Method for leveling based on ultra-wideband ranging and positioning technology

Abstract

The invention provides a leveling method based on an ultra-wideband ranging and positioning technology, which relates to the technical field of surveying and mapping, and comprises the following steps: installing an ultra-wideband base station on a target observation station, and installing an ultra-wideband label on the side surface of a target leveling rod; based on the flight time principle, measuring label distance information corresponding to the ultra-wideband label through the ultra-wideband base station; determining an observation station position of the target observation station according to the label distance information; the target level gauge is installed on the target observation station, leveling is conducted on the target observation station based on the target level gauge and the target leveling rod, and a corresponding observation station leveling result is generated; determining the observation station elevation information corresponding to the target observation station according to the observation station leveling result, and sending the observation station elevation information to the observation end, so that real-time distance measurement can be carried out on the front-view and back-view distance by using an ultra-wideband distance measurement positioning technology, the position of the observation station is quickly adjusted to the middle of the front-view and back-view, accurate and real-time leveling is realized, and the leveling efficiency of the observation station is improved.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, and in particular to a method for leveling based on ultra-wideband ranging and positioning technology. Background Art

[0002] Leveling is an important technology in the field of surveying and mapping, and is widely used in engineering construction, scientific research, production and life, and many other aspects.

[0003] Traditional leveling methods, such as using measuring ropes, footsteps, instrument-built distance measurement systems, and infrared laser distance meters, all have their own limitations. For example, the accuracy of measuring ropes and footsteps is average and easily affected by environmental factors; although the instrument-built distance measurement system has high accuracy, it is complicated to operate and requires multiple adjustments to the measuring station position to meet the tolerance requirements; the infrared laser distance meter has large measurement errors in outdoor strong light or dark environments, so these methods cannot achieve accurate, real-time, and efficient leveling distance measurement.

[0004] Therefore, it is necessary to provide a method for leveling measurement based on ultra-wideband ranging and positioning technology to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a method for leveling based on ultra-wideband ranging and positioning technology to solve the problem that traditional methods cannot achieve accurate, real-time and efficient leveling distance measurement.

[0006] The present invention provides a method for leveling based on ultra-wideband ranging and positioning technology, the method comprising:

[0007] Install the UWB base station on the target measuring station and install the UWB tag on the side of the target leveling rod;

[0008] Based on the time of flight principle, the tag distance information corresponding to the ultra-wideband tag is measured by the ultra-wideband base station;

[0009] Determine the station position of the target station according to the tag distance information;

[0010] Installing a target level on the target station, performing leveling on the target station based on the target level and the target leveling rod, and generating a corresponding station leveling result;

[0011] According to the leveling result of the measuring station, the measuring station elevation information corresponding to the target measuring station is determined and sent to the observation end.

[0012] Preferably, the step of installing the ultra-wideband base station on the target measuring station and installing the ultra-wideband tag on the side of the target leveling ruler specifically includes:

[0013] Selecting the ultra-wideband base station, and installing the ultra-wideband base station on the target measuring station;

[0014] The ultra-wideband tag includes a first ultra-wideband tag and a second ultra-wideband tag, and the target leveling rod includes a front-sight leveling rod and a rear-sight leveling rod;

[0015] The first ultra-wideband tag is installed on the side of the front-sight leveling ruler, and the second ultra-wideband tag is installed on the side of the rear-sight leveling ruler.

[0016] Preferably, after the ultra-wideband base station is installed, the ultra-wideband base station is started, and the ranging parameters of the ultra-wideband base station are set according to the distance measurement requirement, and the ranging parameters include ranging frequency and ranging range.

