Indoor operator and distribution box anti-misoperation synchronous positioning method

Abstract

The invention relates to the technical field of indoor positioning methods, in particular to an indoor operator and distribution box anti-misoperation synchronous positioning method, which comprises the following steps: acquiring distribution box data obtained from a distribution box Bluetooth beacon and operator data obtained from an operator Bluetooth beacon; constructing a first state estimation model, and performing state updating on the distribution box data and the operator data; constructing a second state estimation model, and inputting the position feature matrix into the second state estimation model for state estimation; and calculating the distance between the position of the distribution box and the position of the operator. The distribution box data and the operator data are updated in real time through the first state estimation model, the accuracy of indoor positioning of the distribution box position and the operator position is improved, the position feature matrix is formed and then input into the second state estimation model for state estimation, meanwhile, the distribution box position and the operator position are subjected to state estimation, and the positioning accuracy is improved. And real-time synchronous positioning of distribution box data and operator data is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of indoor positioning methods, and more particularly to a synchronous positioning method for indoor operators and distribution boxes to prevent misoperation. Background Art

[0002] Indoor positioning methods primarily include technologies based on wireless signals (such as Wi-Fi, Bluetooth, and RFID) and sensors (such as inertial measurement units). While the accuracy and reliability of these methods vary, they are all affected by environmental factors such as obstacles and signal interference. Among these methods, common signal strength-based positioning techniques (such as RSSI positioning) are simple to implement, but often lack accuracy due to signal attenuation and multipath effects. Sensor-based positioning methods, while offering high accuracy, are susceptible to sensor drift and accumulated errors in practical applications.

[0003] Furthermore, existing indoor positioning technologies have significant shortcomings when handling diverse positioning needs. As the number and variety of devices increase, traditional positioning algorithms are prone to problems such as decreased positioning accuracy and insufficient real-time performance when handling complex scenarios. This is particularly true when real-time simultaneous positioning of distribution boxes and operators is required, making traditional methods inadequate, leading to increased safety risks. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology in inaccurate indoor positioning of the distribution box position and the operator position, and to provide an indoor operator and distribution box anti-misoperation synchronous positioning method to improve the accuracy of indoor positioning of the distribution box position and the operator position.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: Provided is a method for synchronously locating indoor operators and distribution boxes to prevent misoperation, comprising: S1: Extract the operation instructions from the operation ticket and determine the distribution box reserved by the operator; S2: Collect the distribution box data obtained from the distribution box Bluetooth beacon and the operator data obtained from the operator Bluetooth beacon; S3: Construct a first state estimation model, and update the state of the distribution box data and the operator data according to the kinematic equation to obtain updated distribution box data and updated operator data; S4: Construct a second state estimation model, obtain the distribution box position from the updated distribution box data, obtain the operator position from the updated operator data, form a position feature matrix with the distribution box position and the operator position, input the position feature matrix into the second state estimation model for state estimation, and obtain an updated position feature matrix; S5: Obtain the updated distribution box position and the updated operator position from the updated position feature matrix, and calculate the distance between the updated distribution box position and the updated operator position; S6: Set a distance threshold. When the distance between the updated distribution box position and the updated operator position is less than or equal to the distance threshold, the distribution box is turned on; when the distance between the updated distribution box position and the updated operator position is greater than the distance threshold, the distribution box is turned off and steps S2 to S6 are repeated.

