CN117111126B - Beidou-based petrochemical worker joint positioning method and device - Google Patents

Beidou-based petrochemical worker joint positioning method and device Download PDF

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CN117111126B
CN117111126B CN202311364638.9A CN202311364638A CN117111126B CN 117111126 B CN117111126 B CN 117111126B CN 202311364638 A CN202311364638 A CN 202311364638A CN 117111126 B CN117111126 B CN 117111126B
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petrochemical
base station
beidou
positioning
spread spectrum
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CN117111126A (en
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杨斌
戴勇
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Chengdu Greatech Electrics Co ltd
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Chengdu Greatech Electrics Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
    • H04B1/69—Spread spectrum techniques
    • H04B2001/6912—Spread spectrum techniques using chirp
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention provides a petrochemical worker joint positioning method and device based on Beidou, and relates to the technical field of positioning methods. The method comprises the following steps: comparing signal intensity values of a Bluetooth base station and a chirp spread spectrum base station at the position of a petrochemical worker; under the condition that the signal intensity value of the Bluetooth base station is larger than or equal to that of the chirp spread spectrum base station, the position of the petrochemical worker is subjected to joint positioning based on the Beidou satellite combination and the Bluetooth base station, and final positioning coordinates of the position of the petrochemical worker are obtained; and under the condition that the signal intensity value of the Bluetooth base station is smaller than that of the chirp spread spectrum base station, the position of the petrochemical worker is jointly positioned based on the Beidou satellite combination and the chirp spread spectrum base station, and final positioning coordinates of the position of the petrochemical worker are obtained. The method can accurately position petrochemical workers and meet the positioning management requirements of the petrochemical workers.

Description

Beidou-based petrochemical worker joint positioning method and device
Technical Field
The invention relates to the technical field of positioning methods, in particular to a petrochemical worker joint positioning method and device based on Beidou.
Background
In recent years, petrochemical safety is more and more prominent, the requirement for accelerating the digital construction of double prevention mechanisms of hazardous chemical enterprises is more and more intense, and the requirement for positioning personnel in chemical plant areas is also more and more high. Meanwhile, chemical operation personnel have difficult supervision, the specific distribution of the personnel is unknown, once danger, such as fire explosion and the like, the positions of trapped personnel cannot be mastered, the rescue efficiency is low, and the optimal rescue opportunity is missed. Secondly, the authority of the dangerous chemical region is not fine, and potential safety hazards exist. These are common management difficulties in petrochemical industry.
Currently, personnel positioning in petrochemical parks mainly includes Bluetooth, RTK+Bluetooth, UWB and ZigBee centralized technology. Because a large number of pipe bag structures and devices exist in petrochemical plants, steel stands, and shielding fatigue is serious; the petrochemical area is large, the operation area is flexible and changeable, so that the problems of low positioning precision, drifting, folded positioning route, difficult maintenance, difficult transmission, high deployment cost, high power consumption and the like exist in personnel positioning in the petrochemical factory by adopting the technologies, and the problem that accurate positioning is needed in the petrochemical high-risk cannot be solved.
Under the situation, a method for meeting the rice-level positioning and accurately positioning under the device pipe bag is urgently needed, and the petrochemical personnel positioning management needs are met.
Disclosure of Invention
The invention aims to provide a Beidou-based petrochemical personnel combined positioning method and device, which can accurately position petrochemical personnel and meet the positioning management requirements of the petrochemical personnel.
Embodiments of the invention may be implemented as follows:
in a first aspect, the invention provides a Beidou-based petrochemical personnel joint positioning method, which comprises the following steps:
s1: solving a signal intensity value RTK of each satellite in a Beidou satellite system where petrochemical workers are located, and obtaining four satellites with maximum signal intensity to form a Beidou satellite combination for acquiring Beidou positioning data;
s2: comparing signal intensity values of a Bluetooth base station and a chirp spread spectrum base station at the position of a petrochemical worker;
in the case that the signal strength value of the bluetooth base station is greater than or equal to the signal strength value of the chirp spread spectrum base station, S3: based on Beidou satellite combination and a Bluetooth base station, carrying out joint positioning on the position of the petrochemical worker, and obtaining final positioning coordinates of the position of the petrochemical worker;
in the case that the signal strength value of the bluetooth base station is smaller than the signal strength value of the chirp spread spectrum base station, S4 is performed: and carrying out joint positioning on the position of the petrochemical worker based on the Beidou satellite combination and the chirp spread spectrum base station to obtain the final positioning coordinate of the position of the petrochemical worker.
