Highway pavement disease positioning system, method, device and medium

Abstract

The application provides a highway pavement disease positioning system, method, device and medium. A plurality of electronic road element tags are arranged on the side of the highway along the running direction of the highway. When a staff member carries a handheld terminal to the pavement disease position, the position of the handheld terminal, that is, the position of the pavement disease, is determined through interaction between the handheld terminal and the electronic road element tags and data calculation processing of the handheld terminal. The position is expressed by a lane and a corresponding pile number where the pavement disease is located. Thus, the handheld terminal is used for pavement disease positioning, which is not affected by factors such as terrain and signal interference, and data calculation can reach centimeter level, so as to ensure the accuracy of disease positioning, avoid deviation caused by subjective pavement disease positioning, ensure the accuracy of disease positioning, improve the inspection efficiency, and realize rapid response and accurate maintenance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a highway pavement disease positioning system, method, device and medium. BACKGROUND

[0002] As the core artery of modern transportation network, the health status of highway pavement directly affects driving safety and operation and maintenance costs.

[0003] Traditional highway disease positioning technology mainly relies on the following methods: coarse-grained positioning based on manual inspection and GPS, the inspector identifies the disease by visual recognition, records the position with a vehicle-mounted / handheld GPS device, and the position is described by "kilometer post + offset". This method has at least the following technical defects:

[0004] 1. Insufficient disease positioning accuracy: traditional GPS positioning is easily affected by factors such as terrain and signal interference, with an error of tens of meters, which is difficult to meet the needs of lane centimeter-level positioning.

[0005] 2. Misalignment of long and short chain area positioning: In highway construction, there may be differences between actual mileage and theoretical mileage due to terrain, bridges, tunnels, etc., which is called chain break. Chain break is divided into:

[0006] Long chain break: actual mileage > theoretical mileage, mileage needs to be reduced;

[0007] Short chain break: actual mileage < theoretical mileage, mileage needs to be increased.

[0008] Traditional methods cannot automatically correct the post number positioning error caused by chain break, resulting in mismatch between disease location record and actual road post number.

[0009] 3. Low efficiency of manual inspection and poor data consistency: relying on manual recording of disease location (lane, post number), there are problems such as information lag and recording error, making it difficult to achieve rapid response and accurate maintenance, and manual recording is prone to subjective bias, with a large post number deviation rate for the same disease in multiple inspections. SUMMARY

[0010] The present application proposes a highway pavement disease positioning system, method, device and medium, which can solve one of the problems in the background art.

[0011] To achieve the above purpose, the present application adopts the following technical scheme:

[0012] In a first aspect, a highway pavement disease positioning system is provided, the positioning system comprising:

[0013] The electronic road element tag subsystem comprises: a plurality of electronic road element tags arranged along the running direction of the expressway on the side of the expressway, the electronic road element tags storing preset mileposts; and

[0014] The handheld terminal is used for a worker at the position of the road disease to hold and operate, and is used for detecting a first electronic road element tag with the first signal strength and a second electronic road element tag with the second signal strength on the same side of the expressway; based on the signal strength and a signal path loss model, a first distance between the handheld terminal and the first electronic road element tag and a second distance between the handheld terminal and the second electronic road element tag are calculated, a third distance between the first electronic road element tag and the second electronic road element tag is calculated by using a first preset milepost corresponding to the first electronic road element tag and a second preset milepost corresponding to the second electronic road element tag, terminal coordinates of the handheld terminal in a calculation coordinate system are obtained based on the first distance, the second distance, the third distance and the calculation coordinate system, the terminal coordinates comprising a vertical distance from the road disease to the side of the expressway; a lane where the road disease is located is determined according to a conversion rule between the vertical distance and the lane; and a milepost corresponding to the road disease is obtained based on the terminal coordinates and the first preset milepost or based on the terminal coordinates and the second preset milepost, and road disease positioning information comprises the lane where the road disease is located and the milepost corresponding to the road disease.

