A tunnel precise personnel positioning management system based on UWB positioning technology

Abstract

The application belongs to the technical field of personnel positioning management, and specifically discloses a tunnel precise personnel positioning management system based on UWB positioning technology, which comprises a positioning information acquisition module, a positioning update analysis module, a report adjustment positioning module and a report adjustment determination module. The positioning information acquisition module is used for acquiring the real-time movement speed of personnel, the residual power of a tag, the type of an area where the personnel are located and the multipath interference intensity of a channel. The positioning update analysis module is used for identifying the working state of the personnel, calculating the basic frequency update demand value in combination with the type of the area and correcting the demand value according to the interference intensity. The report adjustment positioning module is used for screening the tags whose frequencies need to be adjusted according to the demand value, the power, the area and the interference after comprehensive correction. The report adjustment determination module is used for confirming the adjustment direction and calculating a new frequency and feeding back the new frequency to the tag. The application can dynamically adjust the report frequency, can reduce energy consumption and avoid channel congestion while meeting the real-time positioning of high-risk areas, and can improve the reliability and energy efficiency of tunnel personnel positioning management.

Description

Technical Field

[0001] This invention belongs to the field of personnel positioning management technology, and more specifically, relates to a tunnel precision personnel positioning management system based on UWB positioning technology. Background Technology

[0002] Tunnels are characterized by dense metal components, enclosed spaces, and rapid signal attenuation. The elongated structure of operational tunnels and the reflection and blockage from vehicles cause severe multipath interference, leading to significant measurement errors in positioning signals. To ensure the safety of tunnel personnel and the efficiency of emergency response, it is necessary to manage the positioning of tunnel personnel.

[0003] In tunnel construction scenarios, the real-time positioning needs of personnel in different areas and under different conditions vary significantly. In high-risk work areas such as blasting zones, rapid location updates are required to detect intrusions, while in low-risk areas such as rest areas, the need for location updates is lower.

[0004] However, current tunnel construction worker positioning systems generally use a uniform, fixed update frequency for all tags to report their location, failing to comprehensively consider the inherent correlation between the risk level of the area where the personnel are located, the overall channel load, and the real-time positioning requirements. In high-density work environments, all tags reporting at the same frequency can easily lead to UWB wireless channel congestion and positioning packet loss, resulting in increased positioning latency. In low-risk, stationary scenarios, tags still report redundant data at a high frequency, inefficiently consuming power and significantly shortening battery life. Furthermore, in the event of an emergency, insufficient tag power or channel congestion may prevent timely location reporting, delaying rescue efforts.

[0005] Therefore, how to adaptively adjust the reporting frequency of UWB tags to reduce energy consumption in low-risk areas and avoid channel congestion while ensuring real-time positioning requirements in high-risk areas, and improve the reliability and energy efficiency of personnel positioning management in tunnels, is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] In view of this, in order to solve the above problems, a tunnel precision personnel positioning management system based on UWB positioning technology is proposed.

[0007] The objective of this invention can be achieved through the following technical solution: This invention provides a tunnel precision personnel positioning management system based on UWB positioning technology. The system includes: a positioning information acquisition module, which acquires real-time movement speed data stream and current remaining battery power of personnel from UWB positioning tags, and acquires in real-time the area type of the tag and the multipath interference intensity of the UWB signal in the channel from the UWB base station deployed in the tunnel.

[0008] The positioning update analysis module identifies the working status of personnel based on real-time motion speed data streams, calculates the basic frequency update requirement value based on the personnel's working status and the type of area where the tag is located, and corrects the basic frequency requirement value according to the real-time UWB signal multipath interference intensity.

[0009] The reporting and adjustment module updates the required value based on the corrected frequency, the current remaining power, the area type of the tag, and the real-time UWB signal multipath interference intensity of the tag's upload communication channel. It then locates the tags that need to be reported for frequency adjustment and records them as adjustment tags.

[0010] The reporting adjustment confirmation module confirms the adjustment direction of the adjustment label, calculates the reporting frequency corresponding to the adjustment label after the adjustment, and feeds back the adjusted reporting frequency to the adjustment label.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention calculates the basic frequency update requirement value based on the working status of personnel and the type of area where the tag is located, integrates personnel movement characteristics and regional risks into a quantitative requirement value, fully considers the differences in the real-time positioning requirements of personnel in different areas and under different conditions, and thus provides a data basis for the dynamic adjustment of the reporting frequency.

