Positioning method and system based on dual-mode communication and RTK calibration

Abstract

The invention provides a positioning method and system based on dual-mode communication and RTK calibration, and belongs to the crossing field of a communication technology and a positioning technology, the method comprises the following steps: fusing signal attenuation characteristics of an HPLC communication module and an HRF communication module, and establishing a combined distance measurement model to generate a weighted relative distance between power equipment; constructing a communication network topology G, and determining a backbone node set; acquiring the distance between the backbone node and the connected node by adopting a real-time dynamic difference RTK technology; determining a weighted relative distance between the nodes based on a combined distance measurement model, generating a distance measurement error value, and traversing all backbone nodes to determine an average distance measurement error of the transformer area; and for all the power equipment in the transformer area, the relative positions of the power equipment acquired by the combined distance measurement model are corrected and updated through the average distance measurement error of the transformer area. According to the invention, high-precision positioning of mass power equipment in a transformer area can be realized, and an efficient and accurate equipment management and position tracking solution is provided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the cross field of communication technology and positioning technology, and particularly relates to power equipment positioning and addressing technology, and in particular to a method and system based on dual-mode communication and RTK high-precision positioning correction, which realizes high-precision positioning of a large number of power equipment in a transformer area, can be widely applied to smart grids and other related fields, and provides efficient and accurate equipment management and location tracking solutions. BACKGROUND

[0002] With the in-depth promotion of smart grid construction, accurate positioning of transformer area equipment has become a key technology for improving power grid management efficiency, realizing rapid fault positioning and line loss analysis. Traditional positioning methods mainly rely on manual inspection or single communication signal ranging technology, which has problems such as low positioning accuracy, poor anti-interference ability, and insufficient adaptability. Especially in complex transformer area environment, power line noise, multipath effect and device heterogeneity cause variable signal attenuation characteristics, making the ranging error of single communication mode such as HPLC or HRF significantly increase, which is difficult to meet the demand of centimeter-level high-precision positioning.

[0003] In recent years, dual-mode communication technology HPLC+HRF has become a research hotspot due to its complementary characteristics: HPLC high-speed power line carrier has strong penetration in low frequency band, but is easily affected by load noise; HRF high-frequency radio frequency has high stability in non-line-of-sight scenarios, but has limited coverage. How to combine the signal attenuation characteristics of the two and the connection relationship of each device in the transformer area to construct a more robust joint ranging model has become the key to improving positioning accuracy. However, relying only on communication signal ranging still has the problem of cumulative error, and an external high-precision positioning reference needs to be introduced for dynamic calibration.

[0004] However, relying only on communication signal strength for ranging will introduce cumulative error, resulting in reduced positioning accuracy. Therefore, an external high-precision positioning reference needs to be introduced for dynamic correction to overcome the error caused by communication signal strength ranging. SUMMARY

[0005] The purpose of the present application is to solve the problems of signal attenuation and error accumulation in traditional methods, and to propose a combination of dual-mode communication ranging and RTK dynamic calibration technology, which realizes high-precision positioning and dynamic correction of a large number of power equipment in the transformer area, and has wide application prospects.

[0006] Compared with the prior art, the present application does not need to equip each terminal with an RTK module, but only a small number of backbone nodes can control the positioning error to sub-meter level, effectively reducing the deployment cost and improving the operation and maintenance efficiency, and has wide engineering application prospects.

[0007] The technical solution of the present application is: The application provides a positioning method based on dual-mode communication and RTK calibration, which comprises the following steps: S1, a joint ranging model is established by fusing the signal attenuation characteristics of the HPLC communication module and the HRF communication module, and a weighted relative distance between power equipment loaded with a dual-mode communication module is generated; S2, a communication network topology G is constructed according to the communication connection relationship between power equipment in a transformer area, and a backbone node set is determined; S3, the distance between the backbone nodes and the connected nodes is obtained by using the real-time dynamic difference RTK technology; the weighted relative distance between the nodes is determined based on the joint ranging model, the ranging error value is generated, and the transformer area average ranging error is determined by traversing all the backbone nodes; S4, for all power equipment in the transformer area, the relative position between the power equipment obtained by the joint ranging model is corrected and updated by the transformer area average ranging error.