[0015] Based on the above technical solution, when the worker carrying the handheld terminal reaches the position of the road disease, the position of the handheld terminal, that is, the position of the road disease, is determined through the interaction between the handheld terminal and the electronic road element tag and the data calculation and processing of the handheld terminal, the position is expressed by the lane where the road disease is located and the corresponding milepost, thus, the road disease positioning by using the handheld terminal is not affected by factors such as terrain and signal interference, the data calculation can reach the centimeter level, thereby ensuring the accuracy of the disease positioning, avoiding the deviation caused by the subjective positioning of the road disease by human, ensuring the accuracy of the disease positioning, and improving the inspection efficiency, so that rapid response and accurate maintenance can be realized.

[0016] In a possible design manner of the first aspect, the handheld terminal is further used for: judging whether the road disease corresponds to a broken link interval according to a broken link database and the milepost corresponding to the road disease, and if yes, correcting the milepost corresponding to the road disease by using a broken link compensation formula as follows: PR=DFS / IL, wherein, PR is the corrected milepost corresponding to the road disease, PL is the milepost corresponding to the road disease before correction, is the difference between the actual mileage and the theoretical mileage in the broken link database, PR is the broken link coefficient, DFS is the distance from the current position to the broken link starting point, and IL is the total length of the broken link interval.

[0017] Based on the above technical scheme, by judging whether the road disease is in the long or short broken link interval, and then using the broken link compensation algorithm to correct the initial obtained pile number corresponding to the road disease, the pile number positioning error caused by the broken link can be automatically corrected, and the accuracy of road disease positioning is further ensured.

[0018] In a possible design of the first aspect, the signal path loss model is: wherein, is the calculated distance, i is the position marker, is the reference distance, RSSI is the signal strength, and n is the environmental attenuation factor.

[0019] In a possible design of the first aspect, the handheld terminal is specifically configured to: subtract the second preset pile number from the first preset pile number to obtain the third distance.

[0020] In a possible design of the first aspect, the conversion rule LP between the perpendicular distance and the lane is: wherein, is the perpendicular distance, is the distance boundary value corresponding to different types of lanes.

[0021] In a possible design of the first aspect, the electronic road element label further stores a label latitude and longitude, and the handheld terminal is further configured to: use Gauss projection to convert the first label latitude and longitude corresponding to the first electronic road element label and the second label latitude and longitude corresponding to the second electronic road element label into first label plane rectangular coordinates and second label plane rectangular coordinates; determine the relationship between the terminal plane rectangular coordinates of the handheld terminal and the first label plane rectangular coordinates and the second label plane rectangular coordinates according to a distance formula, and solve the terminal plane rectangular coordinates; and use Gauss inverse projection to convert the terminal plane rectangular coordinates into terminal latitude and longitude of the handheld terminal, and the road disease positioning information further includes the terminal latitude and longitude.

[0022] In a possible design of the first aspect, the electronic road element label is provided with a Bluetooth communication module, a memory, a processing module, and a power module, and the signal strength is a Bluetooth signal strength.

[0023] Secondly, a highway road disease positioning method is provided, and the method is based on the positioning system as described above, and the method comprises:

[0024] The first electronic road element tag with the highest signal strength and the second electronic road element tag with the second highest signal strength are detected on the same side of the expressway;

[0025] Based on the signal strength and the signal path loss model, a first distance between the handheld terminal and the first electronic road element tag and a second distance between the handheld terminal and the second electronic road element tag are calculated, a third distance between the first electronic road element tag and the second electronic road element tag is calculated by using a first preset stake number corresponding to the first electronic road element tag and a second preset stake number corresponding to the second electronic road element tag, and a terminal coordinate of the handheld terminal in a calculation coordinate system is obtained based on the first distance, the second distance, the third distance, and the calculation coordinate system, wherein the terminal coordinate includes a vertical distance from the road disease to the side of the expressway.

[0026] According to a conversion rule between the vertical distance and the lane, a lane where the road disease is located is determined.

