Seamless positioning method, device and equipment for closed space
By combining tightly coupled Kalman filters and three-dimensional environmental information, the problem of inaccurate positioning within power utility tunnels was solved, achieving stable and accurate positioning in UWB base station signal blind zones.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-02
- Publication Date
- 2026-04-07
AI Technical Summary
Traditional positioning methods are difficult to achieve stable and accurate positioning within power utility tunnels, especially in areas with UWB base station signal blind spots and the problem of accumulated errors in inertial measurement units.
By combining tightly coupled Kalman filters and three-dimensional environmental information, multi-source information fusion is performed by obtaining the confidence levels of UWB pseudorange and azimuth observations, and the positioning results are corrected using three-dimensional environmental information in the UWB base station signal blind zone.
More accurate and stable positioning results were achieved within the power utility tunnel, especially providing high-precision positioning even in UWB base station signal blind spots.
Smart Images
Figure CN121804458A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of power monitoring technology, and in particular to a seamless positioning method, device, and equipment in an enclosed space. Background Technology
[0002] Power utility tunnels are enclosed underground tunnel spaces in cities, containing various elements such as cables, passageways, and equipment, and are important infrastructure for ensuring urban operation. With the development of digitalization and intelligentization, the precise positioning of terminal equipment within power utility tunnels, such as inspection robots, inspection drones, or equipment carried by inspection personnel, is becoming increasingly important during the inspection and maintenance of power utility tunnels.
[0003] However, with the construction of numerous power lines, the area occupied by power utility tunnels is increasing, and the terrain is becoming more complex and varied. The cable arrangement inside the power utility tunnels is also intricate. Traditional ultra-wideband (UWB) positioning fails in base station signal blind spots, while traditional inertial measurement units (IMUs) suffer from cumulative errors. Although some studies have attempted to combine the two, a simple combination still yields unsatisfactory positioning accuracy and stability in the harsh environment of power utility tunnels. Therefore, how to achieve stable and accurate positioning within the enclosed space of power utility tunnels remains to be studied. Summary of the Invention
[0004] This invention provides a seamless positioning method, apparatus, and equipment for enclosed spaces to solve the problem that traditional positioning methods are difficult to achieve stable and accurate positioning within power utility tunnels.
[0005] In a first aspect, embodiments of the present invention provide a seamless positioning method for an enclosed space, comprising: The system acquires three-dimensional environmental information about the location of the terminal equipment within the power utility tunnel, and acquires the raw data from the IMU device on the terminal equipment and the first positioning result calculated based on the raw data. When the terminal device receives a UWB base station signal, it extracts the UWB pseudorange observation value and determines the azimuth observation value and the pseudorange confidence level of the UWB pseudorange observation value based on the three-dimensional environmental information. Based on the tightly coupled Kalman filter and the pseudorange confidence, the UWB pseudorange observations, the azimuth observations, and the raw data are fused to obtain the target positioning result of the terminal device; When the terminal device is located in a UWB base station signal coverage blind zone, a second positioning result of the terminal device is determined based on the three-dimensional environmental information, and the first positioning result is corrected according to the second positioning result to obtain the target positioning result of the terminal device.
[0006] Secondly, embodiments of the present invention provide a seamless positioning device for an enclosed space, comprising: The first processing module is used to acquire three-dimensional environmental information of the location of the terminal equipment in the power utility tunnel, and to acquire the raw data of the IMU device on the terminal equipment and the first positioning result calculated based on the raw data. The second processing module is used to extract UWB pseudorange observation values when the terminal device receives UWB base station signals, and determine the azimuth observation values and the pseudorange confidence of the UWB pseudorange observation values based on the three-dimensional environmental information. The first positioning module is used to fuse the UWB pseudorange observations, the azimuth observations, and the original data based on a tightly coupled Kalman filter and the pseudorange confidence level to obtain the target positioning result of the terminal device. The second positioning module is used to determine the second positioning result of the terminal device based on the three-dimensional environmental information when the location of the terminal device is in a coverage blind zone of the UWB base station signal, and to correct the first positioning result according to the second positioning result to obtain the target positioning result of the terminal device.
[0007] Thirdly, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect or any possible implementation thereof.