[0006] The present invention's method for synchronously locating indoor operators and distribution boxes to prevent misoperation involves extracting operating instructions from an operation ticket before the operator enters the room, identifying the distribution box they intend to operate. This method uses a Bluetooth beacon on the distribution box to obtain real-time distribution box data, and uses the operator's Bluetooth beacon to obtain real-time operator data. A first state estimation model is used to update both the distribution box data and the operator data in real time, ensuring timely positioning results and real-time location of both the distribution box data and the operator data. The distribution box position and the operator position are obtained from the data obtained from real-time updates. The distribution box position and the operator position form a position feature matrix and are then input into the second state estimation model for state estimation. At the same time, the state estimation of the distribution box position and the operator position ensures the real-time synchronous positioning of the operator and the distribution box. Finally, the distance between the updated distribution box position and the updated operator position obtained from the updated position feature matrix is calculated. When the distance between the updated distribution box position and the updated operator position is less than the distance threshold, the distribution box is turned on; when the distance between the updated distribution box position and the updated operator position is greater than or equal to the distance threshold, the distribution box is turned off, and the distribution box data and the operator data are repeatedly updated. The distribution box data and operator data are updated in real time through the first state estimation model, ensuring the timeliness of the positioning results and improving the accuracy of indoor positioning of the distribution box position and the operator position. After forming the position feature matrix, it is input into the second state estimation model for state estimation. At the same time, the state estimation of the distribution box position and the operator position ensures the real-time synchronous positioning of the distribution box data and the operator data. Finally, the distance between the updated distribution box position and the updated operator position obtained in the updated position feature matrix is calculated to improve the accuracy of indoor positioning of the distribution box position and the operator position.

[0007] Preferably, step S2 is specifically performed according to the following steps: S21: A Bluetooth location receiver is installed in each of the four corners of the room, and Bluetooth beacons are installed in the distribution box and the operator; S22: The distribution box Bluetooth beacon detects four Bluetooth location receivers to obtain distribution box data, which is specifically expressed as the following formula:

[0008] in, P box Indicates the location of the distribution box; b 1. b 2. b 3. b 4 represents the distribution box data in the four Bluetooth location receivers measured by the distribution box Bluetooth beacon; The operator's Bluetooth beacon detects four Bluetooth location receivers to obtain operator data, which is specifically expressed as the following formula:

[0009] in, P operator Indicates the operator's position; O 1. O 2. O 3. O 4 represents the operator data from the four Bluetooth location receivers measured by the operator's Bluetooth beacon. The data between the Bluetooth beacon and the four Bluetooth location receivers is used to obtain the distribution box data and operator data, effectively locating the distribution box and operator locations.

[0010] Preferably, the distribution box data measured by each Bluetooth location receiver in the distribution box Bluetooth beacon and the operator data measured by each Bluetooth location receiver in the operator Bluetooth beacon both include RSSI data and IMU data. By integrating RSSI data with IMU data, the limitations of single signal source positioning are avoided and the system's positioning accuracy is improved.

[0011] Preferably, in step S2, the distribution box data and the operator data are measured multiple times and error correction is performed, specifically using the following formula:

[0012] in, α represents the step size parameter; P new ( t ) represents updated distribution box data or operator data; P measure ( t ) indicates the currently measured distribution box data or operator data; P old ( t) represents the distribution box data or operator data measured at the last moment. Continuous optimization of position information and signal transmission ensures continuous improvement in positioning accuracy. Real-time error correction using the step size parameter ensures efficient system operation and further improves system response speed and reliability.

[0013] Preferably, in step S3, the extended Kalman filter performs state update based on pedestrian dead reckoning using IMU data to construct a first state estimation model. The first state estimation model is specifically represented by the following formula:

[0014] in, x t A binary anchor representing a Bluetooth beacon; Represents the position vector at time t in the navigation coordinate system n; 、 、 They represent the components of the position vector on the x, y, and z axes at time t in the navigation coordinate system e, respectively; Represents the velocity vector at time t in the navigation coordinate system n; 、 、 They represent the components of the velocity vector on the x, y, and z axes at time t in the navigation coordinate system e, respectively; The quaternion at time t in the Earth coordinate system n is related to the longitude, latitude and altitude; 、 、 where represents the x-, y-, and z-axis components of the quaternion at time t in the Earth coordinate system e. Using an extended Kalman filter combined with binary anchors from Bluetooth beacons, a state estimation model updates the positions of devices and personnel in real time. This fusion model effectively reduces drift errors and ensures accurate position estimation in complex environments.

