CN114364014A - 5G terminal-based positioning method and system suitable for power system - Google Patents
5G terminal-based positioning method and system suitable for power system Download PDFInfo
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Abstract
The embodiment of the invention provides a positioning method and a positioning system based on a 5G terminal and applicable to a power system, and belongs to the field of equipment positioning of a transformer substation. The positioning method comprises the following steps: obtaining Beidou positioning information of the mobile terminal; correcting by adopting an RTK (real time kinematic) method according to the Beidou positioning information to obtain first real position information of the mobile terminal; and determining the actual position of the mobile terminal according to the first real position information. Through the technical scheme, the 5G terminal-based positioning method and the system suitable for the power system can be combined with the characteristics of a 5G commercial network and Beidou positioning to realize accurate positioning of the substation equipment.
Description
Technical Field
The invention relates to the field of equipment positioning of a transformer substation, in particular to a positioning method and a positioning system based on a 5G terminal, which are suitable for a power system.
Background
Information communication is one of the fastest-developing fields in the current society, and the process of building a 5G network by each operator is accelerated; the Beidou satellite navigation system is a satellite navigation system which is autonomously constructed and independently operated in China with attention paid to national safety and economic and social development requirements, is a national important space infrastructure, and is an important component part of a national strategy fused by military and civilian. However, the 5G commercial network in the prior art has the following disadvantages:
1. the synchronization requirement precision is higher, and the base station directly meets the requirement through single-station time service of a common satellite receiver.
2. The synchronous application scene is more complex, and with the development of the urbanization in China and the increase of indoor base stations, a large number of 5G base station deployment scenes which cannot acquire satellite signals exist.
3. The safety and reliability of synchronization are more strict, and the situation that the satellite fails due to unintentional or intentional interference happens occasionally, so that the potential safety hazard is generated when the 5G synchronization completely depends on satellite time service.
4. The cost is more sensitive, the 5G base stations are deployed strongly, and if each base station is additionally provided with a satellite receiver, the equipment and investment cost is huge.
Disclosure of Invention
The embodiment of the invention aims to provide a positioning method and a positioning system based on a 5G terminal, which are suitable for a power system, and can realize accurate positioning according to the characteristics of a 5G commercial network.
In order to achieve the above object, an embodiment of the present invention provides a positioning method based on a 5G terminal, which is applicable to an electric power system, and includes:
obtaining Beidou positioning information of the mobile terminal;
correcting by adopting an RTK (real time kinematic) method according to the Beidou positioning information to obtain first real position information of the mobile terminal;
and determining the actual position of the mobile terminal according to the first real position information.
Optionally, the correcting the Beidou positioning information by using an RTK method to obtain the first real position information of the mobile terminal includes:
receiving first position information of an observation Beidou reference station sent by a Beidou satellite;
calculating a difference correction number according to the first position information and second position information of the Beidou reference station;
and calculating the first real position information according to the third position information of the rover station, the difference correction and the second position information.
Optionally, the positioning method further includes:
receiving 5G gateway positioning data of the mobile terminal;
determining second real position information according to the 5G gateway positioning data;
determining the actual location of the mobile terminal according to the first true location information comprises:
and determining the actual position according to the first real position information and the fourth position information.
Optionally, the positioning method further includes:
receiving Bluetooth matching information of the mobile terminal;
determining the Bluetooth beacon range of the mobile terminal according to the Bluetooth matching information and the position information of the Bluetooth beacon;
determining fifth position information of the mobile terminal according to the Bluetooth beacon range;
determining the actual location of the mobile terminal according to the first true location information comprises:
and determining the actual position according to the first real position information and the fifth real position information.
Optionally, the positioning method further includes:
receiving 5G gateway positioning data of the mobile terminal;
determining fourth real position information according to the 5G gateway positioning data;
determining the actual location of the mobile terminal according to the first true location information comprises:
and determining the actual position according to the first real position information, the fourth real position information and the fifth real position information.
In another aspect, the present invention further provides a positioning system based on a 5G terminal, which is applicable to an electric power system, and the positioning system includes:
the mobile terminal comprises a Beidou positioning module, and the Beidou positioning module is used for establishing communication with a Beidou satellite so as to send Beidou positioning information to the Beidou satellite;
the Beidou base station is connected with the Beidou satellite and used for receiving the Beidou positioning information and correcting by adopting an RTK method to obtain first real position information of the mobile terminal;
the mobile terminal is used for determining the actual position of the mobile terminal according to the first real position information.