In an alternative embodiment, S1 includes:
solving a signal intensity value RTK of each satellite, sampling at equal intervals k times in a period T, and calculating a calculation formula of the signal intensity value RTK as follows:
wherein R is i For the signal intensity value acquired the i-th time, max (R i ) For the maximum signal strength value of k samples, min (R i ) Is the smallest signal strength value among the k samples.
In an alternative embodiment, S3 includes:
s31: bluetooth positioning coordinates of the position of the petrochemical worker are obtained through a Bluetooth base station;
s32: converting Beidou positioning coordinates in the Beidou positioning data obtained in the step S1 and Bluetooth positioning coordinates obtained in the step S31 into the same positioning coordinate system;
s33: and fusing the Beidou positioning coordinate and the Bluetooth positioning coordinate under the same positioning coordinate system by adopting a neural network, and outputting a final positioning coordinate.
In an alternative embodiment, S32 includes:
converting Beidou positioning coordinates in the Beidou positioning data obtained in the step S1 into a Bluetooth positioning coordinate system; or, converting the Bluetooth positioning coordinate obtained in the S31 into a Beidou positioning coordinate system.
In an alternative embodiment, S32 includes:
determining a Bluetooth positioning coordinate system O-XYZ and a Beidou positioning coordinate system O m -X m Y m Z m ；
Determining Beidou positioning coordinate [ x ] in Beidou positioning coordinate system m ，y m ，z m ]With bluetooth positioning coordinates [ x, y, z ] in a bluetooth positioning coordinate system]Is a relationship of (3).
In an alternative embodiment, in S32, the beidou positioning coordinate [ x ] in the beidou positioning coordinate system m ，y m ，z m ]With bluetooth positioning coordinates [ x, y, z ] in a bluetooth positioning coordinate system]The relationship of (2) is as follows:
wherein alpha is the rotation angle of the Bluetooth positioning coordinate system O-XYZ around the y axis, beta is the rotation angle of the Bluetooth positioning coordinate system O-XYZ around the z axis, and gamma is the rotation angle of the Bluetooth positioning coordinate system O-XYZ around the x axis.
In an alternative embodiment, in S33, the neural network employs a BP neural network.
In an alternative embodiment, in S33, the BP neural network contains two input vectors, namely, the beidou positioning coordinate and the bluetooth positioning coordinate, respectively, and one output vector represents the final positioning coordinate outputted after the fusion.
In an alternative embodiment, S4 includes:
s41: establishing a pseudo range equation from petrochemical staff to a satellite;
s42: establishing a pseudo range equation from petrochemical workers to the chirp spread spectrum base station;
s43: combining a pseudo range equation from the petrochemical staff to the satellite and a pseudo range equation from the petrochemical staff to the chirp spread spectrum base station, and establishing an overdetermined equation set;
s44: and carrying out linearization treatment and least square solving on the overdetermined equation set to obtain the final positioning coordinates of the positions of petrochemical workers.