[0017] Preferably, measuring the tag distance information corresponding to the ultra-wideband tag by the ultra-wideband base station specifically includes:

[0018] Sending a measurement signal to the first ultra-wideband tag through the ultra-wideband base station, and receiving a response signal returned by the first ultra-wideband tag;

[0019] Based on the time of flight principle, the first tag distance between the ultra-wideband base station and the first ultra-wideband tag is determined according to the time difference between the ultra-wideband base station sending the measurement signal and receiving the response signal. The corresponding calculation formula is as follows:

[0020]

[0021] Wherein, d1 represents the first tag distance between the UWB base station and the first UWB tag; c represents the speed of light; Δt1 represents the time difference between the UWB base station sending the measurement signal and receiving the response signal;

[0022] The process of calculating the second tag distance between the ultra-wideband base station and the second ultra-wideband tag is the same as above.

[0023] Preferably, determining the station position of the target station according to the tag distance information specifically includes:

[0024] By comparing the first tag distance and the second tag distance, determining whether to adjust the station position of the target station;

[0025] If the first tag distance and the second tag distance are equal, there is no need to adjust the station position of the target station; otherwise, if the first tag distance and the second tag distance are not equal, the position moving direction of the target station is determined according to the magnitude relationship between the first tag distance and the second tag distance;

[0026] If the first tag distance is greater than the second tag distance, the position moving direction of the target station is to move in the direction of the first ultra-wideband tag, and the first moving distance of the target station is determined according to the difference between the first tag distance and the second tag distance, and the target station is moved in the direction of the first ultra-wideband tag according to the first moving distance; otherwise, if the first tag distance is less than the second tag distance, the position moving direction of the target station is to move in the direction of the second ultra-wideband tag, and the second moving distance of the target station is determined according to the difference between the second tag distance and the first tag distance, and the target station is moved in the direction of the second ultra-wideband tag according to the second moving distance.

[0027] Preferably, performing leveling measurement on the target station based on the target level meter and the target leveling ruler to generate the leveling measurement result of the station specifically includes:

[0028] Installing the target level on the target measuring station and adjusting the target level to a horizontal state;

[0029] Obtaining a reading of the target level on the foresight leveling rod, i.e., a foresight reading; and a reading of the target level on the rearsight leveling rod, i.e., a rearsight reading;

[0030] Obtain the correction factor corresponding to the target level, perform leveling on the target station according to the foresight reading, the backsight reading and the correction factor, and calculate the height difference from the station point on the target station to the backsight point on the backsight leveling ruler. The corresponding calculation formula is as follows:

[0031] h=a-b+ξ

[0032] Where h is the height difference from the measuring station on the target measuring station to the backsight point on the backsight level rod; a is the backsight reading; b is the foresight reading; ξ is the correction factor.

[0033] Preferably, after obtaining the station elevation information, performing anomaly detection on the station elevation information to identify and obtain abnormal elevation information specifically includes:

[0034] When extracting the station elevation features corresponding to the station elevation information and classifying the station elevation features based on the support vector machine, the corresponding optimization problem is as follows:

[0035]

[0036] In the formula, w u represents the weight vector of the u-th support vector machine, which is used to determine the direction of the classification hyperplane; b urepresents the bias term of the u-th support vector machine, which is used to determine the distance between the classification hyperplane and the origin; ξ uv represents the slack variable when the v-th station elevation feature is linearly inseparable in the u-th support vector machine; C represents the regularization parameter, which is used to control the trade-off between classification interval and classification error; R represents the total number of station elevation features; min represents the minimum operation; ∑ represents the summation symbol.

[0037] Preferably, the constraints corresponding to the optimization problem are as follows:

[0038] LBBQ v (w u *CZTZ v +b u )≥1-ξ uv ,LBBQ v =u

[0039] LBBQ v (w u *CZTZ v +b u )≤ξ uv -1,LBBQ v ≠u

[0040]

[0041] Where, LBBQ v Indicates the feature category label corresponding to the v-th station elevation feature; CZTZ v represents the elevation feature of the vth station; w u represents the weight vector of the u-th support vector machine, which is used to determine the direction of the classification hyperplane; b u represents the bias term of the u-th support vector machine, which is used to determine the distance between the classification hyperplane and the origin; ξ uv represents the slack variable when the v-th station elevation feature is linearly inseparable in the u-th support vector machine; R represents the total number of station elevation features;

[0042] Based on the feature classification result of the station elevation feature, the abnormal elevation feature and the corresponding abnormal elevation information are determined.

