The invention provides a double-base-
station gantry crane positioning method and
system based on event records, and relates to the technical field of
industrial equipment positioning and navigation. According to the method, the
distance measurement values of the two base stations in the same straight line direction are received, a state
estimation algorithm including speed entropy decision, longitudinal check and
noise self-adaptive adjustment is adopted, more reliable observation values can be intelligently recognized and screened out, motion state changes such as equipment starting and stopping and speed changing can be dynamically adapted, and the method is more reliable. And the direct influence of the non-line-of-
sight error and the abnormal jump on the positioning result is obviously inhibited. According to the method, state judgment and track compression based on
event recognition are combined, a more accurate real-time position is output, and the movement continuity and reasonability of a positioning result are ensured. According to the method, the positioning track of the
gantry crane is smoother and more stable and conforms to the actual motion law, the overall precision and reliability of a
positioning system are remarkably improved, and the problem that large hoisting equipment such as the
gantry crane is inaccurate in equipment positioning is solved.