation threshold indicating that the preset position data deviates from the position data of the preset safety area, Indicates the conditional statement "if", Indicates the conditional statement "otherwise".

[0096] Step 6: Weighted fusion of the location data of the UWB positioning tag and the positioning results of the LoRa communication node to obtain the positioning results of the UWB positioning tag, including the location of the construction device, tracked mobile personnel and equipment.

[0097] In this embodiment, the positioning result of the UWB positioning tag is expressed as:

[0098] ;

[0099] In the formula, Indicates the positioning result of the UWB positioning tag. Indicates The location data of each UWB positioning tag, It is through The positioning results of LoRd communication nodes, and They represent the error criteria of UWB positioning tags and LoRd communication nodes respectively.

[0100] When the location data accuracy of the UWB positioning tag is higher, the weight of the location data of the UWB positioning tag is greater. In an environment where the LoRd signal is strong and relatively stable, the weight of the positioning result of the LoRd communication node is relatively high, so that the positioning accuracy is balanced and optimized. Through weighted fusion, the high-precision positioning information provided by UWB and the long-distance communication data provided by the LoRd network work together to provide more accurate and reliable positioning information in complex construction environments.

[0101] Step 7: After obtaining the positioning result of the UWB positioning tag, it also includes:

[0102] Set up a cloud server at the construction site, transmit the positioning results of the UWB positioning tag to the cloud server, and use the cloud server to build a construction management platform;

[0103] The construction management platform is used to monitor and schedule the construction process in real time based on real-time data, and supports historical data backtracking and query;

[0104] The real-time data includes real-time location data and movement trajectories of construction equipment, tracking mobile personnel and equipment;

[0105] The historical data includes historical location data and movement trajectories of construction equipment, tracking mobile personnel and equipment.

[0106] In summary, the present invention achieves precise positioning by setting UWB positioning tags on construction devices, mobile personnel and equipment to build a UWB positioning network. At the same time, LoRa communication nodes are set to form a communication network for data transmission of UWB positioning tags. Edge computing devices are used to filter and smooth the received position data to improve positioning accuracy, and anomaly detection and early warning are performed. The position data of UWB positioning tags and the positioning results of LoRa communication nodes are weighted and fused to further optimize positioning accuracy. Finally, the positioning results of UWB positioning tags are transmitted to the cloud server to build a construction management platform to achieve real-time monitoring and scheduling of the construction process.

[0107] The present invention has the advantages of high-precision positioning, high real-time performance, strong anti-interference ability, high security and good flexibility. UWB positioning technology can achieve millimeter or centimeter-level precise positioning. LoRa communication technology has the characteristics of low power consumption and long-distance transmission, which is suitable for data transmission in complex environments. Edge computing equipment processes and analyzes data in real time to improve positioning accuracy and stability, and realizes real-time monitoring and early warning of abnormal situations. The construction management platform provides comprehensive construction management functions, which helps to improve construction efficiency and management level.

[0108] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0110] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0112] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory project, characterized in that: include: A UWB positioning network was built by setting up UWB positioning tags on construction equipment, tracking mobile personnel and equipment, and setting up UWB positioning base stations in key areas of the construction site of the traffic laboratory construction project; The UWB positioning base station is used to receive the ultra-wideband pulse signal of the UWB positioning tag, and the distance between the UWB positioning tag and the UWB positioning base station is calculated according to the signal transmission time difference and the angle information of the signal arrival, so as to determine the position data of the UWB positioning tag; Set up LoRa communication nodes at the construction site to form a LoRa communication network; An edge computing device is set up at the construction site, and the UWB positioning tag transmits the location data to the edge computing device through the LoRa communication node for real-time processing and analysis to obtain the positioning result of the LoRa communication node; The location data of the UWB positioning tag and the positioning results of the LoRa communication node are weighted and fused to obtain the positioning results of the UWB positioning tag, including the locations of construction equipment, tracked mobile personnel and equipment.

2. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 1 is characterized in that: After transmitting the location data to the edge computing device, the method further includes: The edge computing device is used to compare the location data with the location data of the preset safety area. If the location data deviates from the location data of the preset safety area, an early warning mechanism is triggered. The early warning mechanism is expressed as: ； In the formula, Indicates the early warning mechanism, Indicates the current time The location data of a UWB positioning tag, that is, the location of the construction equipment or personnel, Represents the location data of the preset safety area, that is, the preset safety boundary, a deviation threshold indicating that the preset position data deviates from the position data of the preset safety area, Indicates the conditional statement "if", Indicates the conditional statement "otherwise".

3. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 1 is characterized in that: The distance between the UWB positioning tag and the UWB positioning base station is calculated based on the signal transmission time difference and the angle information of the signal arrival, and the location data of the UWB positioning tag is determined, including: By measuring the transmission time of the ultra-wideband pulse signal of the UWB positioning tag to the UWB positioning base station, the distance between the UWB positioning tag and the UWB positioning base station is calculated; Using the triangulation positioning algorithm, the location data of the UWB positioning tag is determined according to the location of the UWB positioning base station and the distance between the UWB positioning tag and the UWB positioning base station.

4. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 1 is characterized in that: The calculation formula of the distance between the UWB positioning tag and the UWB positioning base station is expressed as: ； In the formula, Indicates The location data of UWB positioning tags and UWB positioning base stations The distance express The norm of .

5. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 1 is characterized in that: After obtaining the positioning result of the UWB positioning tag, it also includes: Set up a cloud server at the construction site, transmit the positioning results of the UWB positioning tag to the cloud server, and use the cloud server to build a construction management platform; The construction management platform is used to monitor and schedule the construction process in real time based on real-time data, and supports historical data backtracking and query; The real-time data includes real-time location data and movement trajectories of construction equipment, tracking mobile personnel and equipment; The historical data includes historical location data and movement trajectories of construction equipment, tracking mobile personnel and equipment.

6. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 1 is characterized in that: The UWB positioning tag transmits the location data to the edge computing device through the LoRa communication node for real-time processing and analysis, including: The Kalman filter is used to update the state of the position data, and the Kalman gain is used to perform weighted fusion to obtain the positioning result of the LoRa communication node.

7. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 6 is characterized in that: The LoRa communication network performs LoRa-assisted positioning on the UWB positioning tag by measuring the RSSI value of the signal emitted by the UWB positioning tag at the LoRa communication node, and indirectly infers the positioning result of the LoRa communication node by combining the known signal propagation model and path loss index, which is expressed as: ； In the formula, It represents the fitted value, predicted value or estimated value from the UWB positioning tag to the UWB positioning base station. Indicates the RSSI value at the reference distance. Indicates the RSSI value provided by the LoRa communication network. Represents the path loss exponent.

8. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 6 is characterized in that: The expression for updating the state of the position data using Kalman filtering is: ； In the formula, Indicates The location data of each UWB positioning tag, Indicates The state transition matrix of the location data of a UWB positioning tag is used to describe the change of location data over time. Indicates IMU sensor data of UWB positioning tags The control input matrix is ​​used to Extract the acceleration and angular velocity from 9. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 6 is characterized in that: The positioning result of the LoRa communication node is expressed as: ； in, Indicates The positioning results of the LoRa communication nodes, Indicates The location data of each UWB positioning tag, Indicates The measured value of the position data of the UWB positioning tag, represents the observation matrix, represents the Kalman gain.

10. The method for synchronous tracking of the Internet of Things for the construction of a traffic laboratory construction project according to claim 6, characterized in that: The positioning result of the UWB positioning tag is expressed as: ； In the formula, Indicates the positioning result of the UWB positioning tag. Indicates The location data of each UWB positioning tag, It is through The positioning results of LoRd communication nodes, and They represent the error criteria of UWB positioning tags and LoRd communication nodes respectively.

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