[0012] (2) This invention obtains the multipath interference intensity of UWB signals and corrects the basic frequency update requirement value in real time, thereby filtering the tags that need to adjust the reporting frequency. It can distinguish the reporting requirements of key tags and non-key tags according to the real-time changes in the channel environment. This is beneficial to actively reduce the reporting frequency of non-key tags in high interference and congestion scenarios, thereby alleviating the wireless channel load, reducing the collision and loss of positioning data packets, and giving positioning data in high-risk areas a priority transmission opportunity.

[0013] (3) By comprehensively correcting the frequency update requirement value, remaining power, area type and signal interference intensity, the present invention can accurately locate the tag that needs to be frequency increased and determine the adjustment direction. In the event of an emergency, it can automatically increase the reporting frequency of the tag carried by the personnel in the high-risk operation area or who are moving quickly to the preset upper limit value. At the same time, it prioritizes the transmission of location data of the tag with low power based on the remaining power, thereby avoiding the delay or loss of real-time location data of personnel due to channel congestion or insufficient power, and providing reliable continuous location information for emergency command. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the system structure module connection of the present invention;

[0015] Figure 2 This is a schematic diagram of the overall implementation process of the present invention;

[0016] Figure 3 This is a schematic diagram of the personnel work status identification process of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Currently, tunnel personnel positioning management systems typically use a uniform and fixed reporting frequency for all UWB tags. They cannot adjust the reporting frequency based on personnel work status, risk level of the area, multipath interference intensity of the channel, and remaining battery power of the tags. This leads to channel congestion in high-density work areas and ineffective power consumption in low-risk static areas. Furthermore, in the event of an emergency, the inability to promptly identify low-battery or high-priority tags may delay location reporting, causing missed rescue opportunities.

[0019] Based on this, this invention discloses a tunnel precision personnel positioning management system based on UWB positioning technology. By acquiring personnel working status, area type, multipath interference intensity, and tag remaining power, a frequency update requirement value is constructed and dynamically corrected. At the same time, based on the update urgency index, tags that need to adjust the reporting frequency are selected, thereby achieving adaptive adjustment of the reporting frequency, which can effectively improve the reliability and energy efficiency of tunnel personnel positioning management.

[0020] Specifically, please refer to Figures 1 to 2 As shown, the present invention provides a tunnel precision personnel positioning management system based on UWB positioning technology. The system includes: a positioning information acquisition module, a positioning update analysis module, a positioning reporting and adjustment module, and a positioning reporting and adjustment confirmation module.

[0021] In the above, the location information acquisition module is connected to the location update analysis module and the location reporting and adjustment module, respectively. The location reporting and adjustment module is also connected to the location update analysis module and the location reporting and adjustment determination module, respectively.

[0022] The location information acquisition module provides real-time motion speed data streams, remaining battery power, region type, and multipath interference intensity to the location update analysis module and the reporting and adjustment positioning module. The location update analysis module transmits the calculated and corrected frequency update requirement value to the reporting and adjustment positioning module. The reporting and adjustment positioning module outputs the determined adjustment tag and its update urgency index to the reporting and adjustment determination module.

[0023] Specifically, the location information acquisition module first obtains the real-time movement speed data stream and current remaining battery power of the personnel from the UWB positioning tag. The real-time movement speed data stream is used by the subsequent positioning update analysis module to identify the personnel's working status. The current remaining battery power is used by the subsequent reporting and adjustment positioning module to determine whether the tag needs to reduce its reporting frequency or prioritize necessary location reporting.

[0024] Among them, real-time motion speed data stream refers to a time-continuous sequence of speed values ​​obtained through one of the following methods: one method is to collect acceleration data in real time through the accelerometer built into the tag and calculate the instantaneous speed by integrating it over time, and then sort the instantaneous speeds at all times in chronological order to form a real-time motion speed data stream.

[0025] Another approach is to continuously locate the UWB positioning tag using a UWB base station, obtain the tag's position coordinates at different times, and then perform differential calculations on the position coordinates at adjacent times to obtain a velocity value sequence. This sequence is the real-time motion velocity data stream. In this embodiment, either accelerometer integration or UWB base station differential positioning can be used.

[0026] The location information acquisition module is also used to obtain in real time the area type where the tag is currently located and the multipath interference intensity of the UWB signal in the channel it is in from the UWB base station deployed in the tunnel.

[0027] The area types include, but are not limited to, high-risk work areas, non-high-risk work areas, rest areas, or emergency passage areas. Specifically, within the tunnel, each physical area can be pre-configured in the base station or server using an electronic fence to determine its corresponding area type. When the base station detects a tag entering a certain area, the location information acquisition module can obtain the corresponding type identifier. This area type information is used to quantify the location risk level and provides a data foundation for the subsequent location update analysis module to calculate the basic frequency update requirement value.