[0027] Based on the terminal coordinate and the first preset stake number or based on the terminal coordinate and the second preset stake number, a stake number corresponding to the road disease is obtained, and the road disease positioning information includes the lane where the road disease is located and the stake number corresponding to the road disease.

[0028] In a third aspect, an electronic device is provided, which includes a processor and a memory coupled to the processor, the memory being configured to store a computer program, and the processor being configured to execute the computer program stored in the memory, so that the electronic device performs the positioning method of the second aspect.

[0029] In a fourth aspect, a computer readable storage medium is provided, which includes a computer program or instructions, and when the computer program or instructions are run on a computer, the computer is caused to perform the positioning method of the second aspect.

[0030] In a fifth aspect, a computer program product is provided, which includes a computer program or instructions, and when the computer program or instructions are run on a computer, the computer is caused to perform the positioning method of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or related technical descriptions will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0032] Figure 1The electronic road element label positioning pile number intention is provided by the embodiment of the application. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the application clearer and more apparent, the application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and not to limit the application.

[0034] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the sequence in the flowchart. The terms "first", "second", and the like in the specification and claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application belongs. The terms used herein are only for the purpose of describing the embodiments of the application and are not intended to limit the application.

[0036] As Figure 1 shown, the application provides a highway pavement disease precise positioning method and system based on electronic road element label positioning and long-short chain compensation algorithm, which realizes the positioning precision leap from "meter level" to "centimeter level" of disease position by fusing Internet of Things perception and long-short chain correction mechanism. The following core contents are included:

[0037] 1. Electronic road element label deployment: multi-functional electronic road element labels are arranged at a preset interval (20 meters) along the uplink and downlink and the inner and outer sides of the highway. The electronic road element label integrates Bluetooth communication, storage and positioning functions, and provides high-precision lane, pile number, latitude and longitude information through calculation, while being compatible with traditional reflective marker functions. The built-in pile number of the label strictly corresponds to the road design pile number, and the built-in latitude and longitude of the label is obtained through an external high-precision Beidou / GPS dual-mode positioning device, forming a continuous positioning network.

[0038] 2. Intelligent inspection terminal interaction: the patrol personnel establish a connection with the nearest road element label through the Bluetooth module of the handheld terminal PDA (such as a tablet or a dedicated terminal), and obtain the route number, pile number, latitude and longitude data stored in the label in real time, and calculate the final disease location information (lane, pile number, latitude and longitude).

[0039] 3. Long-short chain compensation algorithm triggering: according to the electronic road element label positioning pile number and the broken chain interval in the broken chain data, the long-short chain compensation algorithm is automatically triggered to correct and calculate the pile number.

[0040] 4. Dynamic calibration of disease location: combined with tag positioning data, compensation algorithm output and handheld terminal calculation, lane centimeter level real-time calibration of disease location in the inspection process is realized.

[0041] I. Technical details

[0042] (I) Electronic road element tag positioning

[0043] Through the handheld terminal PDA to search for the two electronic road element tags with the strongest Bluetooth signal, the search result will only appear two electronic road element tags on the same side, and the distance from the handheld terminal PDA to the two tags is calculated according to the Bluetooth signal strength, and the distance between the two tags is calculated to obtain a triangle with three known side lengths, which can be calculated by subtracting the two tags built-in pile number, and finally using the Pythagorean theorem, etc. The accurate position between the two tags such as lane, pile number, latitude and longitude can be calculated.

[0044] Specifically, the electronic road element tag not only retains the safety warning function of the traditional reflective marker, but also integrates the following core modules:

[0045] Bluetooth 5.0 communication module: supports low-power (BLE) transmission, realizes rapid connection (response time <0.5 seconds) between inspection equipment and tags;

[0046] Storage unit: store static information such as pile number, latitude and longitude, long and short chain correction parameters, tag and lane distance, road attribute (such as number of lanes, lane width, up and down, inside and outside, speed limit), etc.

[0047] Power module: solar power + lithium battery dual power supply, supporting continuous work for more than 3 years;

[0048] Of course, there is also a processing module.