[0043] Compared with the related art, the method for leveling based on ultra-wideband ranging and positioning technology provided by the present invention has the following beneficial effects:

[0044] The present invention can install an ultra-wideband base station on a target survey station, and install an ultra-wideband tag on the side of a target leveling ruler; based on the principle of time of flight, the tag distance information corresponding to the ultra-wideband tag is measured by the ultra-wideband base station; the station position of the target survey station is determined according to the tag distance information; the target level is installed on the target survey station, and leveling is performed on the target survey station based on the target level and the target leveling ruler to generate a corresponding station leveling measurement result; according to the station leveling measurement result, the station elevation information corresponding to the target survey station is determined and sent to the observation end, so that the ultra-wideband ranging and positioning technology can be used to perform real-time ranging of the front and rear sight distances, and the station position can be quickly adjusted to the middle of the front and rear sights, so as to realize fast and accurate leveling measurement.

[0045] The present invention can utilize ultra-wideband ranging technology to perform real-time ranging, accurately grasp the distance between the measuring station and the front and rear sights, thereby ensuring the accuracy of the measurement result; and can quickly adjust the measuring station position to the middle of the front and rear sights, thereby saving measurement time and improving measurement efficiency; the present invention is not affected by the surrounding environment such as temperature, light, terrain, etc., has strong adaptability, and can perform leveling in various complex environments; the present invention can digitally display the measuring station elevation information in real time, which is helpful for observers to make quick judgments and decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A flow chart of a method for leveling based on ultra-wideband ranging and positioning technology of the present invention;

[0047] Figure 2 It is a schematic diagram of sending the station elevation information to the observation end according to the present invention. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0049] Embodiment 1

[0050] like Figure 1 As shown, a method for leveling based on ultra-wideband ranging and positioning technology, the method comprising:

[0051] S1, install the UWB base station on the target measuring station, and install the UWB tag on the side of the target leveling rod;

[0052] S2, based on the time of flight principle, measuring the tag distance information corresponding to the ultra-wideband tag through the ultra-wideband base station;

[0053] S3, determining the station position of the target station according to the tag distance information;

[0054] S4, installing a target level on the target station, performing leveling measurement on the target station based on the target level and the target leveling rod, and generating a corresponding station leveling measurement result;

[0055] S5: According to the leveling result of the measuring station, determine the measuring station elevation information corresponding to the target measuring station and send it to the observation end.

[0056] Among them, the high-performance ultra-wideband base station can be accurately deployed at the target measurement station location. At the same time, in order to ensure the accuracy and real-time performance of the measurement, the ultra-wideband tag can be installed on the side of the target leveling ruler to facilitate subsequent wireless ranging operations.

[0057] It can be understood that the entire ranging process follows the principle of time-of-flight (TOF) measurement, which uses the time difference between the transmission of the UWB signal between the base station and the tag to calculate the distance between the two. Specifically, the signal transmitted by the UWB base station is received by the UWB tag and reflected back to the base station, which can accurately calculate the tag distance information corresponding to the tag based on the round-trip time of the signal. This process requires not only a stable and reliable communication link between the base station and the tag, but also a fine calibration of the delay of signal transmission to ensure the accuracy of the measurement results.

[0058] The precise station location of the target station can be determined based on the tag distance information. Subsequently, the relative observation between the target level and the target leveling rod can be used to perform leveling operations and generate the corresponding station leveling results. This process requires that the reading of the level is stable and accurate, and the scale of the leveling rod is clear and error-free to ensure the accuracy of the elevation measurement.