[0028] Furthermore, the multipath interference intensity of UWB signals is used to reflect the degree to which UWB signals, when propagating in a tunnel, are reflected by metal components, vehicles, and walls, resulting in multiple paths reaching the receiver and causing a degradation in signal quality.

[0029] In one specific embodiment, the real-time UWB signal multipath interference intensity is obtained by acquiring the received signal strength (RSSI), the ratio of the first path signal amplitude to the maximum multipath signal amplitude (denoted as the F / M ratio), and the number of peak values ​​in the channel impulse response whose amplitude exceeds a preset threshold from the base station in real time.

[0030] Using a 1-second window, a set of (RSSI, F / M ratio, number of peaks) data is collected every second to form an eigenvector. The eigenvectors from the past N windows are collected to construct an N×3 matrix. PCA analysis is performed on this matrix to obtain the first principal component, and the maximum value of this first principal component in the historical data is selected. and minimum value .

[0031] The current first principal component The multipath interference intensity is obtained by normalizing the signal to the [0, 1] interval using the minimum-maximum normalization method. For the F / M ratio, since a larger value indicates less interference, to maintain consistency, the normalized F / M ratio is subtracted from 1, ensuring that all three indicators are positively correlated with the interference intensity after normalization. It is important to note that when calculating the F / M ratio, if no multipath signal is detected in the channel impulse response (i.e., the denominator is 0), the F / M ratio is set to 1 to reflect the absence of multipath interference.

[0032] The location information acquisition module outputs the acquired real-time motion speed data stream, current remaining battery power, region type, and multipath interference intensity to the location update analysis module and the reporting and adjustment positioning module for subsequent processing.

[0033] The positioning update analysis module first identifies the working status of personnel based on real-time motion speed data stream, which can be one of being stationary, moving normally, or moving at an accelerated pace.

[0034] Specifically, please refer to Figure 3 As shown, the specific method for identifying the working status of personnel is as follows: U1. Capture the real-time motion speed data stream according to a preset time window to construct the speed time sequence of the current window. This preset time window can be 5 seconds or 10 seconds to reflect the recent movement trend of personnel.

[0035] U2. Calculate the average speed of the speed sequence within the current window. If the average speed is less than the movement speed threshold, it indicates that the person is not moving significantly. Then mark the person's working status as stationary.

[0036] Understandably, the preset movement speed threshold is set based on the upper limit of the speed output noise of the UWB positioning tag under static testing. It is usually set to be higher than the upper limit of the speed output noise of the UWB positioning tag under static testing and lower than the lower limit of the normal walking speed of a human (about 0.6m / s). For example, the value is 0.5m / s, which is used to distinguish between stationary and moving states.

[0037] U3. If the average speed is greater than or equal to the moving speed threshold, perform linear fitting on the speed time series to obtain the slope of the fitted line.

[0038] U4. If the slope is positive and the slope value is greater than the preset acceleration threshold, it indicates that the speed of the personnel is continuously and significantly increasing within the window. If it is only marked as normal movement, the recognition of acceleration behavior will be lost, and the sampling or update density will not be able to be improved in time during subsequent positioning frequency adjustments. Therefore, the personnel working state is marked as accelerated movement state. If the slope value is negative, or the slope value is positive but the absolute value of the slope is less than or equal to the preset acceleration threshold, then it is usually in deceleration or uniform movement. Since deceleration will not cause a sharp increase in positioning error due to the decrease in speed, it does not need to be marked separately and is marked as normal movement state.

[0039] Understandably, the preset slope threshold is calibrated offline based on the standard deviation of the velocity measurement noise of the UWB positioning system under uniform motion test. For example, three times the standard deviation is taken as the preset slope threshold to distinguish between acceleration and noise.

[0040] Subsequently, the location update analysis module calculates the basic frequency update requirement value based on the personnel's work status and the area type where the tag is located. This requirement value quantifies the basic demand of the UWB positioning tag for location reporting frequency at the current moment, and its value ranges from [0, 1]. The larger the value, the higher the reporting frequency required by the tag to meet the real-time positioning requirements. This value is calculated based on the personnel's work status and the area type where the tag is located. The maximum value of 1 is directly taken for accelerated movement status or high-risk work areas. Other statuses are obtained by normalizing the linear weighted average of the personnel tracking demand score and the area risk score.

[0041] Specifically, the calculation process for the basic frequency update requirement value includes: S1, obtaining the area type where the tag is located, which includes at least one of high-risk work area, non-high-risk work area, rest area or emergency passage area.