Optionally, the Beidou reference station is configured to calculate a difference correction number according to the first position information and second position information of the Beidou reference station;
the positioning system further comprises a rover station connected with the Beidou reference station and used for:
receiving the second position information and the differential modifier;
and calculating the first real position information according to the third position information of the rover station, the difference correction and the second position information.
Optionally, the positioning system further includes a 5G positioning gateway, connected to the mobile terminal, and configured to determine fourth real location information of the mobile terminal according to an actual location of the 5G gateway;
the mobile terminal is further configured to determine the actual position according to the first real position information and the fourth position information.
Optionally, the positioning system further comprises:
the Bluetooth beacons are arranged at a plurality of positions on the site and are used for being matched with the mobile terminal when the mobile terminal enters a communication range;
the LoRa module and/or the wifi module are connected with the Bluetooth beacon and the mobile terminal and used for sending the fifth real position information of the Bluetooth beacon to the outside;
the mobile terminal is further used for determining the actual position according to the first real position information and the fifth real position information.
Optionally, the positioning system further includes a 5G positioning gateway, connected to the mobile terminal, and configured to determine fourth real position information of the mobile terminal according to an actual position of the 5G positioning gateway;
the mobile terminal is further configured to determine the actual position according to the first real position information, the fourth real position information, and the fifth real position information.
Through the technical scheme, the 5G terminal-based positioning method and the system suitable for the power system can be combined with the characteristics of a 5G commercial network and Beidou positioning to realize accurate positioning of the substation equipment.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a 5G terminal-based positioning method applicable to a power system according to the present invention;
fig. 2 is a flowchart of a 5G terminal-based RTK method applicable to a power system provided in accordance with the present invention;
fig. 3 is a flowchart of a 5G terminal-based RTK method applicable to a power system provided in accordance with the present invention;
fig. 4 is a flowchart of a 5G terminal-based positioning method applicable to a power system according to the present invention;
fig. 5 is a flowchart of a 5G terminal-based positioning method applicable to a power system according to the present invention;
fig. 6 is a flowchart of a 5G terminal-based positioning method applicable to a power system according to the present invention;
fig. 7 is a block diagram of a 5G terminal-based positioning system suitable for a power system according to the present invention;
fig. 8 is a block diagram of a 5G terminal-based positioning system suitable for a power system according to the present invention;
fig. 9 is a block diagram of a 5G terminal-based positioning system applicable to a power system according to the present invention;
fig. 10 is a block diagram of a 5G terminal-based positioning system suitable for a power system according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 shows a flowchart of a 5G terminal-based positioning method for a power system according to an embodiment of the present invention. In this fig. 1, the method may include:
in step S10, obtaining Beidou positioning information of the mobile terminal;
in step S11, performing correction by using an RTK method according to the beidou positioning information to obtain first real position information of the mobile terminal;
in step S12, the actual location of the mobile terminal is determined from the first real location information.
In the method shown in fig. 1, the RTK method in step S11 may be a variety of steps known to those skilled in the art. In one example of the invention, however, the RTK method may include the steps as shown in fig. 2. In the fig. 2, the RTK method may include:
in step S20, receiving first position information of an observation beidou reference station sent by a beidou satellite;
in step S21, calculating a difference correction number according to the first position information and second position information of the beidou reference station itself;
in step S22, first true position information is calculated from the third position information of the rover, the difference correction number, and the second position information.
More specifically, the method shown in fig. 2 may also include the steps as shown in fig. 3.
In one embodiment of the present invention, the positioning method may further include the steps as shown in fig. 4. The difference from the positioning method shown in fig. 1 is that, in fig. 4, the positioning method includes:
in step S32, 5G gateway positioning data of the mobile terminal is received;
in step S33, determining second real location information from the 5G gateway positioning data;
in step S34, an actual position is determined based on the first real position information and the fourth position information.
