A system and method for supervising and escorting workers at heights based on UWB and barometers

Abstract

This invention provides a system and method for supervising and monitoring high-altitude operations based on UWB and barometers, relating to the field of safety supervision technology for high-altitude operations. The invention designs a UWB 3D positioning base station and tag architecture integrating barometers. Both the base station and tags have built-in barometers, using pressure differences to calculate altitude. Combined with UWB horizontal positioning, this forms a true 3D positioning architecture specifically for high-altitude operations, achieving centimeter-level 3D positioning and solving the problem of insufficient vertical positioning accuracy. The invention establishes a height-level hierarchical permission 3D electronic fence control system, enabling automatic qualification verification and automatic control of work permissions based on risk level. Furthermore, an adaptive calibration mechanism for barometers in high-altitude scenarios is designed to eliminate altitude drift caused by local pressure disturbances. The invention implements an anti-interference enhancement mechanism for UWB and barometers in complex environments, ensuring continuous and stable positioning under electromagnetic interference and pressure disturbances.

Description

Technical Field

[0001] This invention relates to the field of safety supervision technology for working at heights, and in particular to a system and method for accompanying and supervising working at heights based on UWB and a barometer. Background Technology

[0002] Working at heights is a high-risk special operation in industries such as construction, wind power, electricity, and petrochemicals, characterized by a high risk of falls from heights, difficulty in supervision, and strict compliance requirements. According to national standards such as the "Technical Specification for Safety of High-Altitude Operations in Construction" (JGJ80-2016), working at heights must be accompanied by designated personnel throughout the entire process, with working heights limited according to qualifications, and real-time monitoring of hazardous areas.

[0003] The current industry-standard regulatory methods are as follows: manual visual inspection and walkie-talkie confirmation, relying on the responsibility of management personnel; the use of positioning technologies such as Wi-Fi, Bluetooth, RFID, and ordinary UWB, which are mostly two-dimensional planar positioning, with height direction relying on base station calculation, no air pressure assistance, large vertical positioning errors, and inability to accurately distinguish between floors and heights; the lack of scenario-based functions such as dedicated escort binding and height-level permission for high-altitude operations; the lack of adaptive handling mechanisms for electromagnetic interference and local air pressure disturbances (ventilation openings, high-altitude airflow, airflow inside the tower) at the construction site, making positioning prone to drift and failure; and the lack of a closed-loop management system of "early warning - handling - traceability", with violation records and trajectory data relying on manual entry, which is difficult to meet the needs of safety audits and accident investigations.

[0004] The closest existing technology is the general-purpose UWB indoor 3D positioning system, which only realizes basic 3D coordinate calculation, does not integrate barometer for height calibration, and does not have dedicated functions such as escort supervision, height access control, barometric pressure adaptive calibration, anti-interference enhancement, and trajectory compliance analysis designed for high-altitude operations. Therefore, it cannot meet the actual needs of safety supervision for high-altitude operations. Summary of the Invention

[0005] Purpose of the invention: To propose a system and method for accompanying and supervising high-altitude operations based on UWB and barometers, in order to solve the above-mentioned problems existing in the prior art.

[0006] This invention proposes a high-altitude operation escort and supervision system based on UWB and barometer. The system includes: a UWB wireless positioning base station integrating a high-precision barometer module, a UWB mobile tag equipped with a barometer unit, a positioning gateway, a positioning engine, a management platform, and a data storage module.

[0007] The UWB wireless positioning base station is used to receive UWB signals sent by the UWB mobile tag and collect base station air pressure data. The UWB mobile tag is used to collect ambient air pressure data and UWB ranging information in real time. The positioning gateway is used to aggregate the data received by the UWB wireless positioning base station and send it to the positioning engine; The positioning engine is used to process the UWB ranging information, the base station air pressure data and the environmental air pressure data based on multi-base station collaborative calculation and barometric pressure-altitude model correction, and output three-dimensional coordinate data. The management platform is used to receive the three-dimensional coordinate data and perform real-time trajectory tracking, regional electronic fence, multi-source data fusion analysis, monitoring and early warning, and system linkage. The data storage module is used to encrypt and store trajectory data, violation data, and early warning data.

[0008] As a preferred embodiment, the positioning engine uses a time difference of arrival algorithm and a multi-base station collaborative method for horizontal positioning, and uses the pressure difference between the base station air pressure data and the ambient air pressure data, combined with a scene air pressure gradient model, for altitude positioning. The positioning engine uses an extended Kalman filter algorithm to fuse the horizontal and vertical positioning results to obtain the three-dimensional coordinate data.