[0015] Preferably, in step S3, the status of the distribution box data and the operator data is updated according to the kinematic equation, specifically using the following formula:

[0016] in, Represents the position vector at time t-1 in the navigation coordinate system n; Represents the velocity vector at time t-1 in the navigation coordinate system n; It represents the quaternion at time t-1 in the earth coordinate system n, which is related to the longitude, latitude and altitude; express The conjugate quaternion of ; Represents the motion acceleration measured by the sensor in the navigation coordinate system; Represents the angular velocity of motion measured by the sensor in the navigation coordinate system; represents the acceleration due to gravity; Represents the time interval between two samplings. Sensor-measured angular velocity and acceleration are used to determine the position in the navigation coordinate system. Quaternions are then used to determine the position in the Earth coordinate system. Positioning is then combined with the navigation and Earth coordinate data for improved accuracy. The fusion of Bluetooth beacon and IMU data, combined with the extended Kalman filter for precise position estimation, can effectively reduce positioning errors, especially in complex indoor environments.

[0017] Preferably, the position feature matrix in step S4 is specifically expressed as the following formula:

[0018] in, X Represents the position feature matrix. The distribution box data and operator data are combined into a position feature matrix and then the position is updated, ensuring real-time synchronous positioning of the operator and the distribution box.

[0019] Preferably, the second state estimation model in step S4 is an extended Kalman filter, and the position feature matrix is input into the extended Kalman filter for state estimation, specifically using the following formula:

[0020] in, Represents the updated position feature matrix at time t; Represents the position feature matrix at time t-1; K t represents the Kalman gain; Z t represents the observation matrix; H Represents the observation model matrix. The position feature matrix X is input into the extended Kalman filter for state estimation, and the position and relative position of the distribution box and the operator are updated in real time to ensure accurate synchronous positioning.

[0021] Preferably, in step S5, the distance between the distribution box location and the operator location is calculated using the following formula:

[0022] in, express Always update the distribution box location and Always update the distance between operators’ positions; express Always update the location of distribution boxes; express The operator's position is constantly updated. After synchronous positioning, the updated distribution box position and the updated operator position are obtained from the updated position feature matrix, and the distance between the updated distribution box position and the updated operator position is calculated.

[0023] Preferably, step S6 specifically uses the following formula:

[0024] Among them, state represents the distribution box; d Indicates the distance threshold. Always update the distribution box location and When the distance between the operator's position is less than or equal to the distance threshold, the distribution box is turned on; Always update the distribution box location and When the distance between the operator's positions is greater than the distance threshold, the distribution box is closed.

[0025] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a synchronous positioning method for indoor operators and distribution boxes to prevent misoperation. The distribution box data and operator data are updated in real time through a first state estimation model, ensuring the timeliness of the positioning results and improving the accuracy of indoor positioning of the distribution box position and the operator position. After forming a position feature matrix, it is input into the second state estimation model for state estimation. At the same time, the state estimation of the distribution box position and the operator position is carried out, ensuring the real-time synchronous positioning of the distribution box data and the operator data. Finally, the distance between the distribution box position and the operator position is calculated by updating the distribution box position and the operator position obtained in the position feature matrix, thereby improving the accuracy of indoor positioning of the distribution box position and the operator position.

[0026] 2. The present invention provides a synchronous positioning method for indoor operators and distribution boxes to prevent misoperation. The method obtains the position in the navigation coordinate system by measuring the angular velocity and acceleration of motion by sensors, obtains the position in the earth coordinate system by quaternions, and performs positioning processing based on the data in the navigation coordinate system and the earth coordinate system to improve positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a method for synchronously locating indoor operators and distribution boxes to prevent misoperation. DETAILED DESCRIPTION

[0028] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The present invention will be further described below in conjunction with specific embodiments.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text is to include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that meet both A and B.

