Real-time transmission system for high-precision beidou positioning information in tunnel

Abstract

The present application relates to the field of signal transmission, especially to a high-precision Beidou positioning information real-time transmission system in a tunnel, the present application sets a signal emission module, which is used to control the target vehicle configured with a positioning tag to periodically emit signals; a signal acquisition module is used to acquire signal data and image data of several tunnel areas to extract corresponding signal interference characteristics; a transmission analysis module is used to acquire the corresponding animal appearance frequency of the current tunnel area when the target device is in the current tunnel area, to combine the signal interference characteristic analysis of the signal interference characteristic value of the current tunnel area to determine the signal interference intensity category; an evaluation scheduling module responds to the determination result of the transmission analysis module, calls the interference detection module or the conventional detection module to adaptively perform detection analysis, and the present application can improve the positioning accuracy of the positioning base station in the tunnel and the flexibility of signal reception and timely detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of signal transmission, in particular to a high-precision Beidou positioning information real-time transmission system in a tunnel. BACKGROUND

[0002] Tunnels are closed or semi-closed spaces, and fixed objects such as mountains and concrete structures can significantly attenuate Beidou signals, resulting in reduced signal strength and increased interference. At the same time, signals are easily reflected between tunnel walls, forming a multipath effect that affects positioning accuracy.

[0003] Construction scenarios in tunnels, such as emergency rescue and construction machinery scheduling, require high real-time positioning accuracy. In addition, mobile objects such as vehicles and construction machinery frequently pass through the tunnel, which may block signals or introduce electromagnetic interference. Traditional Beidou positioning is limited by the environment and cannot meet the demand, so it is necessary to enhance the reliability through base station enhancement and signal detection optimization.

[0004] Chinese patent application publication No. CN114449445A discloses an ultra-long distance tunnel personnel positioning system based on UWB technology, which relates to the field of tunnel positioning technology. It solves the technical problems of positioning efficiency of tunnel personnel and whether the behavior of tunnel personnel in the tunnel is normal. The set base station is reasonably matched with a signal amplifier to ensure that each area in the construction tunnel receives a signal wave of qualified strength, reducing the situation where workers in the construction tunnel cannot receive a signal wave, resulting in inaccurate positioning of workers and reduced positioning efficiency of workers. The positioning effect of the current ultra-long distance base station is analyzed to determine whether the current base station is qualified for personnel positioning, preventing the situation where poor positioning effect of ultra-long distance leads to reduced safety performance of workers in the tunnel. The real-time behavior of workers in the tunnel area is analyzed and detected to determine whether the tunnel operation is abnormal by changing the position of the workers.

[0005] However, the existing technology still has the following problems,

[0006] It mainly relies on single base station signal strength or time difference detection for positioning detection of target objects, without considering the influence of actual environmental factors in the tunnel, such as fixed object shielding, mobile object interference, and other multi-dimensional factors. In the complex environment of the tunnel, the positioning accuracy is affected. SUMMARY

[0007] Therefore, the present application provides an integrated power distribution system for an electrochemical energy storage power station to overcome the problem in the prior art that the positioning detection of target objects mainly relies on single base station signal strength or time difference detection, without considering the influence of actual environmental factors in the tunnel, which affects the positioning accuracy in the complex environment of the tunnel.

[0008] To achieve the above object, the application provides a tunnel high-precision Beidou positioning information real-time transmission system, which comprises:

[0009] A signal emitting module is configured to control the target vehicle configured with the positioning tag to periodically emit signals;

[0010] A signal acquiring module is configured to acquire signal data and image data of a plurality of tunnel areas to extract corresponding signal interference features, wherein the signal interference features comprise signal density of the tunnel area and distribution density of the fixed objects;

[0011] A transmission analysis module is connected with the signal emitting module and the signal acquiring module respectively, configured to acquire the occurrence frequency of the moving object corresponding to the current tunnel area when the target device is in the current tunnel area, to analyze the signal interference characteristic value of the current tunnel area in combination with the signal interference features to determine the interference intensity category of the signal;