[0009] As a preferred embodiment, the system also includes an edge computing module, which is used to compare the UWB mobile tag corresponding to the operator and the UWB mobile tag corresponding to the accompanying personnel in real time, and to determine whether the limit is exceeded based on the horizontal distance threshold, the vertical height difference threshold and the speed difference threshold. When the edge computing module determines that the limit has been exceeded, it triggers a tag sound, light and vibration warning as well as a pop-up warning or SMS warning on the management platform; when the limit has been exceeded for a preset duration, the work process is locked and the violation data is recorded.

[0010] As a preferred solution, the management platform establishes a height-level three-dimensional electronic fence, dividing the work space into low-risk, medium-risk, and high-risk zones according to height, and automatically verifies the qualification information when personnel enter the corresponding area; If the qualification information does not match the area to be entered, the climbing area will be locked and an alarm will be continuously triggered.

[0011] As a preferred embodiment, the positioning engine is used to perform barometer environmental adaptive calibration, which includes: establishing barometer pressure gradient models for towers, buildings, and outdoor scenes; using a sliding window to detect pressure disturbances; using the least squares method to correct the pressure data when the disturbance conditions are met; and combining the UWB multi-base station positioning results to perform altitude positioning.

[0012] As a preferred embodiment, the positioning engine is used to detect UWB signal strength, signal-to-noise ratio and air pressure fluctuation rate in real time, and dynamically adjust the fusion weight of UWB data and air pressure data according to the state of electromagnetic interference, air pressure disturbance or combined interference, and perform positioning stabilization processing in conjunction with Gaussian filtering.

[0013] As a preferred solution, the management platform automatically analyzes the stored trajectory data based on preset compliance judgment rules and generates analysis reports, high-risk heat maps, or 3D visualization playback results.

[0014] Furthermore, this invention proposes a method for supervising and escorting workers at heights based on UWB and a barometer, which can be applied to the aforementioned system for supervising and escorting workers at heights. Specifically, the method includes the following steps: S1. The UWB mobile tag collects ambient air pressure data and UWB ranging information; S2. The UWB wireless positioning base station receives the UWB ranging information and collects base station air pressure data; S3. The positioning gateway aggregates the received data and sends it to the positioning engine; S4. The positioning engine performs three-dimensional coordinate calculation based on the UWB ranging information, the base station air pressure data, and the ambient air pressure data. S5. Perform accompanying supervision judgment and qualification verification based on the three-dimensional coordinate data; S6. Based on the judgment result, execute the early warning, work process lock or continuous alarm; S7. Store trajectory data, violation data, and early warning data, and perform trajectory tracing and compliance analysis.

[0015] As a preferred option, the accompanying supervision determination in step S5 includes: calculating the horizontal distance, vertical height difference, and speed difference between the operator and the accompanying person, and comparing them with the corresponding thresholds respectively. When any result exceeds the limit, a warning of leaving the accompanying person or a warning of exceeding the distance are triggered.

[0016] As a preferred embodiment, a barometer environmental adaptive calibration step is included before step S4. The barometer environmental adaptive calibration step outputs corrected pressure data, which is used for altitude positioning in step S4.

[0017] Beneficial Effects: This invention designs a UWB 3D positioning base station and tag architecture integrating a barometer. Both the base station and the tag have built-in barometers, using air pressure difference to calculate altitude. Combined with UWB horizontal positioning, this forms a true 3D positioning architecture specifically for high-altitude operations, achieving centimeter-level 3D positioning and solving the problem of insufficient vertical positioning accuracy. This invention establishes a height-level hierarchical permission-based 3D electronic fence management system, enabling automatic qualification verification and automatic control of work permissions according to risk level. Furthermore, an adaptive calibration mechanism for the barometer environment in high-altitude scenarios is designed to eliminate altitude drift caused by local air pressure disturbances. This invention implements an anti-interference enhancement mechanism for UWB and barometer in complex environments, ensuring continuous and stable positioning under electromagnetic interference and air pressure disturbances. Attached Figure Description

[0018] Figure 1 This is an architecture diagram of the high-altitude operation escort and supervision system based on UWB and barometer proposed in this invention.

[0019] Figure 2 This is a schematic diagram illustrating the three-dimensional positioning principle of UWB and barometer.

[0020] Figure 3 This is a schematic diagram of a height-level 3D electronic fence.