[0030] Example 1 This embodiment is the first embodiment of a method for synchronously locating indoor operators and distribution boxes to prevent misoperation. Figure 1 Shown, including: S1: Extract the operation instructions from the operation ticket and determine the distribution box reserved by the operator; the distribution box is placed indoors, and an operation ticket identifier is installed at the door of the distribution box. Before the operator enters the room to operate the distribution box, the operation ticket is identified on the operation ticket identifier, allowing the system to determine the distribution box reserved by the operator.

[0031] S2: Collect distribution box data from the distribution box's Bluetooth beacon and operator data from the operator's Bluetooth beacon. In this embodiment, the Bluetooth beacon uses a Bluetooth Low Energy (BLE) beacon. Each indoor distribution box is equipped with a Bluetooth beacon. The specific distribution box Bluetooth beacon is determined in step S1, and the operator wears a Bluetooth beacon. A Bluetooth location receiver is installed indoors, and the Bluetooth beacon obtains the required data through the Bluetooth location receiver.

[0032] In step S2, the distribution box data and operator data are measured multiple times and error correction is performed, specifically using the following formula:

[0033] in, α represents the step size parameter; P new ( t ) represents updated distribution box data or operator data; P measure ( t ) indicates the currently measured distribution box data or operator data; P old ( t) represents the distribution box data or operator data measured at the last moment. By continuously optimizing position information and signal transmission, the positioning accuracy is continuously improved. The error is corrected in real time through the step size parameter, which ensures the efficient operation of the system and further improves the response speed and reliability of the system. In this embodiment, in order to reduce the amount of calculation, when the operator continues to move to the distribution box position, step S2 is repeated. When the operator's position remains unchanged after multiple error corrections, that is, when the operator stands still at the distribution box position, the error correction is stopped and step S3 is entered.

[0034] S3: Build a first state estimation model, and update the state of the distribution box data and the operator data according to the kinematic equation to obtain updated distribution box data and updated operator data; S4: Construct a second state estimation model, obtain the distribution box position from the updated distribution box data, obtain the operator position from the updated operator data, form a position feature matrix with the distribution box position and the operator position, input the position feature matrix into the second state estimation model for state estimation, and obtain an updated position feature matrix; S5: Obtain the updated distribution box position and the updated operator position from the updated position feature matrix, and calculate the distance between the updated distribution box position and the updated operator position; In step S5, the distance between the updated distribution box position and the updated operator position is calculated using the following formula:

[0035] in, express Always update the distribution box location and Always update the distance between operators’ positions; express Always update the location of distribution boxes; express The operator's position is constantly updated. After synchronous positioning, the updated distribution box position and the updated operator position are obtained from the updated position feature matrix, and the distance between the updated distribution box position and the updated operator position is calculated.

[0036] S6: Set a distance threshold. When the distance between the distribution box and the operator is less than or equal to the distance threshold, the distribution box is turned on. When the distance between the distribution box and the operator is greater than the distance threshold, the distribution box is turned off and steps S2 to S6 are repeated. Step S6 specifically uses the following formula:

[0037] Among them, state represents the distribution box; d Indicates the distance threshold. Always update the distribution box location and When the distance between the operator's position is less than or equal to the distance threshold, the distribution box is turned on; Always update the distribution box location and When the distance between the operator's constantly updated location exceeds the distance threshold, the distribution box shuts down. This location-based synchronization control mechanism for preventing misoperation of the distribution box prevents operators from operating the wrong distribution box, improving the safety of distribution box operation.