[0008] Further, the S1 comprises: S11, the signal strength of the HPLC communication module and the HRF communication module is obtained, and a signal attenuation model is constructed to calculate the single-channel distance between any to-be-measured node and adjacent nodes ;

[0009] wherein, the absolute value is calculated; the single-channel signal receiving strength is represented, and the unit is ; the unit signal strength received at a distance of 1 meter from the selected to-be-measured node is represented, and the unit is ; the environmental attenuation factor is represented; S12, the collected signal strength is preprocessed, and the following formula is used to determine the HPLC communication module weighting coefficient and the HRF communication module weighting coefficient ;

[0010] wherein, , the standard deviations of the signal strengths of the HPLC and HRF channels are represented, respectively; S13, the joint ranging model is established by fusing the distance estimation of the HPLC communication module and the HRF communication module by using the weighted average method, and the weighted relative distance between the selected to-be-measured node and adjacent nodes is generated ;

[0011] wherein, , They represent the HPLC channel distance and HRF channel distance between any node to be tested and its adjacent nodes respectively.

[0012] Furthermore, the S12 includes: The signal intensity is modeled as a probability distribution, and the signal intensity of multiple samples is filtered to remove the maximum and minimum values ​​of the signal intensity. The standard deviation of the signal intensity of the HPLC channel and the HRF channel is calculated respectively. 、 ; Determine the weighting coefficients of the HPLC communication module and the HRF communication module based on the standard deviation of the signal intensity and , adjust the weight of distance estimation through the weighting coefficient.

[0013] Furthermore, the S2 includes: S21. Determine the connection relationship between devices based on the signal strength threshold and generate a communication network topology G including all devices; S22. Use the integer linear programming model to solve the minimum node coverage set to obtain the backbone node set, ensure that the backbone node set covers all communication connection lines, and at least one endpoint of each connection line is selected. Include key equipment in the backbone node set to ensure that each sub-area in the topology contains at least one backbone node.

[0014] Furthermore, the S21 includes obtaining the signal strength between the power equipment in the substation area. When the signal strength of any channel is greater than the preset connection threshold of the corresponding channel, there is a connection relationship between the devices; and traversing all the devices in the substation area to generate a communication network topology G.

[0015] Furthermore, the S22 includes: S221. Initialize the communication network topology and generate an undirected graph containing device nodes and connection lines. Each node in the graph represents a power device, and each connection line represents the communication or physical connection between devices. Define an empty set Node_Cover to store the minimum node cover set. S222. Select an uncovered connection line from the undirected graph, that is, a connection line that is not covered by any node in Node_Cover; S223. For the selected connection line, select an endpoint to be added to the Node_Cover set; preferably, each time a node with a higher degree, i.e., a node connected to more other nodes, is selected to be added to the minimum node cover set; S224, updating the coverage state and deleting the connection line connected to the selected node; S225. Repeat the selection and update until all the connection lines are covered, and generate a minimum node cover set as the backbone node set.

[0016] Furthermore, S3 includes: S31, use real-time dynamic differential technology RTK to obtain the distance between any backbone node and the connected nodes ; S32, obtaining the weighted relative distance between the selected backbone node and the corresponding connected node based on the joint ranging model ; S33, using the following formula to generate the ranging error value , ; S34. Traverse all nodes in the backbone node set, obtain the ranging error value between each backbone node and the corresponding connected node, and take the average as the average ranging error of the station area.

[0017] Furthermore, in S4, when the power equipment is connected to only two or fewer nodes, the relative position is updated through the ranging error value; when the power equipment is connected to more than two nodes, the centroid positioning algorithm is used to obtain the relative position, specifically by calculating the weighted centroid position of the connected corrected nodes as the precise position of the target node, and continuously iterating the process to correct the node positions of more than two connected nodes in the entire network.

[0018] Furthermore, in S4, using the centroid positioning algorithm to obtain the relative position includes: Select any node to be corrected and obtain the coordinates of at least three corrected nodes connected to the node to be corrected 、 、 and its weighted relative distance to the node to be corrected 、 、 ; Get the circle with the above points A, B, and C as the center, 、 、 Draw a circle with the radius of , and take the three intersection points of the intersection area 、 、 , the coordinates are 、 、 , Use the following formula to obtain the coordinates of the node to be corrected ; .