[0008] In this embodiment of the invention, by acquiring the three-dimensional environmental information of the location of the terminal equipment within the power utility tunnel, on the one hand, when the terminal equipment can receive UWB base station signals, the pseudorange confidence level of the azimuth observation and the UWB pseudorange observation is determined based on the three-dimensional environmental information. Then, multi-source information fusion is performed using the azimuth observation and pseudorange confidence level combined with a tightly coupled Kalman filter to obtain a more accurate target positioning result. On the other hand, when the location of the terminal equipment is in a UWB base station signal coverage blind zone, a second positioning result of the terminal equipment is determined based on the three-dimensional environmental information, and the first positioning result is corrected based on the second positioning result. This provides a more stable and accurate target positioning result within the UWB base station signal coverage blind zone by combining the three-dimensional environmental information of the terminal equipment's location. Attached Figure Description
[0009] Figure 1 This is a flowchart illustrating the implementation of the seamless positioning method in a closed space provided in this embodiment of the invention. Figure 2 This is a flowchart illustrating the implementation of fusion based on tightly coupled Kalman filters provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of the seamless positioning device for enclosed spaces provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation
[0010] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
[0011] See Figure 1 The flowchart illustrating the implementation of the seamless positioning method in a closed space provided by an embodiment of the present invention is described in detail below: Step 101: Obtain the three-dimensional environmental information of the location of the terminal equipment in the power utility tunnel, and obtain the first positioning result calculated based on the original data.
[0012] For example, stereo vision, lidar, and other methods can be used to acquire 3D environmental information about the location of terminal equipment within power utility tunnels. When using stereo vision, two or more cameras positioned at a certain distance from the terminal equipment can capture images of the surrounding environment from different perspectives. Depth information is then calculated by determining the disparity between matching points in different environmental images, generating a depth map, and further forming a 3D point cloud. Lidar can measure distances by emitting laser beams and receiving reflected signals, directly generating high-precision 3D point cloud data. The specific method used to acquire the 3D environmental information of the terminal equipment within the power utility tunnel can be determined based on actual needs.
[0013] Among them, the raw data of the IMU device on the terminal device is the angular velocity data and acceleration data of the IMU device. After obtaining the angular velocity data and acceleration data, the motion trajectory can be calculated in real time based on the pedestrian dead reckoning algorithm, and then the first positioning result can be obtained.
[0014] For example, the seamless positioning method for enclosed spaces provided in this embodiment of the invention further includes: When the terminal device is located at the entrance of the power utility tunnel, it acquires navigation and positioning data from the Global Navigation Satellite System.
[0015] The raw data and navigation positioning data are fused using a tightly coupled Kalman filter to obtain the initial positioning result of the terminal device.
[0016] This embodiment describes the positioning initialization process of a terminal device. To ensure the accuracy of positioning initialization, navigation and positioning data from a Global Navigation Satellite System (GNSS) is acquired. A tightly coupled Kalman filter is then used to fuse the raw data from the IMU device with the navigation and positioning data. The GNSS navigation and positioning data can be GPS data or BeiDou signal data, etc., and this embodiment does not limit this to any particular type.
[0017] Step 102: When the terminal device receives the UWB base station signal, it extracts the UWB pseudorange observation value and determines the pseudorange confidence of the azimuth observation value and the UWB pseudorange observation value based on the three-dimensional environment information.
[0018] Specifically, when the terminal device receives a UWB base station signal, that is, when the terminal device is within the coverage area of the UWB base station signal, it can extract UWB pseudorange observations and use these UWB pseudorange observations as the absolute position observations for subsequent Kalman filtering. For example, the UWB pseudorange observations can be calculated by calculating the time of flight.
[0019] After obtaining UWB pseudorange observations, considering that these observations only represent the distance between the terminal device and the UWB base station and cannot determine the device's orientation, and that even small orientation errors can be amplified as the device moves, hindering accurate positioning, the orientation observations are also determined based on 3D environmental information. Furthermore, due to the complex structure within the power utility tunnel and varying degrees of multipath effects at different locations, which could severely impact the accuracy of UWB pseudorange observations and render them unreliable, the pseudorange confidence level of the UWB pseudorange observations is also assessed based on 3D environmental information. Finally, the terminal device is located more accurately using the UWB pseudorange observations, their pseudorange confidence level, and the orientation observations.