[0021] Figure 4 This is a flowchart for the environmental adaptive calibration of a barometer.

[0022] Figure 5 This is a flowchart illustrating the execution of the elevated work escort and supervision method based on UWB and barometer proposed in this invention. Detailed Implementation

[0023] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0024] See Figure 1 The system in this embodiment includes a UWB wireless positioning base station integrating a high-precision barometric pressure sensing module, a UWB mobile tag equipped with a barometric pressure sensing unit, a positioning gateway, a positioning engine, a management platform, and a data storage module, and may further include an edge computing module. All modules are connected via wired or wireless networks to form a real-time monitoring closed loop for high-altitude operations.

[0025] UWB wireless positioning base stations are deployed at construction sites, inside towers, along building edges, on steel structure platforms, around scaffolding, or in other areas requiring height monitoring. These base stations receive UWB signals from UWB mobile tags and simultaneously collect barometric pressure data at their location. Multiple base stations are installed at predetermined coordinates to form a positioning reference network. Base stations can synchronize their clocks via network cables or other synchronization links to ensure a unified time reference for time-of-arrival (TOA) positioning.

[0026] UWB mobile tags are worn by operators or accompanying personnel, and can also be attached to targets such as lifting equipment, suspended platforms, aerial work platforms, and safety rope terminals. The tags integrate a UWB communication unit, a barometric pressure sensor, a battery, and an alarm execution unit. The tags periodically collect ambient barometric pressure data and send data frames containing tag identification, timestamps, distance measurement information, or broadcast information. The tags also have audible, visual, and vibration alarm capabilities to provide immediate on-site alerts when violations occur.

[0027] The positioning gateway acts as a data aggregation node, communicating with multiple base stations. It receives raw ranging data, time of arrival information, and base station barometric pressure data uploaded by each base station and forwards them to the positioning engine. The gateway can connect to the positioning engine via wired network, 4G network, or other communication methods to adapt to deployment needs in fixed construction sites, temporary construction sites, and remote scenarios.

[0028] The positioning engine is the core computing unit of the system, used to calculate three-dimensional coordinates based on UWB ranging information, base station air pressure data, and ambient air pressure data. The positioning engine first uses a time difference of arrival (TDOA) algorithm combined with a multi-base station collaborative approach for horizontal positioning. Then, based on the difference between the base station air pressure data and the tag's ambient air pressure data, it calculates the altitude value using a scene air pressure gradient model. Finally, it uses an extended Kalman filter algorithm to fuse the horizontal and altitude positioning results, outputting the target object's coordinate data in three-dimensional space.

[0029] The management platform receives 3D coordinate data and performs real-time trajectory tracking, area electronic fencing, multi-source data fusion analysis, monitoring and early warning, and system linkage. The platform can display a 3D map of the work site, personnel locations, trajectory lines, risk area status, and alarm records, and can be linked with the work permit system, access control system, and emergency equipment for coordinated control.

[0030] The data storage module is used to encrypt and store trajectory data, violation data, and early warning data. AES-256 encryption is preferred to meet security audit and incident tracing requirements.

[0031] Figure 2The illustration shows the principle of UWB and barometer 3D positioning. The illustration includes UWB TDOA horizontal positioning on the left, base station, time difference, and XY coordinate calculation; barometer height calculation on the right, reference pressure, tag pressure, and height difference; and fused output of 3D coordinates in the middle, with horizontal accuracy of ±30cm and height accuracy of ±50cm.

[0032] Furthermore, regarding the 3D positioning process, the tag first sends UWB signals according to a preset cycle. Multiple base stations receive the same tag signal and record the arrival time. The positioning engine establishes a hyperbolic equation system based on the time difference between multiple base stations, and obtains the tag's coordinate position on the horizontal plane through collaborative solution by multiple base stations. Then, the positioning engine reads the tag's air pressure value and the base station's air pressure value, and obtains the tag's vertical height coordinates based on the correspondence between air pressure difference and height difference, combined with the air pressure gradient model of tower scene, building scene, or outdoor scene. Next, the horizontal and height coordinates are input into an extended Kalman filter, and estimated and updated based on the previous motion state to obtain a continuous and stable 3D coordinate output.

[0033] In a preferred embodiment, the horizontal positioning error can be controlled within ±30cm and the vertical positioning error can be controlled within ±50cm to meet the actual needs of floor differentiation, platform identification, and personnel-accompanied supervision.