[0019] A system adopted by a positioning method based on dual-mode communication and RTK calibration, the system comprising: Joint ranging module: for establishing a joint ranging model by fusing the signal attenuation characteristics of the HPLC communication module and the HRF communication module, and generating the weighted relative distance between the power equipment loaded with the dual-mode communication module; Topology construction module: for constructing a communication network topology G according to the communication connection relationship between the power equipment in the transformer area, and determining a backbone node set; Error calculation module: for obtaining the distance between the backbone node and the connected node by using the real-time dynamic difference RTK technology; determining the weighted relative distance between the nodes based on the joint ranging model, generating a ranging error value, and determining the average ranging error of the transformer area by traversing all the backbone nodes; Position correction module: for all power equipment in the transformer area, correcting and updating the relative position between the power equipment obtained by the joint ranging model through the average ranging error of the transformer area.

[0020] The beneficial effects of the present application are: The application discloses a positioning method based on dual-mode communication and RTK calibration, aiming at the problems of low positioning accuracy of power equipment in a transformer area, strong interference in a complex environment, and dynamic change of a communication network topology. First, a joint ranging model is constructed by fusing the attenuation characteristics of high-voltage carrier communication HPLC and high-frequency wireless HRF, and high-precision weighted relative distance measurement results are generated; second, an undirected communication network graph is constructed based on a signal strength threshold, and a backbone node set is selected by integer linear programming; third, high-precision coordinates are obtained by using RTK technology, and the ranging model is corrected; finally, the accurate coordinates of the to-be-measured node are calculated in combination with a centroid positioning algorithm. The application effectively copes with multipath effect and obstacle interference, ensures stable and reliable positioning results, realizes high-precision positioning of transformer area equipment, and improves power grid management efficiency and intelligent level.

[0021] The method of the application introduces an external high-precision positioning reference for dynamic correction to overcome the error caused by communication signal strength ranging, and uses real-time dynamic difference RTK technology as high-precision positioning in the satellite navigation field, which can provide extremely high positioning accuracy in an open environment and can perform real-time dynamic difference correction, thereby providing an accurate reference for the ranging results of the dual-mode communication signal and further improving the positioning accuracy of the entire system.

[0022] Other features and advantages of the present application will be described in detail in the following specific embodiment part. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the several views, and in which the exemplary embodiment of the present application is shown.

[0024] Figure 1A flow chart of the positioning method based on dual-mode communication and RTK calibration of the application is shown.

[0025] Figure 2 A schematic diagram of the centroid positioning algorithm of the application acquiring relative positions is shown. DETAILED DESCRIPTION

[0026] Preferred embodiments of the application will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the application are shown in the drawings, it should be understood that the application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0027] Example 1

[0028] Figure 1 A flow chart of the positioning method based on dual-mode communication and RTK calibration of the application is shown.

[0029] As Figure 1 shown, the application provides a positioning method based on dual-mode communication and RTK calibration, aiming to achieve high-precision positioning of a large number of devices in a transformer area, which comprises the following steps: S1, by fusing the signal attenuation characteristics of the HPLC communication module and the HRF communication module, a joint ranging model is established to generate the weighted relative distance between power devices loaded with dual-mode communication modules, specifically; S11, signal attenuation model: obtain the signal strength of the HPLC communication module and the HRF communication module, combine the environmental attenuation factor, and construct a signal attenuation model to calculate the single-channel distance between any to-be-measured node and adjacent nodes ; ; wherein, represents the calculation of the absolute value; represents the single-channel signal receiving strength, unit ; represents the unit signal strength received at a distance of 1 meter from the selected to-be-measured node, unit ; represents the environmental attenuation factor; S12, signal quality assessment: filter the collected signal strength, eliminate the maximum and minimum values in the signal strength, and calculate the standard deviations of the HPLC channel and HRF channel signal strength , respectively, determine the HPLC communication module weighting coefficient and the HRF communication module weighting coefficient using the following formula, and adjust the weight of distance estimation through the weighting coefficient;

[0030] S13, Weighted ranging model: by weighted average method, the distance estimates of HPLC communication module and HRF communication module are fused to establish a joint ranging model, and the weighted relative distance between the selected to-be-measured node and the adjacent node is generated ; ; wherein, 、 respectively represent the HPLC channel distance and the HRF channel distance between any to-be-measured node and adjacent node.