[0020] In one embodiment, determining the pseudorange confidence level of UWB pseudorange observations based on three-dimensional environmental information includes: Based on the 3D environmental information and the preset power pipeline corridor environmental scene recognition model, the candidate environmental scene corresponding to the location of the terminal equipment is obtained.
[0021] Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the current target environment scene corresponding to the position of the terminal device is determined.
[0022] Based on the signal quality of the UWB base station signal, the initial pseudorange confidence level of the UWB pseudorange observations is obtained.
[0023] The initial confidence level is corrected based on the current target environment scenario to obtain the pseudorange confidence level of the UWB pseudorange observations.
[0024] In this embodiment, in order to determine the pseudorange confidence level of UWB pseudorange observations based on three-dimensional environmental information, and to simplify the processing and improve computational efficiency, a more efficient approach is adopted compared to first establishing a high-precision map of the power utility tunnel and then comparing the three-dimensional environmental information of the terminal equipment's location with the high-precision map. Figure 1In this embodiment, a preset power utility tunnel environment scene recognition model is first trained, and then used to classify the 3D environment information. Since power utility tunnels contain not only specific supports and equipment, but also many structurally similar pipelines, the classification of 3D environment information using the preset power utility tunnel environment scene recognition model may result in more than one category label. In other words, inputting 3D environment information into the preset power utility tunnel environment scene recognition model may yield more than one output. Therefore, each output obtained after inputting 3D environment information into the preset power utility tunnel environment scene recognition model can be considered a candidate environment scene. Then, the actual target environment scene corresponding to the terminal device is determined from the candidate environment scenes. Based on the current target environment scene, the initial pseudorange confidence obtained based on signal quality is corrected to obtain the true pseudorange confidence of the UWB pseudorange observation.
[0025] This involves calculating the similarity between the candidate environment scene and the target environment scene corresponding to the terminal device at the previous position, thereby obtaining the correlation between the candidate environment scene and the target environment scene corresponding to the terminal device at the previous position, and then selecting the candidate environment scene with the highest correlation as the current target environment scene corresponding to the position of the terminal device.
[0026] In obtaining the initial pseudorange confidence of UWB pseudorange observations based on the signal quality of UWB base station signals, the received power and signal-to-noise ratio of the UWB base station signals can be collected. If the received power is too low, it may indicate that the signal is blocked or the distance is too far. If the received power is abnormally high, it may indicate significant multipath effect. If the signal-to-noise ratio is high, it usually indicates that the signal quality is high. Accordingly, the received power and signal-to-noise ratio of the collected UWB base station signals can be compared with the corresponding thresholds, and the initial pseudorange confidence of UWB pseudorange observations can be obtained based on the comparison results.
[0027] In one embodiment, the initial confidence level is corrected based on the current target environment scene to obtain the pseudorange confidence level of the UWB pseudorange observation, including: Based on the current target environment scenario, determine the multipath effect coefficient of the terminal device's location.
[0028] The initial confidence level is corrected based on the multipath effect coefficient to obtain the pseudorange confidence level of the UWB pseudorange observations.
[0029] For example, the initial confidence level is corrected based on the multipath effect coefficient to obtain the pseudorange confidence level of the UWB pseudorange observations, including: according to The pseudorange confidence level of the UWB pseudorange observations is obtained.
[0030] in, The pseudorange confidence level of the UWB pseudorange observations. As the initial confidence level, To correct the strength coefficient, This is the multipath effect coefficient.
[0031] In this embodiment, considering that when the multipath effect around the location of the terminal device is severe, it may affect the reliability of the UWB pseudorange observation, the structural complexity of the current target environment scene can be evaluated after determining the current target environment scene. The more complex the structure of the current target environment scene, the higher the structural complexity, the more likely the multipath effect is to be more severe, and the larger the corresponding multipath effect coefficient is.
[0032] In one embodiment, determining the orientation observation value based on three-dimensional environmental information includes: Based on three-dimensional environmental information, the main directional features and planar features of the power utility tunnel are extracted.
[0033] Based on the main directional characteristics of the utility tunnel, the first azimuth observation value is determined.
[0034] Based on the planar characteristics, determine the second azimuth observation value.
[0035] The azimuth observation value is determined based on the first azimuth observation value and the second azimuth observation value.