In a second aspect, the present invention also provides a petrochemical personnel joint positioning device based on Beidou, the device comprising:
the mobile receiver is used for being worn on the body of petrochemical workers and comprises a Beidou tag, a Bluetooth tag and a chirp spread spectrum tag, wherein the Beidou tag is used for being in communication connection with a Beidou satellite system, the Bluetooth tag is used for being in communication connection with a Bluetooth base station, and the chirp spread spectrum tag is used for being in communication connection with the chirp spread spectrum base station;
the processor is used for solving the RTK of the signal intensity value of each satellite in the Beidou satellite system where the petrochemical staff is located, obtaining four satellites with the maximum signal intensity, and forming a Beidou satellite combination for acquiring Beidou positioning data; the signal intensity values of the Bluetooth base station and the chirp spread spectrum base station at the position of the petrochemical staff are compared; under the condition that the signal intensity value of the Bluetooth base station is larger than or equal to that of the chirp spread spectrum base station, the position of the petrochemical worker is jointly positioned based on the Beidou satellite combination and the Bluetooth base station, and final positioning coordinates of the position of the petrochemical worker are obtained; and under the condition that the signal intensity value of the Bluetooth base station is smaller than that of the chirp spread spectrum base station, the position of the petrochemical worker is jointly positioned based on the Beidou satellite combination and the chirp spread spectrum base station, and final positioning coordinates of the position of the petrochemical worker are obtained.
The Beidou-based petrochemical staff joint positioning method and device provided by the embodiment of the invention have the beneficial effects that:
1. the four satellite combinations with stable and maximum signal intensity are selected to be used for acquiring Beidou positioning coordinates of petrochemical workers at the moment, so that the acquired Beidou positioning coordinates are more accurate;
2. and carrying out joint positioning on the positions of the petrochemical workers based on Beidou satellite combination and a Bluetooth base station or a chirp spread spectrum base station to obtain more accurate final positioning coordinates of the positions of the petrochemical workers.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a Beidou-based petrochemical personnel joint positioning method provided by an embodiment of the invention;
FIG. 2 is a Bluetooth positioning coordinate system O-XYZ and a Beidou positioning coordinate system O m -X m Y m Z m Is a schematic diagram of the conversion relationship of (a).
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Since the Beidou No. three global satellite navigation system is formally turned on, 24 middle circular earth orbit satellites, 3 geostationary orbit satellites and 3 inclined geostationary orbit satellites are newly added along with the commercial development of the Beidou No. three global satellite navigation system, multiple coverage is carried out through Beidou, a new revolution is brought to positioning, and particularly, the problems of shielding coverage, synchronization duration and the like are improved to a certain extent.
With reference to fig. 1, the embodiment provides a petrochemical personnel joint positioning method (hereinafter referred to as a method) based on Beidou, aiming at the problems of limitation and lower positioning precision in petrochemical scenes by using a single positioning technology, wherein the method comprises the following steps:
s1: solving the RTK of the signal intensity value of each satellite in the Beidou satellite system where the petrochemical staff is located, and obtaining four satellites with the maximum signal intensity to form a Beidou satellite combination for acquiring Beidou positioning data.
Specifically, the signal strength value RTK of each satellite is solved, and sampling is performed for k times (10 times) at equal intervals in a period T (10 minutes), where a calculation formula of the signal strength value RTK is as follows:
wherein R is i For the signal intensity value acquired the i-th time, max (R i ) For the largest signal strength value of k samples，min(R i ) Is the smallest signal strength value among the k samples.
The four satellites with stable and maximum signal intensity can be obtained, and the Beidou satellite combination of the four satellites with stable and maximum signal intensity is used for obtaining Beidou positioning coordinates of petrochemical workers at the moment, so that the obtained Beidou positioning coordinates are more accurate.
Because there is also a small unavoidable limitation in the Beidou positioning, for example, the signal shielding causes position point drift, the accuracy of calculation in a no-signal area is low, and the positioning error is large. To overcome these limitations of Beidou positioning, petrochemical personnel are positioned using Bluetooth base stations or CSS (full name: chirp spread spectrum, chinese name: chirp spread spectrum) base stations in situations where Beidou positioning alone is difficult or impossible.
S2: and comparing the signal intensity values of the Bluetooth base station and the chirp spread spectrum base station at the position of the petrochemical worker.
In the case where the signal strength value of the bluetooth signal of the bluetooth base station is greater than or equal to the signal strength value of the chirp-spread-spectrum signal of the chirp-spread-spectrum base station, S3: and carrying out joint positioning on the position of the petrochemical worker based on the Beidou satellite combination and the Bluetooth base station to obtain the final positioning coordinate of the position of the petrochemical worker.