[0012] An interference detection module is connected with the evaluation scheduling module, configured to identify the path direction of the target vehicle, to determine the signal emitted by the target vehicle between the front adjacent positioning base station and the rear adjacent positioning base station of the target vehicle, to determine the signals received by the front adjacent positioning base station and the rear adjacent positioning base station at interval time respectively, to determine the matching deviation degree of the moving distance of the target vehicle, to evaluate whether it meets the signal transmission standard in combination with the bending radius of the corresponding intermediate area path to determine whether the positioning base station receives the signal in time;

[0013] A conventional detection module is connected with the evaluation scheduling module, configured to determine the signal receiving duration of the front and rear adjacent positioning base stations of the target vehicle to determine whether the positioning base station receives the signal in time;

[0014] The evaluation scheduling module is connected with the transmission analysis module, and the interference detection module or the conventional detection module is called in response to the determination result of the transmission analysis module.

[0015] Further, the transmission analysis module is configured to analyze the signal interference characteristic value of the current tunnel area, comprising,

[0016] The ratio of the occurrence frequency of the moving object to the occurrence frequency threshold of the moving object is used as the first signal interference feature;

[0017] The sum of the ratio of the signal density to the signal density threshold and the ratio of the distribution density of the fixed objects to the distribution density threshold is used as the second signal interference feature;

[0018] The first signal interference feature and the second signal interference feature are weighted and summed to determine the signal interference characteristic value.

[0019] Further, the transmission analysis module is used to determine the interference intensity category of the signal, comprising,

[0020] If the signal interference characteristic value is greater than or equal to the signal interference characteristic threshold, it is determined that the interference intensity category of the signal is the strong interference category;

[0021] If the signal interference characteristic value is less than the signal interference characteristic threshold, it is determined that the interference intensity category of the signal is the weak interference category.

[0022] Further, the evaluation scheduling module is used to respond to the determination result of the transmission analysis module, comprising,

[0023] If the determination result of the transmission analysis module is the strong interference category, the interference detection module is called;

[0024] If the determination result of the transmission analysis module is the weak interference category, the regular detection module is called.

[0025] Further, the interference detection module is used to evaluate whether it meets the signal transmission criterion, comprising,

[0026] If the matching deviation degree is greater than the matching deviation degree threshold and the bending radius is greater than the bending radius threshold, it is evaluated as meeting the signal transmission criterion.

[0027] Further, the interference detection module is used to determine whether the positioning base station receives the signal in time, comprising,

[0028] If the signal transmission criterion is met, it is determined that the positioning base station receives the signal in time.

[0029] Further, the regular detection module is used to determine whether the positioning base station receives the signal in time, comprising,

[0030] The signal receiving time length of the front and rear adjacent positioning base stations of the target vehicle is obtained, and the signal receiving time length mean value is solved;

[0031] If the signal receiving time length mean value is within the signal receiving time length standard range, it is determined that the positioning base station receives the signal in time;

[0032] The signal receiving time length standard range is pre-set.

[0033] Further, it also includes the distribution density of the fixed object, comprising,

[0034] Based on the image data of the tunnel area, the fixed object distribution image in the tunnel area is determined;

[0035] The shortest distance and the average distance from the fixed object to the corresponding positioning base station in the tunnel area are determined according to the fixed object distribution image.

[0036] to determine the fixed object occupation area;

[0037] to take the ratio of the shortest distance and the average distance and the ratio of the fixed object occupation area and the coverage area of the tunnel area as the distribution density.

[0038] Further, it further comprises determining the matching deviation degree, comprising,

[0039] to respectively acquire the signals of the front adjacent positioning base stations at interval time, and determine the first position group of the target vehicle at the corresponding time;

[0040] to respectively acquire the signals of the rear adjacent positioning base stations at interval time, and determine the second position group of the target vehicle at the corresponding time;

[0041] to determine the first path based on the first position group, and determine the second path based on the second position group;

[0042] to fit the first path and the second path, determine the fitting degree, and determine the fitting degree as the matching deviation degree.

[0043] Further, it further comprises,

[0044] If the positioning base station receives the signal not in time, a prompt signal is sent out.