[0036] In this embodiment, considering that power utility tunnels are typically long, straight tunnel-like structures, and that they usually contain numerous planar structures (such as walls, floors, and ceilings), the main directional features and planar features of the power utility tunnel can be extracted based on 3D environmental information. Based on the main directional features, the angle between the sensor coordinate system (i.e., the coordinate system of the sensor acquiring 3D environmental information) and the longitudinal axis of the tunnel can be calculated, thereby determining the first azimuth observation value. Then, based on the planar features and known planar azimuth information, the relative rotation relationship between the sensor coordinate system and the global coordinate system can be determined, thus obtaining the second azimuth observation value. If the first and second azimuth observation values are not significantly different (e.g., the difference is within a preset range), both can be considered relatively reliable, and the first, second, or average of these values can be determined as the actual azimuth observation value. If the first azimuth observation value and the second azimuth observation value differ significantly (for example, the difference between the first azimuth observation value and the second azimuth observation value exceeds a preset difference range), the confidence level of the first azimuth observation value and the confidence level of the second azimuth observation value can be introduced. Then, the first azimuth observation value and the second azimuth observation value can be weighted using the confidence level of the first azimuth observation value and the confidence level of the second azimuth observation value as weights to obtain the actual azimuth observation value.
[0037] Step 103: Based on a tightly coupled Kalman filter and pseudorange confidence, the UWB pseudorange observations, azimuth observations, and raw data are fused to obtain the target positioning results of the terminal device.
[0038] In this embodiment, as Figure 2 As shown, on the one hand, state prediction is performed based on the original data, including angular velocity data and acceleration data. On the other hand, UWB pseudorange observations and their corresponding confidence levels are extracted, and azimuth observations are also extracted. Then, a dynamic noise matrix is constructed based on the confidence levels. The lower the confidence level, the larger the noise variance of the corresponding UWB pseudorange observation. Then, the UWB pseudorange observations, azimuth observations, and dynamic noise matrix are input into a tightly coupled Kalman filter for measurement update to obtain the optimal state estimate, which is the target positioning result of the terminal device.
[0039] Among them, the introduction of pseudorange confidence enables the positioning process to have "contextual awareness" capabilities, which can automatically reduce the weight of unreliable UWB pseudorange observations in harsh environments. At the same time, UWB pseudorange observations provide absolute position constraints, azimuth observations provide heading constraints, and IMU provides high-frequency motion information. The combination of these three can significantly improve the robustness of positioning when facing the complex environment of power utility tunnels.
[0040] Step 104: When the location of the terminal device is in a coverage blind zone of the UWB base station signal, the second positioning result of the terminal device is determined based on the three-dimensional environmental information, and the first positioning result is corrected according to the second positioning result to obtain the target positioning result of the terminal device.
[0041] In this embodiment, when the terminal device is located in a UWB base station signal coverage blind zone, in order to maintain the accuracy and stability of the positioning results, three-dimensional environmental information is used to provide positioning information (i.e., the second positioning result) that does not depend on external signals. Then, the second positioning is combined with the first positioning result to correct it, thereby ensuring the positioning accuracy within the UWB base station signal coverage blind zone.
[0042] In one embodiment, determining the second positioning result of the terminal device based on three-dimensional environmental information includes: Based on the 3D environmental information and the preset power pipeline corridor environmental scene recognition model, the candidate environmental scene corresponding to the location of the terminal equipment is obtained.
[0043] Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the current target environment scene corresponding to the position of the terminal device is determined.
[0044] The second positioning result of the terminal device is determined based on the current target environment scenario.
[0045] In this embodiment, in order to reduce the need to combine 3D environmental information with high-precision positioning... Figure 1The massive computational load during comparison is addressed by using a pre-defined power utility tunnel environment scene recognition model to classify the 3D environment information. After classification, the current target environment scene corresponding to the terminal device is determined from the candidate environment scenes. Based on the current target environment scene and the historical positioning information of the terminal device, the current positioning information of the terminal device (i.e., the second positioning result) is obtained.
[0046] In one embodiment, when determining the current target environment scene corresponding to the location of the terminal device based on the correlation between the candidate environment scene and the target environment scene corresponding to the terminal device at the previous location, the method further includes: Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the scene confidence of the current target environment scene corresponding to the position of the terminal device is determined.