[0059] Finally, the station leveling results can be filtered and adjusted to determine the high-precision station elevation information corresponding to the target station, such as Figure 2 As shown, the station elevation information can then be sent to the observation end through the terminal device safely and efficiently, facilitating subsequent data analysis and utilization.

[0060] In a specific implementation process, the ultra-wideband base station is installed on the target measuring station, and the ultra-wideband tag is installed on the side of the target leveling ruler, which specifically includes:

[0061] Selecting the ultra-wideband base station, and installing the ultra-wideband base station on the target measuring station;

[0062] The ultra-wideband tag includes a first ultra-wideband tag and a second ultra-wideband tag, and the target leveling rod includes a front-sight leveling rod and a rear-sight leveling rod;

[0063] The first ultra-wideband tag is installed on the side of the front-sight leveling ruler, and the second ultra-wideband tag is installed on the side of the rear-sight leveling ruler.

[0064] It should be noted that, first of all, the appropriate ultra-wideband base station model can be selected according to the characteristics of the measurement environment, accuracy requirements and signal coverage requirements. Then, the ultra-wideband base station can be stably installed on the target measurement station. The position accuracy and stability of the measurement station have a decisive influence on the reliability of the entire measurement result.

[0065] Furthermore, a dual-tag configuration strategy can be adopted to enhance the redundancy and accuracy of leveling measurement. Specifically, the ultra-wideband tag system includes a first ultra-wideband tag and a second ultra-wideband tag. The front-sight leveling rod and the rear-sight leveling rod are used as reference tools for leveling measurement, and the first ultra-wideband tag and the second ultra-wideband tag are installed on their sides respectively. The installation process requires extremely high precision to ensure that the relative position of the tag and the leveling rod is fixed and does not affect the normal progress of the leveling measurement. At the same time, the orientation and installation position of the tag can maximize the signal transmission efficiency and reduce interference factors such as multipath effects.

[0066] After the ultra-wideband base station is installed, the ultra-wideband base station is started, and the ranging parameters of the ultra-wideband base station are set according to the distance measurement requirement, and the ranging parameters include ranging frequency and ranging range.

[0067] Measuring the tag distance information corresponding to the ultra-wideband tag by the ultra-wideband base station specifically includes:

[0068] Sending a measurement signal to the first ultra-wideband tag through the ultra-wideband base station, and receiving a response signal returned by the first ultra-wideband tag;

[0069] Based on the time of flight principle, the first tag distance between the ultra-wideband base station and the first ultra-wideband tag is determined according to the time difference between the ultra-wideband base station sending the measurement signal and receiving the response signal. The corresponding calculation formula is as follows:

[0070]

[0071] Wherein, d1 represents the first tag distance between the UWB base station and the first UWB tag; c represents the speed of light; Δt1 represents the time difference between the UWB base station sending the measurement signal and receiving the response signal;

[0072] The process of calculating the second tag distance between the ultra-wideband base station and the second ultra-wideband tag is the same as above.

[0073] After the UWB base station is installed, it can be started. Then, the UWB base station can be configured with ranging parameters according to the distance measurement requirements in the actual application scenario. These ranging parameters constitute the key elements of base station performance, including ranging frequency and ranging range, which together define the accuracy and coverage of station positioning.

[0074] Then, the configured UWB base station can be used to perform ranging operations on the UWB tag to obtain the precise location information of the tag.

[0075] Specifically, the UWB base station can transmit a measurement signal to the first UWB tag and receive a response signal from the tag. Then, based on the time-of-flight (TOF) ranging principle, the straight-line distance between the base station and the first UWB tag can be calculated by analyzing the time delay between the base station transmitting the measurement signal and receiving the response signal.

[0076] Similarly, the distance from the second ultra-wideband tag to the ultra-wideband base station can be measured by the same method.