[0042] S2. If the personnel's working status is accelerated movement, or the area type where the tag is located is a high-risk work area, then the basic frequency update requirement value is directly assigned to the preset maximum value. In this embodiment of the invention, the maximum value is 1 by default.

[0043] Understandably, the rate of change of personnel position increases continuously during accelerated movement. If the positioning frequency does not increase accordingly, the position extrapolation error will accumulate rapidly. Furthermore, the risk of mechanical collisions or personnel falls is high in high-risk work areas, necessitating the highest positioning update frequency to ensure real-time monitoring. Therefore, in this scenario, the basic frequency update requirement value is directly assigned the preset maximum value.

[0044] S3. If the personnel's work status is not in accelerated movement and the area type of the tag is not a high-risk work area, then the personnel's work status will be further converted into a personnel tracking demand score, and the area type will be converted into an area risk score.

[0045] The personnel tracking requirement score can be set according to the activity level of the work status. For example, a stationary state corresponds to a personnel tracking requirement score of 1, and a normal moving state corresponds to a personnel tracking requirement score of 2 (accelerated moving state has already taken the maximum value in the triggering conditions and does not participate in the weighting). The more obvious the personnel activity status, the higher the personnel tracking requirement.

[0046] The regional risk score is set according to the regional type. Because the emergency passage area needs to ensure the rapid evacuation of personnel in the event of an emergency, its real-time positioning requirements are higher than those of the rest area but lower than those of the work area. That is, the regional risk score of the non-high-risk construction area is 3, the regional risk score of the rest area is 1, and the regional risk score of the emergency passage area is 2.

[0047] S4. Perform linear weighted calculation on the personnel tracking demand score and the regional risk score, normalize the calculation result, and use the normalized result as the base frequency to update the demand value. The sum of the weights of the personnel tracking demand score and the regional risk score is 1.

[0048] Understandably, the weights of the personnel tracking demand score and the regional risk score can be configured according to the actual safety requirements of tunnel construction: if more emphasis is placed on the impact of regional risk on the real-time positioning, the weight of the regional risk score is increased; if more emphasis is placed on the impact of personnel movement status, the weight of the personnel tracking demand score is increased. For example, when more emphasis is placed on the impact of regional risk on the real-time positioning, the weight of the regional risk score is 0.6, and the weight of the personnel tracking demand score is 0.4.

[0049] Understandably, the normalization method is to divide the linear weighted calculation result by the weighted sum when both the personnel tracking demand score and the regional risk score are at their maximum values.

[0050] Furthermore, after obtaining the basic frequency update requirement value, the positioning update analysis module determines whether the requirement value needs to be corrected based on the real-time UWB signal multipath interference intensity, thereby avoiding blindly increasing the reporting frequency due to poor channel conditions, or appropriately increasing the frequency to enhance positioning real-time performance when channel conditions are good.

[0051] Specifically, the process for determining whether the required value needs to be corrected is as follows: The proportion of time points where the multipath interference intensity exceeds a preset interference intensity threshold is statistically analyzed and recorded as the interference ratio. The preset interference intensity threshold is used to distinguish between acceptable and unacceptable channel quality states, and its value range is [0, 1]. In this embodiment, it is preferably 0.6. This threshold can be adjusted according to actual channel conditions: when the UWB packet loss rate exceeds 10%, the preset interference intensity threshold needs to be lowered, for example, to 0.55; conversely, it needs to be raised, for example, to 0.65.

[0052] If the interference ratio is lower than or equal to the first interference ratio threshold, it indicates that the overall channel environment is relatively good, and at this time, it is determined to trigger correction.

[0053] If the interference ratio exceeds the second interference ratio threshold, it indicates severe channel interference. In this case, it is necessary to further determine the area type of the tag: When the area type is a high-risk work area, despite severe channel interference, safety priority is the highest, so the original high-frequency update requirement is maintained without correction, in order to capture personnel location to the greatest extent possible. When the area type is not a high-risk work area, to avoid invalid data transmission due to interference, a correction is triggered, such as reducing the update frequency.

[0054] If the interference ratio is between the first interference ratio threshold and the second interference ratio threshold, it indicates that the channel interference is at a moderate level. Therefore, it is determined that no correction will be triggered to keep the base frequency update requirement value unchanged, i.e., no correction will be performed.