[0047] The first positioning result is corrected based on the second positioning result to obtain the target positioning result of the terminal device, including: The first positioning result is corrected based on the second positioning result and the scene confidence level to obtain the target positioning result of the terminal device.
[0048] In this embodiment, considering that when determining the current target environment scene corresponding to the terminal device's current location based on the correlation between the candidate environment scene and the target environment scene corresponding to the terminal device's previous location, the determined current target environment scene is only the optimal possible environment scene determined based on the candidate environment scene, and may not match the actual situation, the scenario confidence of the current target environment scene corresponding to the terminal device's current location is also determined based on the correlation between the candidate environment scene and the target environment scene corresponding to the terminal device's previous location. For example, the correlation corresponding to the current target environment scene is determined as its scenario confidence. Then, the confidence of the first positioning result can be obtained, and the first positioning result and the second positioning result can be weighted based on the confidence of the first positioning result and the scenario confidence to obtain the target positioning result of the terminal device. Alternatively, the first positioning result can be corrected based solely on the scenario confidence, and when the scenario confidence is greater than a preset scenario confidence threshold, it can be combined with the second positioning result.
[0049] This invention acquires three-dimensional environmental information about the location of a terminal device within a power utility tunnel. On one hand, when the terminal device can receive UWB base station signals, it determines the pseudorange confidence level of the azimuth observation and the UWB pseudorange observation based on the three-dimensional environmental information. Then, it performs multi-source information fusion using the azimuth observation and pseudorange confidence level combined with a tightly coupled Kalman filter to obtain a more accurate target positioning result. On the other hand, when the terminal device's location is in a UWB base station signal coverage blind zone, it determines a second positioning result based on the three-dimensional environmental information and corrects the first positioning result accordingly. This provides a more stable and accurate target positioning result within the UWB base station signal coverage blind zone by combining the three-dimensional environmental information of the terminal device's location.
[0050] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
[0051] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.
[0052] Figure 3 A schematic diagram of the structure of the seamless positioning device for enclosed spaces provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below: like Figure 3 As shown, the seamless positioning device for enclosed spaces includes: The first processing module 31 is used to obtain three-dimensional environmental information of the location of the terminal equipment in the power corridor, and to obtain the original data of the IMU device on the terminal equipment and the first positioning result calculated based on the original data. The second processing module 32 is used to extract UWB pseudorange observation values when the terminal device receives UWB base station signals, and determine the azimuth observation values and the pseudorange confidence of UWB pseudorange observation values based on three-dimensional environmental information. The first positioning module 33 is used to fuse UWB pseudorange observations, azimuth observations and raw data based on a tightly coupled Kalman filter and pseudorange confidence to obtain the target positioning result of the terminal device; The second positioning module 34 is used to determine the second positioning result of the terminal device based on three-dimensional environmental information when the location of the terminal device is in a coverage blind zone of the UWB base station signal, and to correct the first positioning result according to the second positioning result to obtain the target positioning result of the terminal device.
[0053] This invention acquires three-dimensional environmental information about the location of a terminal device within a power utility tunnel. On one hand, when the terminal device can receive UWB base station signals, it determines the pseudorange confidence level of the azimuth observation and the UWB pseudorange observation based on the three-dimensional environmental information. Then, it performs multi-source information fusion using the azimuth observation and pseudorange confidence level combined with a tightly coupled Kalman filter to obtain a more accurate target positioning result. On the other hand, when the terminal device's location is in a UWB base station signal coverage blind zone, it determines a second positioning result based on the three-dimensional environmental information and corrects the first positioning result accordingly. This provides a more stable and accurate target positioning result within the UWB base station signal coverage blind zone by combining the three-dimensional environmental information of the terminal device's location.
[0054] In one possible implementation, the second processing module 32 is specifically used for: Based on the 3D environmental information and the preset power pipeline corridor environmental scene recognition model, the candidate environmental scene corresponding to the location of the terminal equipment is obtained.
[0055] Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the current target environment scene corresponding to the position of the terminal device is determined.
[0056] Based on the signal quality of the UWB base station signal, the initial pseudorange confidence level of the UWB pseudorange observations is obtained.