[0077] Determining the station position of the target station according to the tag distance information specifically includes:

[0078] By comparing the first tag distance and the second tag distance, determining whether to adjust the station position of the target station;

[0079] If the first tag distance and the second tag distance are equal, there is no need to adjust the station position of the target station; otherwise, if the first tag distance and the second tag distance are not equal, the position moving direction of the target station is determined according to the magnitude relationship between the first tag distance and the second tag distance;

[0080] If the first tag distance is greater than the second tag distance, the position moving direction of the target station is to move in the direction of the first ultra-wideband tag, and the first moving distance of the target station is determined according to the difference between the first tag distance and the second tag distance, and the target station is moved in the direction of the first ultra-wideband tag according to the first moving distance; otherwise, if the first tag distance is less than the second tag distance, the position moving direction of the target station is to move in the direction of the second ultra-wideband tag, and the second moving distance of the target station is determined according to the difference between the second tag distance and the first tag distance, and the target station is moved in the direction of the second ultra-wideband tag according to the second moving distance.

[0081] Performing leveling measurement on the target station based on the target level meter and the target leveling rod to generate the leveling measurement result of the station specifically includes:

[0082] Installing the target level on the target measuring station and adjusting the target level to a horizontal state;

[0083] Obtaining a reading of the target level on the foresight leveling rod, i.e., a foresight reading; and a reading of the target level on the rearsight leveling rod, i.e., a rearsight reading;

[0084] Obtain the correction factor corresponding to the target level, perform leveling on the target station according to the foresight reading, the backsight reading and the correction factor, and calculate the height difference from the station point on the target station to the backsight point on the backsight leveling ruler. The corresponding calculation formula is as follows:

[0085] h=a-b+ξ

[0086] Where h is the height difference from the measuring station on the target measuring station to the backsight point on the backsight level rod; a is the backsight reading; b is the foresight reading; ξ is the correction factor.

[0087] After obtaining the station elevation information, performing anomaly detection on the station elevation information to identify abnormal elevation information specifically includes:

[0088] When extracting the station elevation features corresponding to the station elevation information and classifying the station elevation features based on the support vector machine, the corresponding optimization problem is as follows:

[0089]

[0090] In the formula, w u represents the weight vector of the u-th support vector machine, which is used to determine the direction of the classification hyperplane; b u represents the bias term of the u-th support vector machine, which is used to determine the distance between the classification hyperplane and the origin; ξ uv represents the slack variable when the v-th station elevation feature is linearly inseparable in the u-th support vector machine; C represents the regularization parameter, which is used to control the trade-off between classification interval and classification error; R represents the total number of station elevation features; min represents the minimum operation; ∑ represents the summation symbol.

[0091] The constraints corresponding to the optimization problem are as follows:

[0092] LBBQ v (w u *CZTZ v +b u )≥1-ξ uv ,LBBQ v =u

[0093] LBBQ v (w u *CZTZ v +b u )≤ξ uv -1,LBBQv ≠u

[0094]

[0095] Where, LBBQ v Indicates the feature category label corresponding to the v-th station elevation feature; CZTZ v represents the elevation feature of the vth station; w u represents the weight vector of the u-th support vector machine, which is used to determine the direction of the classification hyperplane; b u represents the bias term of the u-th support vector machine, which is used to determine the distance between the classification hyperplane and the origin; ξ uv represents the slack variable when the v-th station elevation feature is linearly inseparable in the u-th support vector machine; R represents the total number of station elevation features;

[0096] Based on the feature classification result of the station elevation feature, the abnormal elevation feature and the corresponding abnormal elevation information are determined.

[0097] In practical applications, after obtaining the elevation information of the measuring station, these data can be processed for anomaly detection to accurately identify the abnormal elevation information.

[0098] Specifically, first, the elevation feature vector can be extracted from the station elevation data. Then, the support vector machine (SVM) technology can be used to classify these elevation features. Finally, based on the above optimization problem and constraints, the feature classification results of the station elevation features can be obtained, and then the abnormal elevation features and their corresponding abnormal elevation information can be determined.