In the case that the signal strength value of the bluetooth signal of the bluetooth base station is smaller than the signal strength value of the chirp-spread-spectrum signal of the chirp-spread-spectrum base station, S4 is performed: and carrying out joint positioning on the position of the petrochemical worker based on the Beidou satellite combination and the chirp spread spectrum base station to obtain the final positioning coordinate of the position of the petrochemical worker.
The signal intensity value of the bluetooth signal of the bluetooth base station and the signal intensity value of the chirp spread spectrum signal of the chirp spread spectrum base station may be calculated by adopting a calculation mode of a signal intensity value RTK of a satellite.
Specifically, S3 includes:
s31: bluetooth locating coordinates of the positions of petrochemical workers are obtained through the Bluetooth base station.
Specifically, the Bluetooth base station can directly acquire the coordinates of the tag carried by the petrochemical staff, and the coordinates of the tag are Bluetooth positioning coordinates.
S32: and converting the Beidou positioning coordinate in the Beidou positioning data obtained in the step S1 and the Bluetooth positioning coordinate obtained in the step S31 into the same positioning coordinate system.
Because the bluetooth positioning coordinate and the Beidou positioning coordinate calculated by the bluetooth positioning technology are not in the same coordinate system, direct fusion cannot be performed, and one coordinate needs to be converted into the other coordinate system, so that the two coordinate parties can be fused. The bluetooth positioning coordinates are converted into Beidou positioning coordinates, the process involves conversion between two coordinate systems, a one-to-one correspondence between the two coordinate systems is established, and the positioning position is converted from one coordinate system to the other coordinate system.
Firstly, a Bluetooth positioning coordinate system is defined, a Bluetooth base station is used as an origin, proper x-axis and y-axis directions are determined according to antenna array surface arrangement, and a z-axis direction is determined according to a right-hand coordinate system rule and is expressed as O-XYZ. Defining a Beidou positioning coordinate system to meet a right-hand coordinate system rule, taking a Beidou base station as an original point, taking a north direction as a y-axis positive direction, taking a east direction as an x-axis positive direction, and forming a right-hand coordinate system vertically upwards along a z-axis, wherein the right-hand coordinate system is expressed as O m -X m Y m Z m . It is assumed that the relative relationship between the bluetooth positioning coordinate system and the beidou positioning coordinate system is shown in fig. 2.
The Bluetooth positioning coordinate system O-XYZ sequentially rotates around the y axis by alpha, rotates around the z axis by beta and rotates around the x axis by gamma to obtain the Beidou positioning coordinate system O m -X m Y m Z m . The conversion process can be regarded as that the Bluetooth positioning coordinate system is respectively obtained by carrying out 3 plane rotations around 3 coordinate axes.
Therefore, the conversion relation between the three-dimensional coordinate system can be obtained by constructing a rotation matrix of 3 planes, and the Beidou positioning coordinate of the petrochemical staff in the Beidou positioning coordinate system is assumed to be [ x ] m ，y m ，z m ]The Bluetooth positioning coordinates in the Bluetooth positioning coordinate system are [ x, y, z ]]The relationship of the two coordinates can be obtained as follows:
the Bluetooth positioning coordinates [ x, y, z ] can be calculated by adopting the method]In the Beidou positioning coordinate system O m -X m Y m Z m The lower coordinate can also calculate the Beidou positioning coordinate as [ x ] m ，y m ，z m ]Coordinates in the bluetooth positioning coordinate system O-XYZ.
S33: and fusing the Beidou positioning coordinate and the Bluetooth positioning coordinate under the same positioning coordinate system by adopting a neural network, and outputting a final positioning coordinate.
Specifically, the neural network may employ a BP neural network. The BP neural network algorithm is a supervised learning algorithm, and the main idea is to learn the known actual positioning information and the detected positioning information sample set by adopting a gradient search technology, so as to finally realize that the mean square error of the actual output value and the expected output value of the detected positioning information is minimum. The BP neural network is a feedforward neural network, is the most widely used neural network at present, and generally comprises an input layer, a plurality of hidden layers and an output layer 3.