[0049] Positioning process:

[0050] First, search for the two electronic road element tags (TagA / TagB) with the strongest Bluetooth signal through the handheld terminal PDA, and convert the signal strength into distance;

[0051] Second, transmit the pile number and latitude and longitude information to the handheld terminal PDA through the Bluetooth transmission of the electronic road element tag for positioning calculation.

[0052] Positioning calculation includes three aspects:

[0053] 1. Pile number calculation:

[0054] ​​According to the current patrol location, the signal strength of the adjacent electronic path element tags is sorted based on the signal strength indication received by the handheld terminal PDA scan, and the two target tags with the highest peak strength (such as TagA / TagB) are locked. The distance from the handheld terminal PDA to the two tags (TabA / TagB) is calculated based on the signal path loss (k, j), and then combined with the distance (de) between the two tags (the distance is calculated by subtracting the built-in stake numbers of the two tags) to obtain a triangle with known three-side lengths.

[0055] Among them, the signal path loss model is: ,in, is the calculated distance; i is the position mark; is the reference distance, for example, 1 meter; RSSI is the signal strength; n is the environmental attenuation factor, for example, n is 3.

[0056] The triangulation algorithm can be used to calculate the precise stake position between the two tags where the current position is located. The detailed steps are as follows:

[0057] Step 1: Establish the coordinate system and equations

[0058] (1) TagA is the coordinate origin (0, 0), TagB is located at (de, 0), the line connecting the pile numbers of TagA and TagB is the x-axis, and the y-axis is the direction of the road surface perpendicular to the x-axis.

[0059] (2) Let the coordinates of the handheld terminal PDA be (x, y). Figure 1 In the equation, x corresponds to d, y corresponds to h, and de corresponds to the sum of d and e. Then, the following equations are satisfied: .

[0060] Solve the equation: .

[0061] Step 2: Solve the simultaneous equations:

[0062] (1) Assuming that the pile number of TabA is K100, the pile number of TagB is K120, de = 20 meters, k = 15 meters, and j = 18 meters, the equations are: .

[0063] (2) Eliminate , which is simplified to: .

[0064] (3) Substituting x = 7.525 into the first equation, we obtain: .

[0065] Step 3: Determine the pile number and vertical point

[0066] Pile number: The projection of the handheld terminal PDA along TagA and TagB (x-axis) is x=7.525, which corresponds to the pile number K107+525 (i.e., K100+7.525 meters);

[0067] Perpendicular point: The foot point is (7.525, 0), and the perpendicular length is .

[0068] Step 4, verification result

[0069] The perpendicular length of 12.98 meters corresponds to the side of 20 meters. According to the triangle inequality, all conditions are met to form a triangle, which meets the geometric logic of a triangle.

[0070] Step 5, output result

[0071] The pile number of the handheld terminal PDA is K107+525, and the perpendicular point is located at the pile number 12.98 meters away.

[0072] 2, lane calculation:

[0073] The lane position of the disease (such as the emergency lane, the driving lane, and the overtaking lane) is determined by calculating the perpendicular length of the current position to the two electronic road element tags The lane position calculation formula is: .

[0074] (1) Scene setting

[0075] 1) The current position of the patrol is uplink, and the installation position of the searched tag is the uplink central guardrail; the lane order corresponding to the tags from near to far is the overtaking lane, the driving lane, and the emergency lane; the lane width is 3.75 meters;

[0076] 2) The distance between the tag and the lane is 0.8 meters (i.e., the distance between the installation position of the electronic road element tag and the edge of the nearest overtaking lane), so the farthest distance from the overtaking lane is 0.8+3.75=4.55 meters, and the distances between the driving lane and the emergency lane can be calculated in the same way;

[0077] 3) The perpendicular length of the current position to the two electronic road element tags is 12.98 meters (the perpendicular length when calculating the pile number);

[0078] (2) Calculation process

[0079] 1) According to the distance between the tag and the lane and the lane width, the farthest distance of the tag to each lane can be calculated respectively:

[0080] a. The farthest distance of the tag to the overtaking lane is 0.8+3.75=4.55;

[0081] b. The farthest distance from the label to the lane is 0.8+3.75*2=9.1 meters;

[0082] c. The farthest distance from the label to the emergency lane is 0.8+3.75*3=13.65 meters;

[0083] 2) Lane range determination:

[0084] a. The super lane range: 0.8≤ <4.55 meters;

[0085] b. The lane range: 4.55≤ <9.1 meters;

[0086] c. The emergency lane range: 9.1≤ <13.65 meters;

[0087] 3. Latitude and longitude calculation:

[0088] Based on the known latitude and longitude coordinates of two points and the distance to the third point, the latitude and longitude coordinates of the third point are calculated, and the detailed steps are as follows:

[0089] Step 1, coordinate projection conversion

[0090] Convert latitude and longitude to planar rectangular coordinate system coordinates using Gauss projection and , ensure that the distance from the known two points to the third point is unified with the planar coordinate system unit (meters);

[0091] Step 2, solve the third point in the planar coordinate system

[0092] (1) Establish equation set

[0093] Let the planar coordinates of the third point be , according to the distance formula: , the equation set represents the intersection of two circles, and the solution may be 0, 1 or 2 points.

[0094] (2) Solve the intersection point:

[0095] 1) If the two circles intersect (no solution): check if the input distance is reasonable;

[0096] 2) If the two circles are tangent (1 solution): the only solution is the third point;

[0097] 3) If the two circles intersect (2 solutions): need to exclude unreasonable points according to the actual scene.

[0098] Step 3, inverse projection to latitude and longitude coordinates

[0099] Convert the planar coordinates Convert back to latitude and longitude coordinates by inverse projection formula (use the same parameters and earth model as forward projection).

[0100] Step 4, verify the result

[0101] Convert the coordinates after inverse projection Calculate the distance with the known latitude and longitude coordinates of two points respectively, and verify whether it is consistent with the original input distance.

[0102] Step 5, output the result

[0103] Output accurate disease location information: lane, stake number, latitude and longitude.

[0104] Technical advantages

[0105] 1. Accurate identification: Provide lane, centimeter level stake number and latitude and longitude, replace traditional kilometer level milestone and GPS positioning.

[0106] 2. Real-time interaction: patrol equipment (such as tablet or special terminal) automatically obtains label data through Bluetooth, handheld terminal calculates and outputs disease location information (lane, stake number, latitude and longitude), without manual input.

[0107] (2) Dynamic long and short chain compensation algorithm

[0108] Through the fusion of long and short chain database and real-time positioning data, realize the dynamic error correction of long and short chain area, ensure that the positioning result is consistent with the actual road mileage.

[0109] Long and short chain database construction: based on road design drawings and actual surveying data, long and short chain database needs to include the following main fields:

[0110]

[0111] Compensation (correction) algorithm process:

[0112] Step 1: get basic positioning data

[0113] (1) according to stake number solution, get the stake number after electronic road element label positioning solution ;

[0114] Step 2: long and short chain area determination

[0115] (1) according to query the long and short chain database in the cloud or locally, traverse all long and short chain points, judge whether the current position is in a certain long and short chain interval (start stake number ≤ ≤ end stake number);

[0116] (2) if the stake number is in a certain long and short chain interval, trigger compensation calculation;

[0117] (3) If it is not in any long or short chain interval, output directly Stake number results.

[0118] Step 3: Dynamic compensation calculation

[0119] If you are in the long / short chain area, perform the following corrections:

[0120] (1) Long chain break compensation formula: .

[0121] Parameter Description: : Correct the pile number for the long chain after compensation; : is the pile number; : is the mileage difference in the long and short chain database.

[0122] PR: is the long-short chain coefficient, that is, the relative position of the current position relative to the long-short chain interval. The calculation formula is as follows: PR=DFS / IL.