[0099] Through the introduction of the above embodiments, the present invention uses a method for leveling based on ultra-wideband ranging and positioning technology, by installing an ultra-wideband base station on a target station, and installing an ultra-wideband tag on the side of a target leveling rod; based on the time-of-flight principle, measuring the tag distance information corresponding to the ultra-wideband tag by the ultra-wideband base station; determining the station position of the target station according to the tag distance information; installing a target level on the target station, and performing leveling measurement on the target station based on the target level and the target leveling rod to generate a corresponding station leveling measurement result; determining the station elevation information corresponding to the target station according to the station leveling measurement result and sending it to the observation end, so that the ultra-wideband ranging and positioning technology can be used to perform real-time distance measurement on the front and rear sight distances, and quickly adjust the station position to the middle of the front and rear sights, thereby achieving fast and accurate leveling measurement.

[0100] The present invention can utilize ultra-wideband ranging technology to perform real-time ranging, accurately grasp the distance between the measuring station and the front and rear sights, thereby ensuring the accuracy of the measurement result; and can quickly adjust the measuring station position to the middle of the front and rear sights, thereby saving measurement time and improving measurement efficiency; the present invention is not affected by the surrounding environment such as temperature, light, terrain, etc., has strong adaptability, and can perform leveling in various complex environments; the present invention can digitally display the measuring station elevation information in real time, which is helpful for observers to make quick judgments and decisions.

[0101] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0102] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0103] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

Claims

1. A method for leveling based on ultra-wideband ranging and positioning technology, characterized in that: The method comprises: Install the UWB base station on the target measuring station and install the UWB tag on the side of the target leveling rod; Based on the time of flight principle, the tag distance information corresponding to the ultra-wideband tag is measured by the ultra-wideband base station; Determine the station position of the target station according to the tag distance information; Installing a target level on the target station, performing leveling on the target station based on the target level and the target leveling rod, and generating a corresponding station leveling result; According to the leveling result of the measuring station, the measuring station elevation information corresponding to the target measuring station is determined and sent to the observation end.

2. The method for leveling based on ultra-wideband ranging and positioning technology according to claim 1, characterized in that: The method of installing the ultra-wideband base station on the target measuring station and installing the ultra-wideband tag on the side of the target leveling ruler specifically includes: Selecting the ultra-wideband base station, and installing the ultra-wideband base station on the target measuring station; The ultra-wideband tag includes a first ultra-wideband tag and a second ultra-wideband tag, and the target leveling rod includes a front-sight leveling rod and a rear-sight leveling rod; The first ultra-wideband tag is installed on the side of the front-sight leveling ruler, and the second ultra-wideband tag is installed on the side of the rear-sight leveling ruler.

3. The method for leveling based on ultra-wideband ranging and positioning technology according to claim 2 is characterized in that: After the ultra-wideband base station is installed, the ultra-wideband base station is started, and the ranging parameters of the ultra-wideband base station are set according to the distance measurement requirement, and the ranging parameters include ranging frequency and ranging range.

4. The method for leveling based on ultra-wideband ranging and positioning technology according to claim 2 is characterized in that: Measuring the tag distance information corresponding to the ultra-wideband tag by the ultra-wideband base station specifically includes: Sending a measurement signal to the first ultra-wideband tag through the ultra-wideband base station, and receiving a response signal returned by the first ultra-wideband tag; Based on the time of flight principle, the first tag distance between the ultra-wideband base station and the first ultra-wideband tag is determined according to the time difference between the ultra-wideband base station sending the measurement signal and receiving the response signal. The corresponding calculation formula is as follows: Wherein, d1 represents the first tag distance between the UWB base station and the first UWB tag; c represents the speed of light; Δt1 represents the time difference between the UWB base station sending the measurement signal and receiving the response signal; The process of calculating the second tag distance between the ultra-wideband base station and the second ultra-wideband tag is the same as above.