[0031] S2, according to the communication connection relationship between the power equipment in the transformer area, a communication network topology G is constructed, and a backbone node set is determined, specifically; S21, the signal strength between the power equipment in the transformer area is obtained, and when the signal strength of any channel is greater than the preset connection threshold of the corresponding channel, there is a connection relationship between the equipment; the communication network topology G is generated by traversing all the equipment in the transformer area; S22, the minimum node cover set is solved by using an integer linear programming model, and the backbone node set is obtained, which ensures that the backbone node set covers all the communication connection lines, and at least one endpoint of each connection line is selected, and the key equipment is included in the backbone node set, which ensures that each sub-area in the topology contains at least one backbone node, including: S221, initializing the communication network topology to generate an undirected graph containing equipment nodes and connection lines, each node in the graph represents a power equipment, each connection line represents the communication or physical connection between the equipment, and an empty set Node_Cover is defined to store the minimum node cover set; S222, select the connection line that is not covered from the undirected graph, i.e. the connection line that is not covered by any node in Node_Cover; S223, for the selected connection line, select one endpoint to join the Node_Cover set; preferably, each time, the node with higher degree, i.e. connected to more other nodes, is selected to join the minimum node cover set; S224, update the coverage state and delete the connection line connected to the selected node; S225, repeat the selection and update until all connection lines are covered, generate the minimum node cover set as the backbone node set.

[0032] wherein, the minimum equipment node set is solved, an integer linear programming model is established, and the node set in the approximate solution is the backbone node.

[0033] Objective function:

[0034] Constraint condition:

[0035] wherein: , input graph structure; , node set (such as transformer, meter, switch, etc.); , connection set (communication link or electrical connection); , decision variable; , vertex selected; , vertex not selected.

[0036] , is the core constraint condition, requiring covering all nodes in the communication network graph of the transformer area, and each connection has at least one endpoint selected.

[0037] , representing the key equipment must be selected, requiring the main transformer to be in the backbone node set, and requiring only one node in each relay layer to belong to the backbone node in the relay layer.

[0038] , representing the regional coverage requirement, at least one device node in each sub-region in the transformer area is selected as a backbone node.

[0039] S3, the distance between the backbone node and the connected node is obtained by adopting the real-time dynamic difference RTK technology; the weighted relative distance between the nodes is determined based on the joint ranging model, the ranging error value is generated, and the average ranging error of the transformer area is determined by traversing all the backbone nodes; wherein each node in the backbone node set is artificially positioned with high precision by RTK, which can be performed by the field staff to the corresponding device with a back clamp for RTK positioning to obtain the accurate coordinate position, the back clamp is TLY6611RB produced by Nanjing Linyang Electric Power Technology Co., Ltd., and specifically; S31, the distance between any backbone node and the connected node is obtained by adopting the real-time dynamic difference RTK technology ; S32, the weighted relative distance between the selected backbone node and the corresponding connected node is obtained based on the joint ranging model ; S33, the ranging error value is generated by adopting the following formula , ; S34, the ranging error value between each backbone node and the corresponding connected node is obtained by traversing all the nodes in the backbone node set, and the average value is taken as the average ranging error of the transformer area.

[0040] The weighted ranging model estimates a rough distance value by fusing the attenuation characteristics of the HPLC and HRF signals The distance value is affected by factors such as signal propagation environment, noise, path loss, etc., and thus may have some errors; the precise distance is obtained in combination with the RTK high-precision positioning technology The mathematical model of error correction is used to obtain the ranging error value .

[0041] S4, for all power equipment in the transformer area, the relative positions between the power equipment obtained by the joint ranging model are updated by the transformer area average ranging error correction.

[0042] According to the error , the estimated result of the weighted ranging model is corrected to the precise distance value:

[0043] The backbone node is represented by a data structure, and the data includes the node position, the number of adjacent points, the received adjacent point signal strength, and the corrected distance from the adjacent point.

[0044] According to the number of adjacent points, the node can be divided into a hanging node and a center node. The hanging node refers to a node connected to only one other node through an edge. The hanging node cannot be solved by the positioning algorithm through the known positions of the remaining connected points, and can only obtain the corrected position relative to the transformer and the relative distance. For the center node with a number of adjacent points ≥ 3, the precise position can be solved according to the centroid positioning algorithm.