[0045] Compared with the prior art, the signal transmission module is arranged to control the target vehicle configured with the positioning tag to periodically send out signals; the signal acquisition module is arranged to acquire the signal data and image data of a plurality of tunnel areas to extract corresponding signal interference features; the transmission analysis module is arranged to acquire the corresponding animal appearance frequency of the current tunnel area when the target device is in the current tunnel area, to combine the signal interference feature analysis to determine the signal interference intensity category; the evaluation scheduling module is arranged to respond to the determination result of the transmission analysis module to call the interference detection module or the conventional detection module to adaptively perform detection analysis. The present application can improve the positioning accuracy of the positioning base station in the tunnel and the flexibility of the signal reception and timeliness detection.

[0046] Especially, the application sets a transmission analysis module, considers the characteristics of the tunnel area that interfere with the positioning base station receiving signal, on the one hand, the interference of the fixed object in the tunnel area is quantified by the distribution density of the fixed object, the shielding degree of the signal of the static obstacle is evaluated, and the strength of the interference of the positioning base station receiving signal is reflected; on the other hand, the higher the signal density in the tunnel area, the greater the possibility of increasing the risk of co-channel interference or aggravating the multipath effect; and if the moving object frequently appears in the tunnel area, the channel resource competition will be intensified, which will increase the delay of the positioning base station receiving signal, therefore, the application analyzes the signal interference characteristic value of the current tunnel area according to the signal interference characteristics of the tunnel area combined with the appearance frequency of the moving object, to represent the severity of the signal interference of the target vehicle to the corresponding positioning base station, to provide data support for subsequent determination of the signal interference strength category, and then adaptively detect and analyze, to improve the positioning accuracy of the positioning base station in the tunnel and the flexibility of signal reception and timeliness detection.

[0047] Especially, the application sets an interference detection module, by comparing the paths of the signals received by the front and rear adjacent base stations corresponding to the target vehicle, the position of the target vehicle is cross-verified, the single point positioning error is effectively identified; the positions determined by the front and rear base stations are fitted respectively, and the matching deviation degree is determined to reflect the consistency of signal transmission, to improve the positioning accuracy of the positioning base station in the tunnel and the flexibility of signal reception and timeliness detection. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 The functional module diagram of the tunnel high-precision Beidou positioning information real-time transmission system of the application embodiment;

[0049] Figure 2 The logic determination diagram of the application embodiment for determining the signal interference strength category;

[0050] Figure 3 The logic determination diagram of the application embodiment for responding to the determination result of the transmission analysis module;

[0051] Figure 4 The logic determination diagram of the application embodiment for evaluating whether it meets the signal transmission standard. DETAILED DESCRIPTION

[0052] In order to make the purpose and advantages of the application more clear and obvious, the application will be further described below in combination with the embodiments; it should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0053] The preferred embodiments of the present application will be described below with reference to the drawings. Those skilled in the art will appreciate that the embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0054] It should be noted that, in the description of the present application, the terms indicating the direction or positional relationship of the terms "upper" and the like are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0055] In addition, it should be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be a fixed connection, or a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection. Those skilled in the art can understand the specific meaning of the above-mentioned terms in the present application according to the specific circumstances.

[0056] Please refer to Figure 1 which is a functional module diagram of the tunnel high-precision Beidou positioning information real-time transmission system of the embodiment of the present application. The tunnel high-precision Beidou positioning information real-time transmission system of the embodiment of the present application comprises:

[0057] A signal transmitting module is configured to control the target vehicle configured with a positioning tag to periodically emit signals;

[0058] A signal acquisition module is configured to acquire signal data and image data of a plurality of tunnel regions, so as to extract corresponding signal interference features, wherein the signal interference features include signal density of the tunnel region and distribution density of fixed objects;

[0059] A transmission analysis module is connected with the signal transmitting module and the signal acquisition module, and is configured to acquire the occurrence frequency of the mobile object corresponding to the current tunnel region when the target device is in the current tunnel region, so as to analyze the signal interference characteristic value of the current tunnel region in combination with the signal interference features, and determine the interference intensity category of the signal;

[0060] An interference detection module is connected with the evaluation scheduling module, and is configured to identify the path direction of the target vehicle, determine the signals emitted by the target vehicle between the front adjacent positioning base station and the rear adjacent positioning base station of the target vehicle, determine the signals received by the front adjacent positioning base station and the rear adjacent positioning base station at interval time, determine the matching deviation degree of the moving distance of the target vehicle, in combination with the bending radius of the corresponding intermediate region path, evaluate whether it meets the signal transmission benchmark, so as to determine whether the positioning base station receives the signal in time;

[0061] A conventional detection module connected with the evaluation scheduling module, used to determine the signal receiving duration of the target vehicle in front of and behind the adjacent positioning base station, so as to determine whether the positioning base station receives signals in time;

[0062] An evaluation scheduling module connected with the transmission analysis module, which calls the interference detection module or the conventional detection module in response to the determination result of the transmission analysis module.