[0055] The second interference ratio threshold is higher than the first interference ratio threshold. The first interference ratio threshold is used to determine low-interference environments. When the interference ratio is not higher than this value, the channel quality is good, and multipath propagation has little impact on ranging accuracy. The second interference ratio threshold is used to determine high-interference environments. When the interference ratio is higher than this value, the channel quality is poor.

[0056] As a preferred example, the first interference ratio threshold is preferably set to 0.2, and the second interference ratio threshold is preferably set to 0.8. The first and second interference ratio thresholds can be adjusted according to the channel fluctuation level in the tunnel. If the short-term fluctuation variance of the channel interference exceeds 50% of the long-term mean, the two thresholds are each reduced by 0.1; otherwise, the preferred values ​​remain unchanged.

[0057] Furthermore, when a correction is triggered, the positioning update analysis module corrects the fundamental frequency requirement value based on the real-time multipath interference intensity of the UWB signal.

[0058] The specific method for correcting the base frequency requirement value is as follows: When correction is triggered, if the interference ratio is lower than or equal to the first interference ratio threshold, the correction direction is marked as "increase," meaning that the reporting frequency is appropriately increased to obtain more precise location updates when the channel is good. Otherwise, the correction direction is marked as "decrease" to ensure congestion is alleviated when the channel is poor.

[0059] When the correction direction is to increase, the target analysis interference intensity is obtained by calculating the average value based on the real-time UWB signal multipath interference intensity. When the correction direction is to decrease, the arithmetic mean of the interference intensity at all time points that exceed the preset interference intensity threshold is calculated as the target analysis interference intensity.

[0060] Considering that the impact of multipath interference on channel capacity typically increases non-linearly, this invention employs an exponential function for correction calculations. Specifically, the target interference intensity is denoted as... And calculate the corrected base frequency requirement value. , .

[0061] in, Based on the base frequency requirement, This indicates a scenario where the correction direction is improvement. This indicates a scenario where the correction direction is downward. and These are the preset maximum and minimum base frequency requirements, which can be 1 and 0.1 respectively within the normalized interval. The value is 0.1 instead of 0 to ensure that the tag reports its location at the lowest possible frequency, thus avoiding the complete loss of its positioning capability.

[0062] Represented as an exponential function with the natural constant e as the base, when the correction direction is upward, the corrected value is... and Take the minimum value between these two values ​​to avoid exceeding the upper limit. When the correction direction is downward, the corrected value is... and Take the maximum value between the two limits to avoid falling below the lower limit.

[0063] When multipath interference intensity When smaller, A value close to 1 indicates a large increase or decrease. When... When it is large, As the value approaches zero, the correction magnitude decreases, thus adaptively reflecting the impact of channel quality on frequency requirements, i.e., multipath interference intensity. The smaller the value (the better the channel quality), the greater the magnitude of the correction action (boost or decrease), and the more inclined to adjust the reporting frequency relatively significantly according to demand. The larger the value (the worse the channel quality), the smaller the correction range, avoiding over-adjustment under poor channel conditions that could lead to congestion or invalid operation.

[0064] The corrected frequency update requirement value is transmitted to the reporting and adjustment positioning module. Simultaneously, the reporting and adjustment positioning module receives the current remaining battery power, area type, and real-time UWB signal multipath interference intensity of each tag from the positioning information acquisition module. Based on the corrected frequency update requirement value, current remaining battery power, tag area type, and real-time UWB signal multipath interference intensity of the tag's upload communication channel, the tags requiring frequency adjustment are located and designated as adjustment tags.

[0065] Specifically, the method for locating tags that need to have their reporting frequency adjusted is as follows: R1. If the tag is currently in the work area (including high-risk work areas or non-high-risk work areas), then the tag is recorded as a candidate adjustment tag.

[0066] R2. Perform the following sub-steps for each candidate adjustment tag: R21. Calculate the update urgency index based on the corrected frequency update demand value and the current tag's remaining power.

[0067] The update urgency index is used to comprehensively assess the urgency of adjusting the reporting frequency of a specific UWB location tag at the current moment. This index is calculated by linearly weighting the power shortage coefficient and the corrected frequency update requirement value. A higher update urgency index indicates a stronger urgency for adjustment. Conversely, a lower update urgency index indicates a lower urgency for adjustment and a higher need to lower the reporting frequency.

[0068] Understandably, the power shortage coefficient is used to quantify the degree of scarcity of the tag's current remaining power relative to the preset warning power level. The power shortage coefficient is 1 minus the ratio of the current remaining power level to the preset warning power level. When the remaining power level is higher than the warning power level, the power is not scarce, and the power shortage coefficient is 0.