[0123] Parameter description: DFS: The distance between the current position and the starting point of the long and short chain (current position - starting pile number). IL: The total length of the long and short chain interval (end pile number - starting pile number).

[0124] Example:

[0125] like The distance is K100+200, the starting point of the broken chain area is K100+150, and the end point is K100+250. The mileage difference is 10 meters (long chain), then: , and the final revised pile number is K100+195.

[0126] (2) Short chain compensation formula: .

[0127] Parameter Description: : Corrected pile number after short chain compensation; : is the pile number; : is the short chain mileage difference in the long and short chain database; PR: is the long and short chain coefficient, same as above.

[0128] Example:

[0129] like The chain area starts at K100+150 and ends at K100+250, and the mileage difference is 10 meters (short chain break). Then: , and the final revised pile number is K100+205.

[0130] Step 4: Output the correction results

[0131] (1) The pile number after compensation Lane, latitude and longitude as the final positioning result.

[0132] Technical advantages

[0133] 1. Precision improvement: In the long-short chain area, the dynamic pile number compensation algorithm is used to obtain the corrected pile number.

[0134] 2. Dynamic update: The long-short chain database supports real-time cloud update, which adapts to the change of mileage after road expansion or maintenance.

[0135] The implementation steps are as follows:

[0136] Early deployment: Install electronic road element labels according to the designed spacing, synchronize surveying and mapping, and build a long-short chain database;

[0137] Data collection: The patrol personnel / vehicle automatically searches for the Bluetooth signal of the nearby label through the handheld terminal PDA and obtains the data;

[0138] Positioning solution: Calculate the pile number, lane, latitude and longitude based on the label data;

[0139] Compensation calculation: Based on the long-short chain database, execute the dynamic compensation algorithm to correct the pile number positioning result;

[0140] Result output: Output accurate disease location information (lane, pile number, latitude and longitude).

[0141] The embodiment of the application also provides an electronic device, comprising: a processor, and a memory coupled with the processor, the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method as described in any one of the above embodiments.

[0142] The electronic device can be a desktop computer, a notebook computer, a palm computer, and a cloud server, etc. The electronic device can include, but is not limited to, a processor and a memory.

[0143] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The processor is a control center of the electronic device, and connects all parts of the device through various interfaces and lines.

[0144] The memory can be used to store the computer program, and the processor realizes various functions of the electronic device by running or executing the computer program stored in the memory and calling data stored in the memory.

[0145] The memory can mainly include a program storage area and a data storage area. The program storage area can store an operating system, at least one application required by a function, etc. The data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0146] The embodiment of the present application further provides a storage medium, which is a computer readable storage medium, and the computer program is stored in the computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment described above can be realized. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0147] The embodiment of the present application further provides a computer program product, comprising a computer program or instructions, which, when running on a computer, enable the computer to perform the method of any possible implementation manner described above.

[0148] The above is the preferred embodiment of the present application, it should be pointed out that, for those skilled in the technology field, without departing from the principle of the present application, can make several improvements and refinements, these improvements and refinements also be considered as the protection scope of the present application.