[0034] Furthermore, this invention incorporates an edge computing module to achieve low-latency escort supervision. The edge computing module is deployed on the field gateway side or the local server side, and is used to receive real-time coordinate data output by the positioning engine, and to perform supervision and judgment by binding the tags of the operators and the escorts.

[0035] Specifically, when a task is created, the management platform first enters the work order information, including the work location, work time, operator's identity, accompanying personnel's identity, and work risk level. Next, it establishes a correspondence between the operator's tag number and the accompanying personnel's tag number and sends this information to the edge computing module. Then, it sets binding thresholds based on the scenario template, preferably with a horizontal distance threshold not exceeding 15m, a vertical height difference threshold not exceeding 1.5m, and a speed difference threshold not exceeding 0.3m / s.

[0036] During the operation, the edge computing module receives 3D coordinate data from both parties at a frequency of no less than 1Hz. First, it calculates the horizontal distance between them; then, it calculates the vertical height difference; next, it calculates the speed difference based on continuous position changes. When any indicator exceeds the corresponding threshold, a warning for separation from the accompanying personnel or exceeding the distance is triggered. This then activates audible, visual, and vibration alarms on both the operator's and accompanying personnel's tags, and simultaneously sends a pop-up warning or SMS warning to the management platform.

[0037] If the out-of-limit status persists for a preset duration, such as 5 seconds, the system will automatically lock the work process. Locking the work process includes suspending the electronic work ticket status, restricting access control, and sending a strong reminder to on-site management personnel. Simultaneously, the system records the time of the violation, its duration, the location coordinates of both parties, and the handling status, writing this information to the data storage module. The lock can only be lifted and work can resume after on-site management personnel confirm that the rectification has been completed.

[0038] Furthermore, the management platform establishes a highly hierarchical three-dimensional electronic fence, see... Figure 3 As shown, the work space is first modeled as a cube, defining the horizontal range of the X and Y axes, and then dividing it into multiple risk zones along the height. The zones are 2m to 5m (low risk), 5m to 10m (medium risk), and 10m or higher (high risk). Specific height thresholds can be adjusted according to on-site regulations for different projects.

[0039] Regarding access control, low-risk areas require single-person operation with basic qualifications; medium-risk areas require single-person operation with accompaniment and specialized qualifications; high-risk areas require two-person accompaniment, top-level qualifications, and approval from the safety director. When personnel enter the corresponding access level, the management platform automatically reads the personnel's qualification information, approval status, and current binding status, and compares it with the access control rules.

[0040] When the qualification information does not match the area to be entered, the system immediately locks the access and continuously alarms. Locking methods may include preventing the operation of the lifting equipment, preventing the opening of the electronic access control, and suspending the validity of the work permit; continuous alarm methods may include platform alarms, SMS notifications, and on-site tag alarms.

[0041] Furthermore, this invention incorporates an environmental adaptive calibration mechanism to address pressure disturbances in complex environments. First, during system initialization, three types of pressure gradient models are established: tower model, building model, and outdoor model. The tower model is used for wind turbine towers or enclosed shaft environments; the building model is used for buildings, scaffolding, and multi-story factory environments; and the outdoor model is used for open-air high-altitude platforms or steel structure environments.

[0042] The positioning engine continuously collects air pressure change data from the tags and uses a sliding window algorithm to analyze short-term air pressure changes. When a short-term pressure change is detected to reach or exceed 5 hPa, and the altitude change is determined to be no more than 0.1 m based on the inertial navigation status or historical coordinates, it can be identified as a local airflow disturbance, ventilation disturbance, or transient weather disturbance.

[0043] The positioning engine uses the least squares method to correct the air pressure data based on the current scene model, filtering out abnormal drift components. Simultaneously, UWB multi-base station positioning results are introduced as auxiliary constraints to avoid altitude jumps caused by relying solely on air pressure data. Once the air pressure fluctuations stabilize, the system switches back to the conventional fusion mode, thus maintaining stable altitude positioning accuracy.

[0044] Furthermore, this invention also includes a mechanism to enhance anti-interference capabilities in complex environments. The positioning engine monitors UWB signal strength, signal-to-noise ratio, and air pressure fluctuation rate in real time, and classifies the interference states. When the UWB signal strength decreases or the signal-to-noise ratio becomes abnormal, electromagnetic interference or obstruction interference can be identified; when the air pressure fluctuation rate increases abnormally, air pressure disturbance can be identified; when both conditions occur simultaneously, it is identified as composite interference.