[0063] Specifically, the signal data includes signal density, etc. The detection of signal density is not specifically limited, and only needs to be able to detect the signal density of the tunnel area. A low-power sensor node such as LoRa or ZigBee can be fixedly deployed in the tunnel to achieve continuous monitoring of signal density, which will not be repeated here.

[0064] Specifically, the acquisition method of the image data of the tunnel area is not limited, and a related database can be set to obtain corresponding mobile object occurrence frequency data and fixed object distribution image, etc. by calling the related database.

[0065] Among them, a high-definition camera can be arranged at the top position area corresponding to the tunnel area to collect image data of the tunnel area, which will not be repeated here.

[0066] It can be understood that in the tunnel environment, mobile objects will also have certain interference effects on signal transmission, such as signal shielding, multipath effect, etc. The mobile objects include construction personnel, mobile inspection equipment, and mechanical equipment such as excavators, etc.

[0067] Specifically, the division of the tunnel area is not specifically limited, and can be divided according to the operation function of the tunnel. Of course, other ways of dividing the area can also be used, which will not be repeated here.

[0068] Specifically, the specific structure of the signal transmission module, the signal acquisition module, the transmission analysis module, the evaluation scheduling module, the interference detection module, and the conventional detection module is not limited, and each unit thereof can be composed of a logic component or a combination of logic components, including a field programmable processor, a computer, or a microprocessor in a computer.

[0069] Specifically, the transmission analysis module is used to analyze the signal interference characteristic value of the current tunnel area, including,

[0070] The ratio of the mobile object occurrence frequency to the mobile object occurrence frequency threshold value is used as the first signal interference feature;

[0071] The sum of the ratio of the signal density to the signal density threshold value and the ratio of the distribution density of the fixed object to the distribution density threshold value is used as the second signal interference feature;

[0072] determining the signal interference characteristic value by weighted summation of the first signal interference characteristic and the second signal interference characteristic.

[0073] Specifically, in the signal transmission process, the signal density can intuitively reflect the interference degree between signals, and for fixed objects, since they are long-term fixed and placed in the tunnel area, the influence on signal transmission is also long-term fixed, and the interference influence caused by the emergence of random moving objects is more obvious, therefore, in the implementation, the signal interference characteristic, i.e., the signal density of the tunnel area and the distribution density of the fixed objects, is preferentially considered, so the second signal interference characteristic calculated based on the signal interference characteristic is given a slightly higher weight, therefore, in the weighted summation, the weight of the first signal interference characteristic is set to 0.4, and the weight of the second signal interference characteristic is set to 0.6.

[0074] In the embodiment, the purpose of setting the mobile object appearance frequency threshold, the signal density threshold and the distribution density threshold is to represent the situation that the signal received by the positioning base station is seriously affected by interference, historical signal data and historical image data of the signal emitted by the positioning tag in the corresponding tunnel area received by the positioning base station for several times are obtained, the signal density historical data of the tunnel area, the distribution density historical data of the fixed objects and the corresponding mobile object appearance frequency historical data are called, the mobile object appearance frequency average, the signal density average and the distribution density average are solved, based on the purpose of setting the above three thresholds, the mobile object appearance frequency threshold is determined as the product of the mobile object appearance frequency average and the frequency deviation coefficient, the signal density threshold is determined as the product of the signal density average and the density deviation coefficient, and the distribution density threshold is determined as the product of the distribution density average and the distribution deviation coefficient, wherein the frequency deviation coefficient is selected in the interval [1.2, 1.25], the density deviation coefficient is selected in the interval [1.1, 1.15], and the distribution deviation coefficient is selected in the interval [1.15, 1.2].