[0069] Considering that when the remaining battery power is below 20%, the battery voltage enters a rapid decline zone, and continued high-frequency reporting may cause the tag to shut down due to low voltage within a short period of time, this embodiment of the invention preferably uses 20% as the preset warning battery power. This threshold can be adjusted accordingly based on the actual battery capacity of the tag.

[0070] It should be noted that the weights of the power shortage coefficient and the corrected frequency update demand value are summed to 1, and the weight of the corrected frequency update demand value is greater than the weight of the power shortage coefficient. As a preferred example, the weight of the corrected frequency update demand value is 0.7, and the weight of the power shortage coefficient is 0.3.

[0071] R22. If the update urgency index is lower than the preset lower threshold (0.3 in this embodiment), the low urgency index indicates that the current demand value is small and the reporting frequency can be reduced. In this case, the tag is determined to be a UWB positioning tag that needs to have its reporting frequency adjusted.

[0072] R23. If the update urgency index is between the preset lower threshold and the preset upper threshold (0.7 in this embodiment), then it is determined that the label does not need to be adjusted.

[0073] R24. If the update urgency index is higher than the preset upper limit threshold and the remaining power is higher than the preset warning power, the tag is recorded as a candidate for adjustment tag. If the update urgency index is higher than the preset upper limit threshold, but the current remaining power is lower than or equal to the preset warning power, the tag is determined to maintain the current reporting frequency and is not recorded as a candidate for adjustment tag. All candidate adjustment tags in the same communication channel as the current candidate adjustment tag are used as tags to be analyzed.

[0074] R25. Obtain the current UWB signal multipath interference intensity of the communication channel, filter each tag to be analyzed through preset interference filtering rules, and determine the UWB positioning tags that need to be reported for frequency adjustment.

[0075] The specific execution content of the preset interference screening rule is as follows: R251. Compare the current UWB signal multipath interference intensity with the preset interference intensity threshold. If the current UWB signal multipath interference intensity is greater than the preset interference intensity threshold, it indicates that the channel interference is serious. The allowable upward adjustment ratio will be set to 0. At this time, the allowable upward adjustment ratio will be set to 0, that is, no upward adjustment is allowed.

[0076] Understandably, the allowable upscaling ratio is used to reflect the proportion of candidate upscaling tags for frequencies that are actually allowed to be upscaled within the same communication channel due to channel capacity limitations. This ratio is calculated based on the current UWB signal multipath interference intensity and a preset interference intensity threshold, and its value ranges from [0, 1].

[0077] R252. Otherwise, calculate the ratio of the current UWB signal multipath interference intensity to the preset interference intensity threshold, subtract this ratio from 1 to obtain the allowable up-adjustment ratio. The ratio ranges from 0 to 1. The smaller the current UWB signal multipath interference intensity, the larger the allowable up-adjustment ratio, thus allowing more tags to be up-adjusted in frequency when channel conditions are good.

[0078] R253. Multiply the allowed upward adjustment ratio by the total number of candidate upward adjustment tags in the same communication channel, and round up to obtain the number of tags N that can be adjusted upwards.

[0079] R254. Determine whether the total number of tags to be analyzed exceeds the allowed number of tags to be adjusted. If not, treat all tags to be analyzed as UWB positioning tags that need to have their reporting frequency adjusted.

[0080] R255. If the number of tags exceeds the limit, sort the tags to be analyzed from largest to smallest according to the update urgency index, and select the top N tags as the UWB positioning tags that need to be adjusted in terms of reporting frequency.

[0081] This filtering rule allows for prioritizing tags with more urgent update needs (higher urgency index) when the allowed capacity is limited. This ensures that the location information of personnel in high-risk work areas is updated more frequently, even under channel resource or capacity constraints.

[0082] The determined adjustment labels and their corresponding update urgency indices are output to the adjustment confirmation reporting module.

[0083] The reporting adjustment determination module confirms the adjustment direction of the adjustment tag, calculates the adjusted reporting frequency corresponding to the adjustment tag, and feeds back the adjusted reporting frequency to the adjustment tag.

[0084] Specifically, the method for confirming the adjustment direction of an adjustment tag is as follows: if the update urgency index of an adjustment tag is lower than the preset lower threshold, its adjustment direction is marked as downward; if the update urgency index is higher than the preset upper threshold and the current remaining battery power is higher than the preset warning battery power, the adjustment direction is marked as upward.

[0085] Furthermore, the specific process of calculating the adjusted reporting frequency corresponding to the adjusted label includes: if the adjustment direction is downward, multiply the current reporting frequency by the update urgency index to obtain the preliminary adjustment frequency.