[0045] Under mild interference, the system maintains the default fusion weights, such as 60% for UWB and 40% for air pressure. Under moderate electromagnetic interference, the UWB weight is appropriately reduced and the air pressure weight is increased; under moderate air pressure disturbance, the UWB weight is increased and the air pressure weight is reduced; under severe combined interference, Gaussian filtering and historical trajectory prediction mechanisms are activated simultaneously to improve positioning continuity and stability.

[0046] Furthermore, this invention possesses trajectory tracing and compliance analysis functions. The system records personnel trajectories with centimeter-level spatial accuracy and adds a millisecond-level timestamp to each trajectory point. The management platform automatically analyzes the stored trajectory data based on preset compliance judgment rules. The rules may include at least: climbing without accompaniment, exceeding distance and time limits, unauthorized entry into high-risk areas, working beyond the approved time period, abnormal stay, frequent entry and exit from risk areas, prolonged inactivity without response, and failure to handle alarms.

[0047] After the analysis is completed, the system automatically generates an analysis report, which includes information on the personnel involved, the start and end times of the operation, a summary of the trajectory playback, a list of violations, the handling results, and rectification suggestions. Simultaneously, the system generates a high-risk heat map based on locations with frequent violations and supports 3D visualization playback for safety audits and accident investigations.

[0048] Furthermore, regarding the tag terminal structure, the tag size is preferably no larger than 57mm × 88mm × 7mm, and the weight no larger than 40g, to reduce the burden of wearing it. The tag supports name tag style, arm / shoulder style, and magnetic installation methods, and can be flexibly fixed to work clothes, fall arrestor straps, or equipment surfaces. The tag protection rating is preferably IP67, capable of withstanding a 1.5m drop impact and operating in environments ranging from -20℃ to 60℃. The tag uses a 770mAh battery, providing a battery life of no less than 300 hours, and supports fast charging and Bluetooth on-site maintenance.

[0049] The system operation flow is described below in conjunction with the method claims, see [link to method claims]. Figure 5 .

[0050] First, step S1 is executed, where the UWB mobile tag collects ambient air pressure data and UWB ranging information, and sends it according to the set cycle.

[0051] Next, step S2 is executed, where the UWB wireless positioning base station receives ranging information and collects base station air pressure data.

[0052] Next, step S3 is executed, where the location gateway aggregates the received data and sends it to the location engine.

[0053] Then, step S4 is executed, where the positioning engine calculates the three-dimensional coordinates based on UWB ranging information, base station air pressure data, and ambient air pressure data. Prior to this step, a barometer environmental adaptive calibration step can be performed to output corrected air pressure data for altitude positioning (the calibration process can be found in...). Figure 4 ).

[0054] Then, step S5 is executed, which performs escort supervision determination and qualification verification based on the three-dimensional coordinate data. During escort supervision determination, the horizontal distance, vertical height difference, and speed difference between the operator and the escort are calculated and compared with the thresholds respectively. When any result exceeds the limit, an alert for leaving the escort or exceeding the distance is triggered.

[0055] Next, proceed to step S6, and based on the judgment result, issue an early warning, lock the work process, or issue a continuous alarm.

[0056] Finally, step S7 is executed to store the trajectory data, violation data, and early warning data, and to perform trajectory tracing and compliance analysis.

[0057] In practical applications, this invention can be deployed in scenarios such as building facade maintenance, wind turbine tower climbing and maintenance, power transmission tower maintenance, high-altitude operations in petrochemical plants, and high-bay warehouse racking maintenance. The system effectively reduces the risks of falls from heights and violations of regulations through true 3D positioning, accompanying and binding supervision, high-level access control, and full-process auditing.

[0058] In summary, this invention, through the fusion positioning technology of UWB and barometer, deeply integrates three-dimensional positioning capabilities with the operation of height-climbing supervision. It not only solves the problem that traditional two-dimensional positioning cannot accurately identify altitude, but also addresses the issues of lagging manual supervision, crude qualification verification, and insufficient stability in complex environments. It enables real-time, closed-loop, and traceable supervision of the entire height-climbing operation process.