[0075] Specifically, the transmission analysis module is set in the present application, the characteristics of the signal interference affecting the signal received by the positioning base station in the tunnel area are considered, on the one hand, the interference of the fixed objects in the tunnel area is quantified by the distribution density of the fixed objects, the shielding degree of the static obstacles to the signal is evaluated, for example, the dense mechanical and electrical equipment or pipeline in the tunnel may cause signal reflection and attenuation, which intuitively reflects the intensity of the interference of the positioning base station to the received signal, on the other hand, the higher the signal density in the tunnel area, the greater the possibility of increasing the risk of co-channel interference or aggravating the multipath effect, and if the mobile object appears frequently in the tunnel area, the channel resource competition will be intensified, which will increase the delay degree of the signal received by the positioning base station.

[0076] Therefore, the application analyzes the signal interference characteristic value of the current tunnel area according to the signal interference characteristic of the tunnel area and the frequency of occurrence of the moving object, so as to represent the severity of the signal interference effect on the target vehicle received by the corresponding positioning base station, to provide data support for subsequent determination of the signal interference intensity category, and to adaptively perform detection and analysis, so as to improve the positioning accuracy of the positioning base station in the tunnel and the flexibility of signal reception and timeliness detection.

[0077] Specifically, please refer to Figure 2 As shown in the figure, it is a logical determination diagram for determining the signal interference intensity category of the embodiment of the application, and the transmission analysis module is used to determine the signal interference intensity category, which includes,

[0078] If the signal interference characteristic value is greater than or equal to the signal interference characteristic threshold value, it is determined that the signal interference intensity category is the strong interference category.

[0079] If the signal interference characteristic value is less than the signal interference characteristic threshold value, it is determined that the signal interference intensity category is the weak interference category.

[0080] The signal interference characteristic threshold value is selected in the interval [1.68, 1.75].

[0081] Specifically, please refer to Figure 3 As shown in the figure, it is a logical determination diagram for responding to the determination result of the transmission analysis module of the embodiment of the application, and the evaluation scheduling module is used to respond to the determination result of the transmission analysis module, which includes,

[0082] If the determination result of the transmission analysis module is the strong interference category, the interference detection module is called.

[0083] If the determination result of the transmission analysis module is the weak interference category, the regular detection module is called.

[0084] Specifically, please refer to Figure 4 As shown in the figure, it is a logical determination diagram for evaluating whether the signal transmission criterion is met or not of the embodiment of the application, and the interference detection module is used to evaluate whether the signal transmission criterion is met or not, which includes,

[0085] If the matching deviation degree is greater than the matching deviation degree threshold value and the bending radius is greater than the bending radius threshold value, it is evaluated that the signal transmission criterion is met.

[0086] In the embodiment, the purpose of setting the matching deviation degree threshold is to represent a case where the deviation error of the signal received by the positioning base station is relatively large, and the matching deviation degree history data determined by the same front and rear adjacent positioning base stations are called for several times to solve the mean value of the matching deviation degree. Based on the purpose of setting the matching deviation degree threshold, the matching deviation degree threshold is determined as the mean value of the matching deviation degree and a matching deviation coefficient, wherein the matching deviation coefficient is selected in the interval [1.05, 1.1];

[0087] The purpose of setting the bending radius threshold is to represent a case where the tunnel environment factor has a relatively large interference on signal transmission. Therefore, in the embodiment, the signal frequency and the tunnel width are obtained in combination with the critical curve radius to determine based on the critical curve radius formula (Rc≈d² / λ). For example, if the tunnel width d is 5m and the signal frequency is 900MHz, the corresponding wavelength λ is 0.33m. Based on the critical curve radius formula Rc=5² / 0.33≈75m, the calculated 75m is taken as the curve radius threshold.

[0088] Specifically, the present application sets an interference detection module to realize cross verification of the position of the target vehicle by comparing the paths of the signals received by the front and rear adjacent base stations corresponding to the target vehicle. For example, when the bending radius of the driving path segment of the target vehicle is large, if the signal of a certain positioning base station is delayed due to shielding, the signal path of another positioning base station can be used as a reference to effectively identify the single-point positioning error. The positions determined by the front and rear base stations are fitted to determine the matching deviation degree to reflect the consistency of signal transmission, so as to improve the positioning accuracy of the positioning base station in the tunnel and the flexibility of the signal reception and timeliness detection.