[0038] The working principle of the method for synchronously locating indoor operators and distribution boxes to prevent misoperation in this embodiment is as follows: Before the operator enters the room, the operation ticket extracts the operation instructions and determines the distribution box that the operator needs to operate. The distribution box data is obtained in real time through the distribution box Bluetooth beacon, and the operator data is obtained in real time through the operator Bluetooth beacon. The first state estimation model updates the distribution box data and operator data in real time, ensuring the timeliness of the positioning results and the real-time positioning of the distribution box data and operator data. The distribution box position and the operator position are obtained from the data obtained from real-time updates. The distribution box position and the operator position form a position feature matrix and are then input into the second state estimation model for state estimation. At the same time, the state estimation of the distribution box position and the operator position ensures the real-time synchronous positioning of the operator and the distribution box. Finally, the distance between the updated distribution box position and the updated operator position obtained from the updated position feature matrix is calculated. When the distance between the updated distribution box position and the updated operator position is less than the distance threshold, the distribution box is turned on; when the distance between the updated distribution box position and the updated operator position is greater than or equal to the distance threshold, the distribution box is turned off, and the distribution box data and the operator data are repeatedly updated. The distribution box data and operator data are updated in real time through the first state estimation model, ensuring the timeliness of the positioning results and improving the accuracy of indoor positioning of the distribution box position and the operator position. After forming the position feature matrix, it is input into the second state estimation model for state estimation. At the same time, the state estimation of the distribution box position and the operator position ensures the real-time synchronous positioning update of the distribution box data and the operator data. Finally, the distance between the updated distribution box position and the updated operator position obtained in the updated position feature matrix is calculated to improve the accuracy of indoor positioning of the distribution box position and the operator position.

[0039] Example 2 This embodiment is a second embodiment of the method for synchronously locating an indoor operator and a distribution box to prevent misoperation. This embodiment is similar to the first embodiment, except that step S2 is specifically performed as follows: S21: A Bluetooth location receiver is set at each of the four corners of the room, and the distribution box and the operator are both equipped with Bluetooth beacons; in this embodiment, the indoor area where the distribution box is placed is a rectangle, and the four Bluetooth location receivers are placed at the four corners of the rectangle.

[0040] S22: The distribution box Bluetooth beacon detects four Bluetooth location receivers to obtain distribution box data, which is specifically expressed as the following formula:

[0041] in, P box Indicates the location of the distribution box; b 1. b 2. b 3. b 4 respectively represents the distribution box data in the four Bluetooth location receivers measured in the distribution box Bluetooth beacon; The operator's Bluetooth beacon detects four Bluetooth location receivers to obtain operator data, which is specifically expressed as the following formula:

[0042] in, P operator Indicates the operator's position; O 1. O 2. O 3. O 4 represents the operator data from the four Bluetooth location receivers measured by the operator's Bluetooth beacon. The data between the Bluetooth beacon and the four Bluetooth location receivers is used to obtain the distribution box data and operator data, effectively locating the distribution box and operator locations.

[0043] The position feature matrix in step S4 is specifically expressed as the following formula:

[0044] in, X Represents the position feature matrix. The position feature matrix is constructed by combining the distribution box position and the operator position, and then the position is updated, ensuring the real-time synchronous positioning of the operator and the distribution box.

[0045] In step S4, the second state estimation model is an extended Kalman filter. The position feature matrix is input into the extended Kalman filter for state estimation. Specifically, the following formula is used:

[0046] in, Represents the updated position feature matrix at time t; Represents the position feature matrix at time t-1; Kt represents the Kalman gain; Z t represents the observation matrix; H Represents the observation model matrix. The position feature matrix X is input into the extended Kalman filter for state estimation, and the position and relative position of the distribution box and the operator are updated in real time to ensure accurate synchronous positioning.

[0047] Example 3 This embodiment is the third embodiment of the method for synchronously locating indoor operators and distribution boxes to prevent misoperation. This embodiment is similar to the first embodiment, except that the distribution box data in each Bluetooth location receiver and the operator data in each Bluetooth location receiver include RSSI data and IMU data, that is, b 1. b 2. b 3. b 4. O 1. O 2. O 3. O 4 include RSSI data and IMU data. The RSSI data and IMU data used in this embodiment include the position vector in the navigation coordinate system n, the velocity vector in the navigation coordinate system n, the quaternion in the earth coordinate system n, the motion acceleration measured by the sensor in the navigation coordinate system, and the motion angular velocity measured by the sensor in the navigation coordinate system. The BLE beacon detection signal strength indication (RSSI) is used as an indirect measurement indicator of distance. The preliminary position of the distribution box and the operator is determined based on the RSSI and the pre-deployed positioning map. The motion status of the operator and the distribution box is updated through the data of the accelerometer and gyroscope sensors, combined with the inertial measurement of the IMU.