[0059] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A height-altitude operation escort and monitoring system based on UWB and a barometer, characterized in that, include: The UWB wireless positioning base station integrates a high-precision barometric pressure sensing module, a UWB mobile tag equipped with a barometric pressure sensing unit, a positioning gateway, a positioning engine, a management platform, and a data storage module. The UWB wireless positioning base station is used to receive UWB signals sent by the UWB mobile tag and collect base station air pressure data. The UWB mobile tag is used to collect ambient air pressure data and UWB ranging information in real time. The positioning gateway is used to aggregate the data received by the UWB wireless positioning base station and send it to the positioning engine; The positioning engine is used to process the UWB ranging information, the base station air pressure data and the environmental air pressure data based on multi-base station collaborative calculation and barometric pressure-altitude model correction, and output three-dimensional coordinate data. The management platform is used to receive the three-dimensional coordinate data and perform real-time trajectory tracking, regional electronic fence, multi-source data fusion analysis, monitoring and early warning, and system linkage. The data storage module is used to encrypt and store trajectory data, violation data, and early warning data.

2. The high-altitude work escort and supervision system according to claim 1, characterized in that, The positioning engine uses a time difference of arrival algorithm and a multi-base station collaborative approach for horizontal positioning, and uses the pressure difference between the base station air pressure data and the ambient air pressure data, combined with a scene air pressure gradient model, for altitude positioning. The positioning engine uses an extended Kalman filter algorithm to fuse the horizontal and vertical positioning results to obtain the three-dimensional coordinate data.

3. The high-altitude operation escort and supervision system according to claim 1, characterized in that, It also includes an edge computing module, which is used to compare the UWB mobile tag corresponding to the operator and the UWB mobile tag corresponding to the accompanying personnel in real time, and to determine the limits based on the horizontal distance threshold, the vertical height difference threshold and the speed difference threshold. When the edge computing module determines that the limit has been exceeded, it triggers a tag sound, light and vibration warning, as well as a pop-up warning or SMS warning from the management platform. When the exceedance continues for a preset duration, the work process is locked and the violation data is recorded.

4. The high-altitude work escort and supervision system according to claim 1, characterized in that, The management platform establishes a height-level three-dimensional electronic fence, dividing the work space into low-risk, medium-risk, and high-risk zones according to height, and automatically verifies the qualification information when personnel enter the corresponding zone; If the qualification information does not match the area to be entered, the climbing area will be locked and an alarm will be continuously triggered.

5. The high-altitude work escort and supervision system according to claim 1, characterized in that, The positioning engine is used to perform barometer environmental adaptive calibration, which includes: establishing barometer environmental adaptive calibration models for towers, buildings, and outdoor scenes; using a sliding window to detect barometer pressure disturbances; using the least squares method to correct barometer pressure data when disturbance conditions are met; and combining UWB multi-base station positioning results to perform altitude positioning.

6. The high-altitude work escort and supervision system according to claim 1, characterized in that, The positioning engine is used to detect UWB signal strength, signal-to-noise ratio and air pressure fluctuation rate in real time, and dynamically adjust the fusion weight of UWB data and air pressure data according to electromagnetic interference, air pressure disturbance or combined interference state, and perform positioning stabilization processing in conjunction with Gaussian filtering.

7. The high-altitude work escort and supervision system according to claim 1, characterized in that, The management platform automatically analyzes the stored trajectory data based on preset compliance judgment rules and generates analysis reports, high-risk heat maps, or 3D visualization playback results.

8. A method for supervising and escorting workers at heights based on UWB and a barometer, applied to the supervising and escorting system for working at heights as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. The UWB mobile tag collects ambient air pressure data and UWB ranging information; S2. The UWB wireless positioning base station receives the UWB ranging information and collects base station air pressure data; S3. The positioning gateway aggregates the received data and sends it to the positioning engine; S4. The positioning engine performs three-dimensional coordinate calculation based on the UWB ranging information, the base station air pressure data, and the ambient air pressure data. S5. Perform accompanying supervision judgment and qualification verification based on the three-dimensional coordinate data; S6. Based on the judgment result, execute the early warning, work process lock, or continuous alarm; S7. Store trajectory data, violation data, and early warning data, and perform trajectory tracing and compliance analysis.

9. The method for accompanying and supervising high-altitude operations according to claim 8, characterized in that, The accompanying supervision determination in step S5 includes: calculating the horizontal distance, vertical height difference, and speed difference between the operator and the accompanying person, and comparing them with the corresponding thresholds. When any result exceeds the limit, a warning of leaving the accompanying person or an over-distance warning is triggered.

10. The method for accompanying and supervising high-altitude operations according to claim 8, characterized in that, Before step S4, there is also a barometer environment adaptive calibration step, which outputs corrected barometer pressure data and is used for altitude positioning in step S4.

Images