[0089] Specifically, the interference detection module is used to determine whether the signal received by the positioning base station is timely, including,

[0090] If the signal transmission criterion is met, it is determined that the signal received by the positioning base station is timely.

[0091] Specifically, the conventional detection module is used to determine whether the signal received by the positioning base station is timely, including,

[0092] The signal reception time length of the front and rear adjacent positioning base stations of the target vehicle is obtained, and the mean value of the signal reception time length is solved;

[0093] If the mean value of the signal reception time length is within the signal reception time length standard range, it is determined that the signal received by the positioning base station is timely;

[0094] The signal reception time length standard range is pre-set.

[0095] In the implementation, the maximum value and the minimum value of the signal receiving duration history data are determined by acquiring the signal receiving duration history data of the same preceding and succeeding adjacent positioning base stations for several times, the maximum value is taken as the upper limit of the interval of the signal receiving duration standard range, and the minimum value is taken as the lower limit of the interval of the signal receiving duration standard range, wherein the signal receiving duration standard range is a closed interval.

[0096] Specifically, the distribution density of the fixed objects further includes,

[0097] determining a fixed object distribution image in the tunnel area based on image data of the tunnel area;

[0098] determining the shortest distance and the average distance of the fixed objects from the corresponding positioning base stations in the tunnel area according to the fixed object distribution image;

[0099] determining the fixed object occupied area;

[0100] taking the sum of the ratio of the shortest distance to the average distance and the ratio of the fixed object occupied area to the coverage area of the tunnel area as the distribution density.

[0101] Specifically, the matching deviation degree is determined, including,

[0102] acquiring the signals of the preceding adjacent positioning base stations at interval time points respectively, and determining a first position group of the target vehicle at the corresponding time points;

[0103] acquiring the signals of the succeeding adjacent positioning base stations at interval time points respectively, and determining a second position group of the target vehicle at the corresponding time points;

[0104] determining a first path based on the first position group and determining a second path based on the second position group;

[0105] It can be understood that the interval time points are time periods, and contain a plurality of time points, and the position group contains the position coordinates positioned by the positioning base stations at the time points, and then the path can be determined based on the plurality of position coordinates contained in the position group, which will not be described herein;

[0106] fitting the first path and the second path to determine a fitting degree, and taking the fitting degree as the matching deviation degree.

[0107] Specifically, by placing the first path and the second path in the same coordinate system, a plurality of discrete coordinate points are correspondingly identified, a minimum cumulative distance between the two paths is determined based on a dynamic programming algorithm, the smaller the minimum cumulative distance, the higher the fitting degree, based on which, the reciprocal of the minimum cumulative distance is taken as the fitting degree, and then the fitting degree is determined as the matching deviation degree, which will not be repeated here.

[0108] Specifically, it also includes,

[0109] If the positioning base station receives signals in time, a prompt signal is sent out.

[0110] Specifically, the prompt signal includes the positioning base station number and the like;

[0111] The positioning base station number can be pre-set by relevant staff.

[0112] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without deviating from the principles of the present application, and the technical solutions after these changes or replacements will all fall within the protection scope of the present application.

Claims

1. A high-precision Beidou positioning information real-time transmission system in a tunnel, characterized in that, The method comprises the following steps: a signal emitting module is configured to control a target vehicle equipped with a positioning tag to periodically emit signals; a signal acquisition module is configured to acquire signal data and image data of a plurality of tunnel areas to extract corresponding signal interference features, wherein the signal interference features comprise signal density of the tunnel areas and distribution density of fixed objects; a transmission analysis module is connected to the signal emitting module and the signal acquisition module, and is configured to acquire a moving object appearance frequency of the target device in a current tunnel area corresponding to the current tunnel area, and analyze signal interference characteristic values of the current tunnel area in combination with the signal interference features to determine a signal interference intensity category; an interference detection module is connected to an evaluation scheduling module, and is configured to identify a path direction of the target vehicle, determine signals emitted by the target vehicle between a front adjacent positioning base station and a rear adjacent positioning base station of the target vehicle, determine signals received by the front adjacent positioning base station and the rear adjacent positioning base station at interval time points, determine a matching deviation degree of a moving distance of the target vehicle, and evaluate whether a signal transmission criterion is met in combination with a bending radius of a corresponding intermediate area path to determine whether the positioning base station receives signals in time; a regular detection module is connected to the evaluation scheduling module, and is configured to determine signal receiving time lengths of the front and rear adjacent positioning base stations of the target vehicle to determine whether the positioning base station receives signals in time; the evaluation scheduling module is connected to the transmission analysis module, and is configured to call the interference detection module or the regular detection module in response to a determination result of the transmission analysis module.

