Three-dimensional positioning method and system used in vertical shaft of subway construction site and medium

Abstract

The invention provides a three-dimensional positioning method and system used in a vertical shaft of a subway construction site and a medium. The method comprises the steps of building a three-dimensional coordinate system corresponding to a vertical shaft region, and determining the coordinates of UWB base stations disposed in different layers of the vertical shaft; carrying out distance measurement on a positioning tag through each UWB base station, screening out error data from summarized data, and discarding the error data; dividing the three-dimensional coordinate system into a plurality of equal cube grids, and sequentially determining a position record of the positioning tag in each cube grid according to the coordinates of the selected UWB base stations, the corresponding distance measurement data and the center point coordinates of each cube grid; and carrying out voting according to the position record of each grid, and determining conclusion coordinates of the positioning tag. According to the method, positioning can be carried out in a whole three-dimensional space of the vertical shaft, a locatable area is expanded, and the positioning accuracy is improved.

Description

technical field [0001] The present application relates to the technical field of indoor three-dimensional positioning detection, and in particular to a three-dimensional positioning method, system and medium used in shafts of subway construction sites. Background technique [0002] At present, in all kinds of construction sites, especially in the shaft area of ​​the subway tunnel construction site, the demand for the positioning of production personnel and equipment is a major focus of personnel safety management, and the demand for the positioning of personnel and equipment in the entire area of ​​the construction site shaft is also increasing more and more. [0003] Among various related positioning technologies, Ultra Wide Band (UWB for short) technology is a wireless communication method that uses nanosecond-level non-sine wave narrow pulses to transmit data. , based on ranging to achieve positioning, has the advantages of high precision, low power consumption, easy dep...

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Problems solved by technology

[0004] However, the applicant found that the current independent UWB positioning system established in the subway tunnel production plant environment has the following defects: first, it is difficult for UWB technology to realize three-dimensional space display in a three-dimensional environment. Positioning is performed separately in each layer, and positioning cannot be performed across multiple layers. Second, due to the complex environment of the construction site in practical applications, there are multiple occlusions and occasional occlusions that cause signal reflections and cause abnormalities in the collected data, which may lead to calculated positioning results. mistake

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