In order to achieve the effect of reducing positioning errors by fusing Beidou positioning coordinates and Bluetooth positioning coordinates through a BP neural network. The BP neural network constructed in the embodiment contains two input vectors, namely Beidou positioning coordinates and Bluetooth positioning coordinates, and one output vector represents the final positioning coordinates output after fusion. There are 2 neurons at the input layer of the network and 1 at the output layer.
The hidden layer design may be determined by the following formula:
wherein N is the number of hidden layers, ceil is a function name, the minimum integer is larger than or equal to a specified expression, J is the number of neurons of an output layer, I is the number of neurons of an input layer, and K is the number of standard samples. It was thus determined that this embodiment employs a 1-layer hidden layer design.
The hidden layer node number takes m=2n+1, where n represents the input layer neuron number. The implicit layer function takes the tangent transfer function tan sig and the output layer function takes the log transfer function log sig.
Therefore, the Beidou positioning technology and the Bluetooth positioning technology are combined to obtain the coordinates of petrochemical workers, so that the positioning accuracy is high, the advantages of low power consumption, long working time, easiness in deployment and the like of Bluetooth positioning hardware are utilized, the environment of petrochemical workers can be adapted, and the safety of the petrochemical workers can be guaranteed through low-cost and real-time combined positioning.
Specifically, S4 includes:
s41: and establishing a pseudo-range equation from petrochemical staff to the satellite.
It is assumed that the mobile receiver of the located petrochemical personnel can receive i satellite signals (0<i.ltoreq.4), the coordinates of each satellite being [ x ] i ，y i ，z i ]Let the coordinates of the petrochemical staff be [ x, y, z ]]Pseudo-range equation for satellite to petrochemical personnel:
wherein D is i For the pseudorange from satellite to petrochemical staff, Δd represents the integrated error caused by satellite clock error, satellite signal propagation in ionosphere, troposphere, w i Is satellite-based measurement noise.
S42: and establishing a pseudo-range equation from petrochemical staff to the chirp spread spectrum base station.
Distance R between petrochemical workers and each chirp spread spectrum base station is measured and obtained by adopting bilateral asynchronous TOA estimation method based on chirp spread spectrum base station j And further obtaining the coordinates of petrochemical workers. Pseudo-range equation from chirp spread spectrum base station to petrochemical staff:
wherein Δr=c and Δt' represents intra-systemClock error, c is the beam; v j Representing measurement noise based on the chirp spread spectrum base station; (x) j ，y j ) Absolute coordinates of the chirp spread spectrum base station; delta is a fixed offset. Therefore, the error can be expressed as Δr' =δ+c_seed, and the above formula can be expressed as:
at R j In the calculation formula of (2), since the z-coordinate difference between the petrochemical staff and the chirp spread spectrum base station is small, the difference between the z-coordinate and the z-coordinate is small i -z) is approximately zero.
S43: and combining a pseudo range equation from the petrochemical staff to the satellite and a pseudo range equation from the petrochemical staff to the chirp spread spectrum base station, and establishing an overdetermined equation set.
Specifically, a pseudo range equation from a petrochemical worker to a satellite and a pseudo range equation from the petrochemical worker to a chirp spread spectrum base station are combined, and absolute coordinates of the chirp spread spectrum base station are converted into coordinates under a Beidou positioning coordinate system, so that an overdetermined equation set can be obtained:
s44: and carrying out linearization treatment and least square solving on the overdetermined equation set to obtain the final positioning coordinates of the positions of petrochemical workers.
Specifically, the system of overdetermined equations obtained in S43 is a nonlinear equation, and therefore, to obtain an optimal solution, it is necessary to linearize the system of overdetermined equations.
In the embodiment, the Taylor expansion and removal of the second-order higher order terms are adopted to carry out linearization treatment on the overdetermined equation set:
initial position X 0 ：
Wherein d i 、l i B 、m i B 、n i B 、r j 、l j w 、m j w All are introduced intermediate parameters, and the values of the parameters are as follows:
d 0 、r 0 the distance measurement errors of the Beidou satellite system and the distance measurement errors of the chirp spread spectrum base station are respectively.