2. The system according to claim 1, wherein, The transmission analysis module is configured to analyze the signal interference characteristic values of the current tunnel area, including: a first signal interference feature is determined by taking a ratio of the moving object appearance frequency to a moving object appearance frequency threshold value; a second signal interference feature is determined by taking a sum of a ratio of the signal density to a signal density threshold value and a ratio of the distribution density of the fixed objects to a distribution density threshold value; the signal interference characteristic values are determined by weighted summation of the first signal interference feature and the second signal interference feature.

3. The system according to claim 2, wherein, The transmission analysis module is configured to determine the signal interference intensity category, including: if the signal interference characteristic values are greater than or equal to a signal interference characteristic threshold value, the signal interference intensity category is determined as a strong interference category; if the signal interference characteristic values are less than the signal interference characteristic threshold value, the signal interference intensity category is determined as a weak interference category. The evaluation scheduling module is configured to respond to the determination result of the transmission analysis module, including:

4. The system according to claim 3, wherein the system further comprises a tunneling device, a tunneling device is arranged in the first terminal and the second terminal, and the tunneling device is used to transmit the high-precision Beidou positioning information in the tunnel. if the determination result of the transmission analysis module is the strong interference category, the interference detection module is called; if the determination result of the transmission analysis module is the weak interference category, the regular detection module is called. The interference detection module is configured to evaluate whether the signal transmission criterion is met, including:

5. The system according to claim 1, wherein, if the matching deviation degree is greater than a matching deviation degree threshold value and the bending radius is greater than a bending radius threshold value, it is evaluated that the signal transmission criterion is met. The interference detection module is configured to determine whether the positioning base station receives signals in time, including: ​ 6. The system according to claim 5, wherein the system further comprises a tunneling device for tunneling the high-precision Beidou positioning information to the remote terminal through the tunneling device. ​ If the signal transmission criterion is met, it is determined that the positioning base station receives signals in time.

7. The system according to claim 1, wherein the system further comprises a tunneling device for transmitting the high-precision Beidou positioning information to the remote terminal through a tunneling protocol. The conventional detection module is used to determine whether the positioning base station receives signals in time, comprising, The signal receiving time length of the front and rear adjacent positioning base stations of the target vehicle is obtained, and the mean value of the signal receiving time length is solved. If the mean value of the signal receiving time length is within the standard range of the signal receiving time length, it is determined that the positioning base station receives signals in time. The standard range of the signal receiving time length is pre-set.

8. The system according to claim 1, wherein, Further comprising, the distribution density of the fixed objects, Comprising, The image of the distribution of the fixed objects in the tunnel area is determined based on the image data of the tunnel area. The shortest distance and the average distance from the fixed objects to the corresponding positioning base station in the tunnel area are determined according to the image of the distribution of the fixed objects. The area of the fixed object occupied area is determined. The sum of the ratio of the shortest distance to the average distance and the ratio of the area of the fixed object occupied area to the area of the tunnel area is taken as the distribution density.

9. The system according to claim 1, wherein, Further comprising, the matching deviation degree is determined, Comprising, The signals of the front adjacent positioning base station at interval time are obtained respectively, and the first position group of the target vehicle at the corresponding time is determined. The signals of the rear adjacent positioning base station at interval time are obtained respectively, and the second position group of the target vehicle at the corresponding time is determined. The first path is determined based on the first position group, and the second path is determined based on the second position group. The first path and the second path are fitted, the fitting degree is determined, and the fitting degree is taken as the matching deviation degree.

10. The system according to claim 1, wherein, Further comprising, If the positioning base station does not receive signals in time, a prompt signal is sent out.

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