In one embodiment of the present invention, the positioning method may further include the steps as shown in fig. 5. The difference from the positioning method shown in fig. 1 is that, in fig. 5, the positioning method includes:
in step S42, receiving bluetooth matching information of the mobile terminal;
in step S43, determining the bluetooth beacon range in which the mobile terminal is located according to the bluetooth matching information and the location information of the bluetooth beacon;
determining fifth location information of the mobile terminal according to the bluetooth beacon range in step S44;
in step S45, the actual position is determined based on the first real position information and the fifth real position information.
In one embodiment of the present invention, the positioning method may further include the steps as shown in fig. 5. The difference from the positioning method shown in fig. 4 is that, in fig. 5, the positioning method includes:
in step S55, 5G gateway positioning data of the mobile terminal is received;
in step S56, fourth real location information is determined from the 5G gateway positioning data;
in step S57, an actual position is determined from the first real position information, the fourth real position information, and the fifth real position information.
In addition, as for the above-described method of determining the actual position from a plurality of pieces of position information, various steps known to those skilled in the art are possible. However, considering the form of error that may occur when actually positioning, the above-described method of determining the actual position by two pieces of position information (first real position information, fourth real position information, or fifth real position information) may be to calculate a scale factor according to equation (1),
Λ＝ωΑ/ωΑ+ψΒ， (1)
wherein Λ is a scale factor, and ω and ψ are weights corresponding to the positional information a and b. Finally, the actual position is found from the position information a by the scaling factor (the scaling factor multiplied by the length of the link) on the link of the position information a and b according to the scaling factor.
In the method for determining the actual position based on the three pieces of position information, the center points of the positioning ranges of the three pieces of position information are determined first, and then the center of the triangle formed by the three center points is taken as the actual position.
In another aspect, the invention further provides a positioning system based on a 5G terminal, which is suitable for an electric power system, and as shown in fig. 7, the positioning system may include a mobile terminal 01 and a beidou reference station 02. Wherein, mobile terminal 01 can include big dipper orientation module 01 a. This big dipper orientation module 01a can be used for establishing communication with big dipper satellite 03 to fill satellite 03 to north and send big dipper positioning information. The Beidou reference station 02 can be connected with the Beidou satellite 03 and is used for receiving Beidou positioning information and correcting by adopting an RTK method to obtain first real position information of the mobile terminal. The mobile terminal 01 is used for determining the actual position of the mobile terminal according to the first real position information.
In one embodiment of the present invention, the positioning system may also be of the configuration shown in FIG. 8. In this fig. 8, the positioning system may include a rover station 04. This big dipper reference station 02 can be used for calculating difference correction number according to first positional information and big dipper reference station 02 self second positional information. The rover station 04 can be connected with the Beidou reference station 02 and used for receiving second position information and differential corrections; and calculates the first true position information based on the third position information, the differential correction number, and the second position information of the rover station 04.
In one embodiment of the present invention, as shown in fig. 9, the location system may further include a 5G location gateway 05. The 5G positioning gateway 05 may be connected to the mobile terminal 01, and is configured to determine fourth real location information of the mobile terminal according to an actual location of the 5G gateway. The mobile terminal 01 may be further configured to determine an actual location according to the first real location information and the fourth location information.
In one embodiment of the present invention, as shown in fig. 10, the positioning system may further include a bluetooth beacon 06, a LoRa module, and/or a wifi module 07. The bluetooth beacon 06 may be disposed at a plurality of locations in the field, and is used for matching with the mobile terminal 01 when the mobile terminal 01 enters a communication range. The LoRa module and/or the wifi module 07 may be connected to the bluetooth beacon 06 and the mobile terminal 01, and configured to send the fifth real-location information of the bluetooth beacon 06 to the outside. The mobile terminal 01 is further configured to determine an actual location according to the first real location information and the fifth real location information.
Based on the positioning system as shown in fig. 10, the mobile terminal 01 may also be configured to determine an actual position according to the first real position information, the fourth real position information and the fifth real position information.
In addition, as for the above-described method of determining the actual position from a plurality of pieces of position information, various steps known to those skilled in the art are possible. However, considering the form of error that may occur when actually positioning, the above-described method of determining the actual position by two pieces of position information (first real position information, fourth real position information, or fifth real position information) may be to calculate a scale factor according to equation (1),
Λ＝ωΑ/ωΑ+ψΒ， (1)
wherein Λ is a scale factor, and ω and ψ are weights corresponding to the positional information a and b. Finally, the actual position is found from the position information a by the scaling factor (the scaling factor multiplied by the length of the link) on the link of the position information a and b according to the scaling factor.