[0045] In one example, when the power equipment is connected to only two or fewer nodes, the relative position is updated by the ranging error value; when the power equipment is connected to more than two nodes, the centroid positioning algorithm is used to obtain the relative position, specifically, the weighted centroid position of the connected corrected nodes is calculated as the precise position of the target node, and the process is iterated continuously to correct the positions of the nodes connected to more than two nodes in the entire network.

[0046] Further, the centroid positioning algorithm for obtaining the relative position includes: Select any node to be corrected, and obtain the coordinates of at least three corrected nodes connected to the node to be corrected 、 、 and the weighted relative distance from the node to be corrected 、 、 ;

[0047] Take the above A, B, and C points as the centers of the circles, 、 , Draw a circle with the radius, take three intersection points of the intersection area , , , the coordinates are , , For intersection point , there is:

[0048] Convert to matrix form:

[0049] In the formula:

[0050] After sorting, the coordinate position of intersection point : .

[0051] Similarly, the coordinate position of intersection point , : .

[0052] .

[0053] Assuming that the coordinates of the to-be-positioned node are , it can be obtained by calculation: .

[0054] Embodiment 2 The application provides a system for a positioning method based on dual-mode communication and RTK calibration, which comprises: A joint ranging module is used to establish a joint ranging model by fusing the signal attenuation characteristics of the HPLC communication module and the HRF communication module, and generate a weighted relative distance between power equipment loaded with a dual-mode communication module; A topology construction module is used to construct a communication network topology G according to the communication connection relationship between power equipment in a transformer area, and determine a backbone node set; An error calculation module is used to obtain the distance between the backbone nodes and the connected nodes by using real-time dynamic difference RTK technology; determine the weighted relative distance between the nodes based on the joint ranging model, generate a ranging error value, and traverse all the backbone nodes to determine the average ranging error of the transformer area; A position correction module is used to correct and update the relative position between power equipment obtained by the joint ranging model through the average ranging error of the transformer area for all power equipment in the transformer area.

[0055] The system of the application does not need to be equipped with an RTK module for each terminal, and positioning error can be controlled in sub-meter level through a small number of backbone nodes, effectively reducing deployment cost and improving operation efficiency, and having wide engineering application prospect.

[0056] The above has described various embodiments of the application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A positioning method based on dual-mode communication and RTK calibration, characterized in that: The method comprises the following steps: S1. By integrating the signal attenuation characteristics of the HPLC communication module and the HRF communication module, a joint ranging model is established to generate the weighted relative distance between power equipment equipped with dual-mode communication modules; S2. Build a communication network topology G based on the communication connection relationship between the power equipment in the substation area and determine the backbone node set; S3. Use real-time dynamic differential RTK technology to obtain the distance between the backbone node and the connected nodes; determine the weighted relative distance between the nodes based on the joint ranging model, generate a ranging error value, and traverse all backbone nodes to determine the average ranging error of the station area; S4. For all power equipment in the substation area, the relative positions between the power equipment obtained by the joint ranging model are updated by correcting the average ranging error of the substation area.

2. The positioning method based on dual-mode communication and RTK calibration according to claim 1, characterized in that Said S1 comprises: S11. Obtain the signal strength of the HPLC communication module and the HRF communication module, and construct a signal attenuation model to calculate the single-channel distance between any node to be tested and its adjacent node. ; ； in, Indicates calculation of absolute value; Indicates the single channel signal receiving strength, unit ; Indicates the unit signal strength received at a distance of 1 meter from the selected node to be tested, in units of ; represents the environmental attenuation factor; S12, pre-process the collected signal intensity and use the following formula to determine the HPLC communication module weighting coefficient and HRF communication module weighting coefficient ; ； in, 、 represent the standard deviation of the signal intensity of HPLC and HRF channels, respectively; S13, through the weighted average method, the distance estimation of the HPLC communication module and the HRF communication module is integrated to establish a joint distance measurement model, and generate the weighted relative distance between the selected node to be measured and the adjacent nodes ; ； in, 、 They represent the HPLC channel distance and HRF channel distance between any node to be tested and its adjacent nodes respectively.

3. The positioning method based on dual-mode communication and RTK calibration as claimed in claim 2, characterized in that The S12 includes: The signal intensity is modeled as a probability distribution, and the signal intensity of multiple samples is filtered to remove the maximum and minimum values ​​of the signal intensity. The standard deviation of the signal intensity of the HPLC channel and the HRF channel is calculated respectively. 、 ; Determine the weighting coefficients of the HPLC communication module and the HRF communication module based on the standard deviation of the signal intensity and , adjust the weight of distance estimation through the weighting coefficient.