[0048] By fusing RSSI and IMU data, the limitations of single-signal source positioning are avoided. Combining signal strength indicator (RSSI) and inertial measurement unit (IMU) data improves the system's positioning accuracy, enhancing both accuracy and robustness, enabling high-precision positioning in dynamic environments. By fusing Bluetooth beacon and IMU data and combining them with the extended Kalman filter for precise position estimation, positioning errors can be effectively reduced, especially in complex indoor environments.

[0049] In step S3, the extended Kalman filter performs state update based on the pedestrian dead reckoning of the IMU data and constructs a first state estimation model. The first state estimation model is specifically represented by the following formula:

[0050] in, x t A binary anchor representing a Bluetooth beacon; Represents the position vector at time t in the navigation coordinate system n; 、 、 They represent the components of the position vector on the x, y, and z axes at time t in the navigation coordinate system e, respectively; Represents the velocity vector at time t in the navigation coordinate system n; 、 、 They represent the components of the velocity vector on the x, y, and z axes at time t in the navigation coordinate system e, respectively; The quaternion at time t in the Earth coordinate system n is related to the longitude, latitude and altitude; 、 、 The x, y, and z components of the quaternion at time t, respectively, are represented in the Earth coordinate system e. Using an extended Kalman filter combined with binary anchors from Bluetooth beacons, the first state estimation model updates the locations of devices and personnel in real time. This fusion model effectively reduces drift errors and ensures accurate position estimation in complex environments.

[0051] In step S3, the status of the distribution box data and operator data is updated according to the kinematic equation, specifically using the following formula:

[0052] in, Represents the position vector at time t-1 in the navigation coordinate system n; Represents the velocity vector at time t-1 in the navigation coordinate system n; It represents the quaternion at time t-1 in the earth coordinate system n, which is related to the longitude, latitude and altitude; express The conjugate quaternion of ; Represents the motion acceleration measured by the sensor in the navigation coordinate system; Represents the angular velocity of motion measured by the sensor in the navigation coordinate system; represents the acceleration due to gravity; Represents the time interval between two samplings. The parameters used in the formula are obtained from the distribution box Bluetooth beacon and the operator Bluetooth beacon. The position in the navigation coordinate system is obtained using the angular velocity and acceleration measured by the sensor. The position in the earth coordinate system is obtained using quaternions. Positioning is performed by combining the data in the navigation and earth coordinate systems to improve positioning accuracy.

[0053] Positioning results are continuously transmitted to the system through real-time feedback, and sensor data (BLE signals and IMU data) is used to optimize accuracy. Kalman gain adjustment and error correction optimize the accuracy of position signal transmission and system response speed, thereby improving the stability and reliability of the positioning system.

[0054] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0055] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A method for synchronous positioning of indoor operators and distribution boxes to prevent misoperation, characterized in that: include: S1: Extract the operation instructions from the operation ticket and determine the distribution box reserved by the operator; S2: Collect the distribution box data obtained from the distribution box Bluetooth beacon and the operator data obtained from the operator Bluetooth beacon; S3: Build a first state estimation model, and update the state of the distribution box data and the operator data according to the kinematic equation to obtain updated distribution box data and updated operator data; S4: Construct a second state estimation model, obtain the distribution box position from the updated distribution box data, obtain the operator position from the updated operator data, form a position feature matrix with the distribution box position and the operator position, input the position feature matrix into the second state estimation model for state estimation, and obtain an updated position feature matrix; S5: Obtain the updated distribution box position and the updated operator position from the updated position feature matrix, and calculate the distance between the updated distribution box position and the updated operator position; S6: Set a distance threshold. When the distance between the updated distribution box position and the updated operator position is less than or equal to the distance threshold, the distribution box is turned on; when the distance between the updated distribution box position and the updated operator position is greater than the distance threshold, the distribution box is turned off and steps S2 to S6 are repeated.

2. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 1, characterized in that: Step S2 is specifically performed as follows: S21: A Bluetooth location receiver is installed in each of the four corners of the room, and Bluetooth beacons are installed in the distribution box and the operator; S22: The distribution box Bluetooth beacon detects four Bluetooth location receivers to obtain distribution box data, which is specifically expressed as the following formula: in, P box Indicates the location of the distribution box; b 1. b 2. b 3. b 4 represents the distribution box data in the four Bluetooth location receivers measured by the distribution box Bluetooth beacon; The operator's Bluetooth beacon detects four Bluetooth location receivers to obtain operator data, which is specifically expressed as the following formula: in, P operator Indicates the operator's position; O 1. O 2. O 3. O 4 represents the operator data from the four Bluetooth position receivers measured from the operator's Bluetooth beacon.

3. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 2, characterized in that: The distribution box data in each Bluetooth location receiver measured in the distribution box Bluetooth beacon and the operator data in each Bluetooth location receiver measured in the operator Bluetooth beacon both include RSSI data and IMU data.

4. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 1, characterized in that: In step S2, the distribution box data and operator data are measured multiple times and error correction is performed, specifically using the following formula: in, α represents the step size parameter; P new ( t ) represents updated distribution box data or operator data; P measure ( t ) indicates the currently measured distribution box data or operator data; P old ( t ) indicates the distribution box data or operator data measured at the last moment.

5. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 3, characterized in that: In step S3, the extended Kalman filter performs state update based on the pedestrian dead reckoning of the IMU data and constructs a first state estimation model. The first state estimation model is specifically represented by the following formula: in, ξ t A binary anchor representing a Bluetooth beacon; Represents the position vector at time t in the navigation coordinate system n; 、 、 They represent the components of the position vector on the x, y, and z axes at time t in the navigation coordinate system e, respectively; Represents the velocity vector at time t in the navigation coordinate system n; 、 、 They represent the components of the velocity vector on the x, y, and z axes at time t in the navigation coordinate system e, respectively; The quaternion at time t in the Earth coordinate system n is related to the longitude, latitude and altitude; 、 、 They represent the components of the quaternion on the x, y, and z axes at time t in the earth coordinate system e.

6. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 5, characterized in that: In step S3, the status of the distribution box data and operator data is updated according to the kinematic equation, specifically using the following formula: in, Represents the position vector at time t-1 in the navigation coordinate system n; Represents the velocity vector at time t-1 in the navigation coordinate system n; It represents the quaternion at time t-1 in the earth coordinate system n, which is related to the longitude, latitude and altitude; express The conjugate quaternion of ; Represents the motion acceleration measured by the sensor in the navigation coordinate system; Represents the angular velocity of motion measured by the sensor in the navigation coordinate system; represents the acceleration due to gravity; Indicates the time interval between two samples.

7. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 2, characterized in that: The position feature matrix in step S4 is specifically expressed as the following formula: in, X Represents the position feature matrix.

8. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 7, characterized in that: In step S4, the second state estimation model is an extended Kalman filter. The position feature matrix is input into the extended Kalman filter for state estimation. Specifically, the following formula is used: in, Represents the updated position feature matrix at time t; Represents the position feature matrix at time t-1; K t represents the Kalman gain; Z t represents the observation matrix; H Represents the observation model matrix.

9. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to any one of claims 1 to 8, characterized in that: In step S5, the distance between the distribution box and the operator is calculated using the following formula: in, express Always update the distribution box location and Always update the distance between operators’ positions; express Always update the location of distribution boxes; express Update operator location at all times.

10. The method for synchronously locating indoor operators and distribution boxes to prevent misoperation according to claim 9, characterized in that: Step S6 specifically uses the following formula: Among them, state represents the distribution box; δ Indicates the distance threshold.

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