Claims

1. A highway pavement defect location system, characterized in that: The positioning system comprises: The electronic road element label subsystem includes: a plurality of electronic road element labels arranged along the direction of travel of the expressway, wherein the electronic road element labels store preset stake numbers; and a handheld terminal for handheld operation by a worker located at a pavement defect on a highway, configured to detect a first electronic path element tag ranked first and a second electronic path element tag ranked second in signal strength ranking on the same side of the highway; calculate a first distance between the handheld terminal and the first electronic path element tag and a second distance between the handheld terminal and the second electronic path element tag based on a signal strength and signal path loss model; calculate a third distance between the first electronic path element tag and the second electronic path element tag using a first preset stake number corresponding to the first electronic path element tag and a second preset stake number corresponding to the second electronic path element tag; obtain terminal coordinates of the handheld terminal in the calculated coordinate system based on the first distance, the second distance, the third distance, and a calculated coordinate system, the terminal coordinates including a perpendicular distance from the pavement defect to the highway side; determine the lane in which the pavement defect is located based on a conversion rule between the perpendicular distance and the lane; and obtain a stake number corresponding to the pavement defect based on the terminal coordinates and the first preset stake number, or based on the terminal coordinates and the second preset stake number, wherein pavement defect location information includes: the lane in which the pavement defect is located and the stake number corresponding to the pavement defect; The handheld terminal is further used to determine whether the pavement disease corresponds to a broken chain interval based on the broken chain database and the pile numbers corresponding to the pavement disease. If so, the pile numbers corresponding to the pavement disease are corrected using the following broken chain compensation formula: , PR=DFS / IL, where, is the pile number corresponding to the corrected pavement disease, is the pile number corresponding to the pavement disease before correction, is the difference between the actual mileage and the theoretical mileage in the broken chain database, PR is the broken chain coefficient, DFS is the distance from the current position to the starting point of the broken chain, and IL is the total length of the broken chain interval.

2. The positioning system according to claim 1, wherein: The signal path loss model is: ,in, is the calculated distance, i is the position mark, is the reference distance, RSSI is the signal strength, and n is the environmental attenuation factor.

3. The positioning system according to claim 1, wherein: The handheld terminal is specifically configured to: subtract the second preset stake number from the first preset stake number to obtain the third distance.

4. The positioning system according to claim 1, wherein: The conversion rule LP between the vertical distance and the lane is: ;in, is the perpendicular distance, The distance boundary values ​​corresponding to different types of lanes.

5. The positioning system according to claim 1, wherein: The electronic path element tag also stores the tag longitude and latitude, and the handheld terminal is also used to: use Gaussian projection to convert the first tag longitude and latitude corresponding to the first electronic path element tag and the second tag longitude and latitude corresponding to the second electronic path element tag into first tag plane rectangular coordinates and second tag plane rectangular coordinates; determine the relationship between the terminal plane rectangular coordinates of the handheld terminal and the first tag plane rectangular coordinates and the second tag plane rectangular coordinates according to the distance formula, and solve the terminal plane rectangular coordinates; and use Gaussian inverse projection to convert the terminal plane rectangular coordinates into the terminal longitude and latitude of the handheld terminal, and the pavement disease location information also includes: the terminal longitude and latitude.

6. The positioning system according to claim 1, wherein: The electronic path element tag is provided with a Bluetooth communication module, a memory, a processing module and a power module, and the signal strength is the Bluetooth signal strength.

7. A method for locating highway pavement defects, characterized in that: The method is based on the positioning system according to any one of claims 1 to 6, and the method comprises: Detecting a first electronic path element tag ranked first in signal strength ranking and a second electronic path element tag ranked second in signal strength ranking on the same side of the highway; Based on a signal strength and signal path loss model, a first distance between the handheld terminal and the first electronic path element label and a second distance between the handheld terminal and the second electronic path element label are calculated; a third distance between the first electronic path element label and the second electronic path element label is calculated using a first preset stake number corresponding to the first electronic path element label and a second preset stake number corresponding to the second electronic path element label; and based on the first distance, the second distance, the third distance, and a calculation coordinate system, terminal coordinates of the handheld terminal in the calculation coordinate system are obtained, where the terminal coordinates include a perpendicular distance from the road surface defect to the highway side. Determine the lane where the road surface defect is located based on the conversion rule between the vertical distance and the lane; Furthermore, based on the terminal coordinates and the first preset pile number, or based on the terminal coordinates and the second preset pile number, the pile number corresponding to the pavement defect is obtained, and the pavement defect positioning information includes: the lane where the pavement defect is located and the pile number corresponding to the pavement defect.

8. An electronic device, characterized in that: The electronic device includes: a processor, and a memory coupled to the processor, The memory is used to store a computer program; and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the positioning method as claimed in claim 7.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a computer program or instructions. When the computer program or instructions are executed on a computer, the computer is caused to execute the positioning method according to claim 7 .

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