In the method for determining the actual position based on the three pieces of position information, the center points of the positioning ranges of the three pieces of position information are determined first, and then the center of the triangle formed by the three center points is taken as the actual position.
Through the technical scheme, the 5G terminal-based positioning method and the system suitable for the power system can be combined with the characteristics of a 5G commercial network and Beidou positioning to realize accurate positioning of the substation equipment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A positioning method based on a 5G terminal and applied to a power system is characterized by comprising the following steps:
obtaining Beidou positioning information of the mobile terminal;
correcting by adopting an RTK (real time kinematic) method according to the Beidou positioning information to obtain first real position information of the mobile terminal;
and determining the actual position of the mobile terminal according to the first real position information.
2. The positioning method according to claim 1, wherein the correcting by using an RTK method according to the beidou positioning information to obtain the first real position information of the mobile terminal comprises:
receiving first position information of an observation Beidou reference station sent by a Beidou satellite;
calculating a difference correction number according to the first position information and second position information of the Beidou reference station;
and calculating the first real position information according to the third position information of the rover station, the difference correction and the second position information.
3. The positioning method according to claim 1, further comprising:
receiving 5G gateway positioning data of the mobile terminal;
determining second real position information according to the 5G gateway positioning data;
determining the actual location of the mobile terminal according to the first true location information comprises:
and determining the actual position according to the first real position information and the fourth position information.
4. The positioning method according to claim 1, further comprising:
receiving Bluetooth matching information of the mobile terminal;
determining the Bluetooth beacon range of the mobile terminal according to the Bluetooth matching information and the position information of the Bluetooth beacon;
determining fifth position information of the mobile terminal according to the Bluetooth beacon range;
determining the actual location of the mobile terminal according to the first true location information comprises:
and determining the actual position according to the first real position information and the fifth real position information.
5. The positioning method according to claim 4, further comprising:
receiving 5G gateway positioning data of the mobile terminal;
determining fourth real position information according to the 5G gateway positioning data;
determining the actual location of the mobile terminal according to the first true location information comprises:
and determining the actual position according to the first real position information, the fourth real position information and the fifth real position information.
6. A 5G terminal-based positioning system suitable for use in an electrical power system, the positioning system comprising:
the mobile terminal comprises a Beidou positioning module, and the Beidou positioning module is used for establishing communication with a Beidou satellite so as to send Beidou positioning information to the Beidou satellite;
the Beidou base station is connected with the Beidou satellite and used for receiving the Beidou positioning information and correcting by adopting an RTK method to obtain first real position information of the mobile terminal;
the mobile terminal is used for determining the actual position of the mobile terminal according to the first real position information.
7. The positioning system according to claim 6, wherein the Beidou reference station is configured to calculate a differential correction number according to the first position information and second position information of the Beidou reference station;
the positioning system further comprises a rover station connected with the Beidou reference station and used for:
receiving the second position information and the differential modifier;
and calculating the first real position information according to the third position information of the rover station, the difference correction and the second position information.
8. The positioning system according to claim 6, wherein the positioning system further comprises a 5G positioning gateway connected to the mobile terminal for determining fourth real location information of the mobile terminal according to an actual location of the 5G positioning gateway;
the mobile terminal is further configured to determine the actual position according to the first real position information and the fourth position information.
9. The positioning system of claim 6, further comprising:
the Bluetooth beacons are arranged at a plurality of positions on the site and are used for being matched with the mobile terminal when the mobile terminal enters a communication range;
the LoRa module and/or the wifi module are connected with the Bluetooth beacon and the mobile terminal and used for sending the fifth real position information of the Bluetooth beacon to the outside;
the mobile terminal is further used for determining the actual position according to the first real position information and the fifth real position information.
10. The positioning method according to claim 9, wherein the positioning system further comprises a 5G positioning gateway connected to the mobile terminal, and configured to determine fourth real location information of the mobile terminal according to an actual location of the 5G gateway;
the mobile terminal is further configured to determine the actual position according to the first real position information, the fourth real position information, and the fifth real position information.
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