4. The positioning method based on dual-mode communication and RTK calibration as claimed in claim 1, characterized in that The S2 includes: S21. Determine the connection relationship between devices based on the signal strength threshold and generate a communication network topology G including all devices; S22. Use the integer linear programming model to solve the minimum node coverage set to obtain the backbone node set, ensure that the backbone node set covers all communication connection lines, and at least one endpoint of each connection line is selected. Include key equipment in the backbone node set to ensure that each sub-area in the topology contains at least one backbone node.

5. The positioning method based on dual-mode communication and RTK calibration as claimed in claim 4, characterized in that The S21 includes obtaining the signal strength between the power equipment in the substation area. When the signal strength of any channel is greater than the preset connection threshold of the corresponding channel, there is a connection relationship between the devices; and traversing all the devices in the substation area to generate a communication network topology G.

6. The positioning method based on dual-mode communication and RTK calibration as claimed in claim 4, characterized in that The S22 includes: S221. Initialize the communication network topology and generate an undirected graph containing device nodes and connection lines. Each node in the graph represents a power device, and each connection line represents the communication or physical connection between devices. Define an empty set Node_Cover to store the minimum node cover set. S222. Select an uncovered connection line from the undirected graph, that is, a connection line that is not covered by any node in Node_Cover; S223. For the selected connection line, select an endpoint and add it to the Node_Cover set. Preferably, each time, a node with a higher degree, i.e., a node connected to more other nodes, is selected and added to the minimum node cover set. S224, updating the coverage state and deleting the connection line connected to the selected node; S225. Repeat the selection and update until all the connection lines are covered, and generate a minimum node cover set as the backbone node set.

7. The positioning method based on dual-mode communication and RTK calibration as claimed in claim 1, characterized in that S3 include: S31, use real-time dynamic differential technology RTK to obtain the distance between any backbone node and the connected nodes ; S32, obtaining the weighted relative distance between the selected backbone node and the corresponding connected node based on the joint ranging model ; S33, using the following formula to generate the ranging error value , ; S34. Traverse all nodes in the backbone node set, obtain the ranging error value between each backbone node and the corresponding connected node, and take the average as the average ranging error of the station area.

8. The positioning method based on dual-mode communication and RTK calibration according to claim 1, characterized in that In S4, when the power equipment is connected to only two or fewer nodes, the relative position is updated through the ranging error value; when the power equipment is connected to more than two nodes, the centroid positioning algorithm is used to obtain the relative position, specifically by calculating the weighted centroid position of the connected corrected nodes as the precise position of the target node, and continuously iterating the process to correct the node positions of more than two connected nodes in the entire network.

9. The positioning method based on dual-mode communication and RTK calibration according to claim 8, characterized in that In S4, the centroid positioning algorithm is used to obtain the relative position, including: Select any node to be corrected and obtain the coordinates of at least three corrected nodes connected to the node to be corrected 、 、 and its weighted relative distance to the node to be corrected 、 、 ; Get the circle with the above points A, B, and C as the center, 、 、 Draw a circle with the radius of , and take the three intersection points of the intersection area 、 、 , the coordinates are 、 、 , Use the following formula to obtain the coordinates of the node to be corrected ; 。 10. A system used in the positioning method based on dual-mode communication and RTK calibration according to any one of claims 1 to 9, characterized in that: The system includes: Joint ranging module: used to establish a joint ranging model by integrating the signal attenuation characteristics of the HPLC communication module and the HRF communication module, and generate the weighted relative distance between power equipment equipped with dual-mode communication modules; Topology construction module: used to build the communication network topology G according to the communication connection relationship between the power equipment in the substation area and determine the backbone node set; Error calculation module: used to obtain the distance between the backbone node and the connected nodes using real-time dynamic differential RTK technology; determine the weighted relative distance between the nodes based on the joint ranging model, generate the ranging error value, and traverse all backbone nodes to determine the average ranging error of the station area; Position correction module: For all power equipment in the substation, the relative positions between the power equipment obtained by the joint ranging model are updated through the average ranging error correction of the substation.

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