[0086] If the adjustment direction is upward, the sum of 1 and the update urgency index is used as the adjustment ratio. The current reporting frequency is multiplied by the adjustment ratio to obtain the preliminary adjustment frequency.

[0087] When the initial adjustment frequency is lower than the preset minimum reporting frequency, the minimum reporting frequency is taken as the adjusted reporting frequency. When the initial adjustment frequency is higher than the preset maximum reporting frequency, the maximum reporting frequency is taken as the adjusted reporting frequency. Otherwise, the initial adjustment frequency is taken as the adjusted reporting frequency.

[0088] It should be noted that the preset maximum reporting frequency corresponds to the highest upper limit of the real-time positioning requirements. An example value is 10Hz (i.e., reporting the location once every 0.1 seconds), which is suitable for scenarios where the tag is in a high-risk work area or where the personnel are in a state of accelerated movement.

[0089] The preset minimum reporting frequency corresponds to the minimum requirement for maintaining basic positioning capability. An example value is 0.1Hz (i.e., reporting the location once every 10 seconds), which is suitable for scenarios where the tag is in a rest area and the personnel are in a stationary working state.

[0090] The above values ​​can be adjusted based on the processing capacity of the UWB base station in the tunnel (such as the number of data packets that a single base station can process per second). For example, in high-density operating areas, the highest frequency can be reduced to 5Hz to avoid channel congestion.

[0091] The above content is merely an example and illustration of the concept of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, and all such modifications and additions should fall within the protection scope of the present invention.

Claims

1. A tunnel precision personnel positioning management system based on UWB positioning technology, characterized in that, The system includes: The location information acquisition module obtains real-time movement speed data stream and current remaining battery power of personnel from UWB positioning tags, and obtains the area type of the tag and the multipath interference intensity of the UWB signal in the channel from the UWB base station deployed in the tunnel in real time. The positioning update analysis module identifies the working status of personnel based on real-time motion speed data stream, calculates the basic frequency update requirement value based on the working status of personnel and the type of area where the tag is located, and corrects the basic frequency requirement value according to the real-time UWB signal multipath interference intensity. The reporting and adjustment module updates the required value, current remaining power, tag location type, and real-time UWB signal multipath interference intensity of the tag's upload communication channel based on the corrected frequency update. The tag that needs to be reported for frequency adjustment is recorded as the adjusted tag. The reporting adjustment confirmation module confirms the adjustment direction of the adjustment label, calculates the reporting frequency corresponding to the adjustment label after the adjustment, and feeds back the adjusted reporting frequency to the adjustment label.

2. The tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 1, characterized in that: The specific method for identifying personnel's work status is as follows: Extract real-time motion speed data streams according to preset time windows, and construct the speed time sequence of the current window; Calculate the average speed of the speed sequence within the current window. If the average speed is less than the preset movement speed threshold, mark the personnel's working state as stationary. If the average speed is greater than or equal to the moving speed threshold, perform linear fitting on the speed time series to obtain the slope of the fitted line; If the slope is positive and the slope value is greater than the preset acceleration threshold, the personnel's working state is marked as accelerated movement state; otherwise, it is marked as normal movement state.

3. The tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 2, characterized in that: The specific calculation process for the base frequency update requirement value includes: Obtain the area type where the tag is located. The area type must be at least one of the following: high-risk work area, non-high-risk work area, rest area, or emergency passage area. If the personnel's work status is accelerated movement or the area type of the tag is a high-risk work area, the basic frequency update requirement value will be assigned to the preset maximum value; If the personnel's work status is not in an accelerated movement state and the area type where the tag is located is not a high-risk work area, the personnel's work status will be converted into a personnel tracking demand score, and the area location type where the tag is located will be converted into an area risk score. The personnel tracking demand score and the regional risk score are linearly weighted and calculated. The calculation result is normalized and used as the base frequency to update the demand value.

4. The tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 1, characterized in that: Before adjusting the base frequency requirement value, it is also necessary to determine whether the adjustment has been triggered. The specific determination process is as follows: The proportion of time points in which the multipath interference intensity exceeds the preset interference intensity threshold is recorded as the interference ratio. If the interference ratio is lower than or equal to the first interference ratio threshold, then a correction is triggered. If the interference ratio is higher than the second interference ratio threshold, it is determined whether the area type where the UWB positioning tag is located is a high-risk operation area. If it is a high-risk operation area, it is determined that no correction is triggered. If it is not a high-risk operation area, it is determined that correction is triggered. If the interference ratio is between the first interference ratio threshold and the second interference ratio threshold, it is determined that no correction is triggered, wherein the second interference ratio threshold is greater than the first interference ratio threshold.