[0057] The initial confidence level is corrected based on the current target environment scenario to obtain the pseudorange confidence level of the UWB pseudorange observations.
[0058] In one possible implementation, the second processing module 32 is specifically used for: Based on the current target environment scenario, determine the multipath effect coefficient of the terminal device's location.
[0059] The initial confidence level is corrected based on the multipath effect coefficient to obtain the pseudorange confidence level of the UWB pseudorange observations.
[0060] In one possible implementation, the second processing module 32 is specifically used for: according to The pseudorange confidence level of the UWB pseudorange observations is obtained.
[0061] in, The pseudorange confidence level of the UWB pseudorange observations. As the initial confidence level, To correct the strength coefficient, This is the multipath effect coefficient.
[0062] In one possible implementation, the second processing module 32 is specifically used for: Based on three-dimensional environmental information, the main directional features and planar features of the power utility tunnel are extracted.
[0063] Based on the main directional characteristics of the utility tunnel, the first azimuth observation value is determined.
[0064] Based on the planar characteristics, determine the second azimuth observation value.
[0065] The azimuth observation value is determined based on the first azimuth observation value and the second azimuth observation value.
[0066] In one possible implementation, the second positioning module 34 is specifically used for: Based on the 3D environmental information and the preset power pipeline corridor environmental scene recognition model, the candidate environmental scene corresponding to the location of the terminal equipment is obtained.
[0067] Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the current target environment scene corresponding to the position of the terminal device is determined.
[0068] The second positioning result of the terminal device is determined based on the current target environment scenario.
[0069] In one possible implementation, the second positioning module 34 is further used for: Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the scene confidence of the current target environment scene corresponding to the position of the terminal device is determined.
[0070] The first positioning result is corrected based on the second positioning result and the scene confidence level to obtain the target positioning result of the terminal device.
[0071] In one possible implementation, the first processing module 31 is further configured to: When the terminal device is located at the entrance of the power utility tunnel, it acquires navigation and positioning data from the Global Navigation Satellite System.
[0072] The first positioning module 33 is also used for: The raw data and navigation positioning data are fused using a tightly coupled Kalman filter to obtain the initial positioning result of the terminal device.
[0073] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. For example... Figure 4 As shown, the electronic device 4 in this embodiment includes a processor 40 and a memory 41. The memory 41 stores a computer program 42. When the processor 40 executes the computer program 42, it implements the steps in the various method embodiments described above. Alternatively, when the processor 40 executes the computer program 42, it implements the functions of each module / unit in the various device embodiments described above.
[0074] For example, computer program 42 may be divided into one or more modules / units, which are stored in memory 41 and executed by processor 40 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 42 in electronic device 4.
[0075] Electronic device 4 may include, but is not limited to, processor 40 and memory 41. Those skilled in the art will understand that... Figure 4 This is merely an example of electronic device 4 and does not constitute a limitation on electronic device 4. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device 4 may also include input / output devices, network access devices, buses, etc.
[0076] For the sake of simplicity and clarity, only the above-described functional modules / units are used as examples. In practical applications, the functions described above can be assigned to different functional modules / units as needed. These modules / units can be implemented in hardware, software, or a combination of both.
[0077] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Unless otherwise specified or in conflict with logic, the terminology and / or descriptions between different embodiments are consistent and can be referenced interchangeably. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.
[0078] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.
Claims
1. A seamless positioning method for an enclosed space, characterized in that, include: The system acquires three-dimensional environmental information about the location of the terminal equipment within the power utility tunnel, and acquires the raw data from the IMU device on the terminal equipment and the first positioning result calculated based on the raw data. When the terminal device receives a UWB base station signal, it extracts the UWB pseudorange observation value and determines the azimuth observation value and the pseudorange confidence level of the UWB pseudorange observation value based on the three-dimensional environmental information. Based on the tightly coupled Kalman filter and the pseudorange confidence, the UWB pseudorange observations, the azimuth observations, and the raw data are fused to obtain the target positioning result of the terminal device; When the terminal device is located in a UWB base station signal coverage blind zone, a second positioning result of the terminal device is determined based on the three-dimensional environmental information, and the first positioning result is corrected according to the second positioning result to obtain the target positioning result of the terminal device.