5. The method for leveling based on ultra-wideband ranging and positioning technology according to claim 4 is characterized in that: Determining the station position of the target station according to the tag distance information specifically includes: By comparing the first tag distance and the second tag distance, determining whether to adjust the station position of the target station; If the first tag distance and the second tag distance are equal, there is no need to adjust the station position of the target station; otherwise, if the first tag distance and the second tag distance are not equal, the position moving direction of the target station is determined according to the magnitude relationship between the first tag distance and the second tag distance; If the first tag distance is greater than the second tag distance, the position moving direction of the target station is to move in the direction of the first ultra-wideband tag, and the first moving distance of the target station is determined according to the difference between the first tag distance and the second tag distance, and the target station is moved in the direction of the first ultra-wideband tag according to the first moving distance; otherwise, if the first tag distance is less than the second tag distance, the position moving direction of the target station is to move in the direction of the second ultra-wideband tag, and the second moving distance of the target station is determined according to the difference between the second tag distance and the first tag distance, and the target station is moved in the direction of the second ultra-wideband tag according to the second moving distance.

6. The method for leveling based on ultra-wideband ranging and positioning technology according to claim 2 is characterized in that: Performing leveling measurement on the target station based on the target level meter and the target leveling rod to generate the leveling measurement result of the station specifically includes: Installing the target level on the target measuring station and adjusting the target level to a horizontal state; Obtaining a reading of the target level on the foresight leveling rod, i.e., a foresight reading; and a reading of the target level on the rearsight leveling rod, i.e., a rearsight reading; Obtain the correction factor corresponding to the target level, perform leveling on the target station according to the foresight reading, the backsight reading and the correction factor, and calculate the height difference from the station point on the target station to the backsight point on the backsight leveling ruler. The corresponding calculation formula is as follows: h=a-b+ξ Where h is the height difference from the measuring station on the target measuring station to the backsight point on the backsight level rod; a is the backsight reading; b is the foresight reading; ξ is the correction factor.

7. The method for leveling based on ultra-wideband ranging and positioning technology according to claim 1, characterized in that: After obtaining the station elevation information, performing anomaly detection on the station elevation information to identify abnormal elevation information specifically includes: When extracting the station elevation features corresponding to the station elevation information and classifying the station elevation features based on the support vector machine, the corresponding optimization problem is as follows: In the formula, w u represents the weight vector of the u-th support vector machine, which is used to determine the direction of the classification hyperplane; b u represents the bias term of the u-th support vector machine, which is used to determine the distance between the classification hyperplane and the origin; ξ uv represents the slack variable when the v-th station elevation feature is linearly inseparable in the u-th support vector machine; C represents the regularization parameter, which is used to control the trade-off between classification interval and classification error; R represents the total number of station elevation features; min represents the minimum operation; ∑ represents the summation symbol.

8. The method for leveling based on ultra-wideband ranging and positioning technology according to claim 7 is characterized in that: The constraints corresponding to the optimization problem are as follows: LBBQ v (w u *CZTZ v +b u )≥1-ξ uv ,LBBQ v =u LBBQ v (w u *CZTZ v +b u )≤ξ uv -1,LBBQ v ≠u Where, LBBQ v Indicates the feature category label corresponding to the v-th station elevation feature; CZTZ v represents the elevation feature of the vth station; w u represents the weight vector of the u-th support vector machine, which is used to determine the direction of the classification hyperplane; b u represents the bias term of the u-th support vector machine, which is used to determine the distance between the classification hyperplane and the origin; ξ uv represents the slack variable when the v-th station elevation feature is linearly inseparable in the u-th support vector machine; R represents the total number of station elevation features; Based on the feature classification result of the station elevation feature, the abnormal elevation feature and the corresponding abnormal elevation information are determined.

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