5. A tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 4, characterized in that: The specific correction process for adjusting the fundamental frequency requirement value includes: When a correction is triggered, if the interference ratio is lower than or equal to the first interference ratio threshold, the correction direction will be marked as increasing; otherwise, the correction direction will be marked as decreasing. When the correction direction is to increase, the target analysis interference intensity is obtained by calculating the average value based on the real-time UWB signal multipath interference intensity. When the correction direction is to decrease, the arithmetic mean of the interference intensity at all time points that exceed the preset interference intensity threshold is calculated as the target analysis interference intensity. The target analysis interference intensity is denoted as... And calculate the corrected base frequency requirement value. , , Based on the base frequency requirement, This indicates a scenario where the correction direction is improvement. This indicates a scenario where the correction direction is downward. and These are the preset maximum and minimum base frequency requirements, respectively.

6. The tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 4, characterized in that: The specific method for adjusting the reporting frequency of the tags required for location tracking is as follows: Compare the current remaining power of each tag with the preset warning power. If the tag is in the working area, it is recorded as a candidate adjustment tag. Perform the following sub-steps for each candidate adjustment label: The update urgency index is calculated based on the revised frequency update demand value and the current remaining battery power of the tag. If the update urgency index is lower than the preset lower threshold, the tag is determined to be a UWB positioning tag that needs to adjust the reporting frequency. If the update urgency index is between the preset lower threshold and the preset upper threshold, then the label is determined not to need adjustment; If the urgency index for updating is higher than the preset upper limit threshold and the current remaining battery power is higher than the preset warning battery power, then the tag is recorded as a candidate tag for adjustment, and all candidate tags for adjustment in the same communication channel as the candidate tags for adjustment are used as tags to be analyzed. Based on the current UWB signal multipath interference intensity of the communication channel, each tag to be analyzed is filtered through preset interference filtering rules to determine the UWB positioning tags that need to be reported for frequency adjustment.

7. A tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 6, characterized in that: The specific calculation method for the update urgency index is as follows: Calculate the ratio of the current remaining power to the preset warning power to obtain the remaining power ratio. Subtract the remaining power ratio from 1 to obtain the power shortage coefficient. The update urgency index is obtained by linearly weighting and summing the power shortage coefficient and the corrected frequency update requirement value.

8. A tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 6, characterized in that: The specific execution content of the preset interference filtering rules is as follows: If the current UWB signal multipath interference intensity is greater than the preset interference intensity threshold, the allowable upward adjustment ratio is set to 0; otherwise, the ratio of the current UWB signal multipath interference intensity to the preset interference intensity threshold is calculated, and the allowable upward adjustment ratio is obtained by subtracting this ratio from 1. Multiply the allowed upward adjustment ratio by the total number of candidate upward adjustment tags within the same communication channel, and round up to obtain the number of tags N that can be adjusted upwards. Determine whether the total number of tags to be analyzed exceeds the allowed number of tags to be adjusted. If it does not exceed the limit, treat all tags to be analyzed as UWB positioning tags that need to have their reporting frequency adjusted. If the number of tags exceeds the limit, sort the tags to be analyzed from largest to smallest according to the update urgency index, and select the top N tags as UWB positioning tags that need to be adjusted in terms of reporting frequency.

9. A tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 6, characterized in that: The specific method for confirming the adjustment direction of the adjustment tag is as follows: if the update urgency index of an adjustment tag is lower than the preset lower threshold, its adjustment direction is marked as downward; if the update urgency index is higher than the preset upper threshold and the current remaining power is higher than the preset warning power, the adjustment direction is marked as upward.

10. A tunnel precision personnel positioning management system based on UWB positioning technology as described in claim 1, characterized in that: The calculation method for the adjusted reporting frequency corresponding to the adjusted label is as follows: If the adjustment direction is downward, multiply the current reporting frequency by the update urgency index to obtain the preliminary adjustment frequency; If the adjustment direction is upward, the sum of 1 and the update urgency index is used as the adjustment ratio, and the current reporting frequency is multiplied by the adjustment ratio to obtain the preliminary adjustment frequency; When the initial adjustment frequency is lower than the preset minimum reporting frequency, the minimum reporting frequency is taken as the adjusted reporting frequency. When the initial adjustment frequency is higher than the preset maximum reporting frequency, the maximum reporting frequency is taken as the adjusted reporting frequency. Otherwise, the initial adjustment frequency is taken as the adjusted reporting frequency.

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