2. The seamless positioning method for enclosed spaces according to claim 1, characterized in that, Determining the pseudorange confidence level of the UWB pseudorange observations based on the three-dimensional environmental information includes: Based on the three-dimensional environmental information and the preset power pipeline corridor environmental scene recognition model, the candidate environmental scene corresponding to the location of the terminal device is obtained. Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the current target environment scene corresponding to the position of the terminal device is determined. Based on the signal quality of the UWB base station signal, the initial pseudorange confidence level of the UWB pseudorange observation is obtained; The initial confidence level is corrected based on the current target environment scenario to obtain the pseudorange confidence level of the UWB pseudorange observation.
3. The seamless positioning method for enclosed spaces according to claim 2, characterized in that, The initial confidence level is corrected based on the current target environment scenario to obtain the pseudorange confidence level of the UWB pseudorange observation, including: Based on the current target environment scenario, determine the multipath effect coefficient of the terminal device's location; The initial confidence level is corrected based on the multipath effect coefficient to obtain the pseudorange confidence level of the UWB pseudorange observation.
4. The seamless positioning method for enclosed spaces according to claim 3, characterized in that, The initial confidence level is corrected based on the multipath effect coefficient to obtain the pseudorange confidence level of the UWB pseudorange observation, including: according to Obtain the pseudorange confidence level of the UWB pseudorange observation; in, The pseudorange confidence level of the UWB pseudorange observation. Let this be the initial confidence level. To correct the strength coefficient, The multipath effect coefficient is given.
5. The seamless positioning method for enclosed spaces according to claim 1, characterized in that, Determining the orientation observation value based on the three-dimensional environmental information includes: Based on the aforementioned three-dimensional environmental information, the main directional features and planar features of the power utility tunnel are extracted. Based on the main directional characteristics of the utility tunnel, the first azimuth observation value is determined; Based on the aforementioned planar features, determine the second orientation observation value; The azimuth observation value is determined based on the first azimuth observation value and the second azimuth observation value.
6. The seamless positioning method for enclosed spaces according to claim 1, characterized in that, The second positioning result of the terminal device is determined based on the three-dimensional environmental information, including: Based on the three-dimensional environmental information and the preset power pipeline corridor environmental scene recognition model, the candidate environmental scene corresponding to the location of the terminal device is obtained. Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the current target environment scene corresponding to the position of the terminal device is determined. The second positioning result of the terminal device is determined based on the current target environment scenario.
7. The seamless positioning method for enclosed spaces according to claim 6, characterized in that, When determining the current target environment scene corresponding to the location of the terminal device based on the correlation between the candidate environment scene and the target environment scene corresponding to the terminal device at the previous location, the method further includes: Based on the correlation between the candidate environment scene and the target environment scene corresponding to the previous position of the terminal device, the scene confidence of the current target environment scene corresponding to the position of the terminal device is determined. The first positioning result is corrected based on the second positioning result to obtain the target positioning result of the terminal device, including: The first positioning result is corrected based on the second positioning result and the scene confidence level to obtain the target positioning result of the terminal device.
8. The seamless positioning method for enclosed spaces according to claim 1, characterized in that, Also includes: When the terminal device is located at the entrance of the power utility tunnel, it acquires navigation and positioning data from the Global Navigation Satellite System. The initial positioning result of the terminal device is obtained by fusing the original data and the navigation and positioning data based on a tightly coupled Kalman filter.
9. A seamless positioning device for an enclosed space, characterized in that, include: The first processing module is used to acquire three-dimensional environmental information of the location of the terminal equipment in the power utility tunnel, and to acquire the raw data of the IMU device on the terminal equipment and the first positioning result calculated based on the raw data. The second processing module is used to extract UWB pseudorange observation values when the terminal device receives UWB base station signals, and determine the azimuth observation values and the pseudorange confidence of the UWB pseudorange observation values based on the three-dimensional environmental information. The first positioning module is used to fuse the UWB pseudorange observations, the azimuth observations, and the original data based on a tightly coupled Kalman filter and the pseudorange confidence level to obtain the target positioning result of the terminal device. The second positioning module is used to determine the second positioning result of the terminal device based on the three-dimensional environmental information when the location of the terminal device is in a coverage blind zone of the UWB base station signal, and to correct the first positioning result according to the second positioning result to obtain the target positioning result of the terminal device.
10. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1 to 8.