The linearized system of equations is given in matrix form as follows: ax=b
，/>，/>
Wherein N is the number of received satellite signals, and M is the number of signals received from the chirp spread spectrum base station.
Solving the equation by using least squares to obtain an optimal estimated solution:
final positioning coordinates of the petrochemical personnel's location:
thus, the chirp spread spectrum signal has the advantages of strong anti-interference capability and high receiving gain, and is helpful for improving positioning accuracy as a propagation signal for measuring distance. The embodiment provides a joint calculation algorithm based on the Beidou satellite and the chirp spread spectrum base station, a pseudo range equation is constructed through the acquired satellite signals and is combined with the pseudo range equation of the chirp spread spectrum base station, and the measurement accuracy of the distance between the satellite and the chirp spread spectrum base station is improved through the existing parameter correction model and the error elimination model (namely, the equation for calculating the final positioning coordinates of the position of the petrochemical staff in S4) provided by the embodiment, so that the positioning accuracy is further improved.
The embodiment also provides a petrochemical personnel joint positioning device (hereinafter referred to as device) based on Beidou, and the device comprises a mobile receiver and a processor.
The mobile receiver is used for wearing on petrochemical industry staff's the body, the mobile receiver includes big dipper label, bluetooth label and chirp spread spectrum label, wherein, big dipper label is used for being connected with big dipper satellite system communication, big dipper satellite system can be with big dipper label's big dipper positioning data transmission to mobile receiver, bluetooth label is used for being connected with bluetooth base station communication, bluetooth base station can be with bluetooth label's bluetooth positioning coordinate transmission to mobile receiver, chirp spread spectrum label is used for being connected with chirp spread spectrum base station communication, chirp spread spectrum base station can be with chirp spread spectrum label's positioning data transmission to mobile receiver.
The processor is connected with the mobile receiver and used for acquiring data of the mobile receiver and executing the steps of the method, and particularly, the processor is used for solving the RTK of the signal intensity value of each satellite in the Beidou satellite system where the petrochemical staff is located to obtain four satellites with the maximum signal intensity, so as to form a Beidou satellite combination used for acquiring Beidou positioning data; the signal intensity values of the Bluetooth base station and the chirp spread spectrum base station at the position of the petrochemical staff are compared; under the condition that the signal intensity value of the Bluetooth base station is larger than or equal to that of the chirp spread spectrum base station, the position of the petrochemical worker is subjected to joint positioning based on the Beidou satellite combination and the Bluetooth base station, and final positioning coordinates of the position of the petrochemical worker are obtained; and under the condition that the signal intensity value of the Bluetooth base station is smaller than that of the chirp spread spectrum base station, the position of the petrochemical worker is jointly positioned based on the Beidou satellite combination and the chirp spread spectrum base station, and final positioning coordinates of the position of the petrochemical worker are obtained.
The petrochemical personnel joint positioning method and device based on Beidou provided by the embodiment have the beneficial effects that:
1. the four satellite combinations with stable and maximum signal intensity are selected to be used for acquiring Beidou positioning coordinates of petrochemical workers at the moment, so that the acquired Beidou positioning coordinates are more accurate;
2. and carrying out joint positioning on the positions of the petrochemical workers based on Beidou satellite combination and a Bluetooth base station or a chirp spread spectrum base station to obtain more accurate final positioning coordinates of the positions of the petrochemical workers.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims (9)

1. The Beidou-based petrochemical staff joint positioning method is characterized by comprising the following steps of:
s1: solving a signal intensity value RTK of each satellite in a Beidou satellite system where petrochemical workers are located, and obtaining four satellites with maximum signal intensity to form a Beidou satellite combination for acquiring Beidou positioning data;
s2: comparing signal intensity values of a Bluetooth base station and a chirp spread spectrum base station at the position of a petrochemical worker;
in the case that the signal strength value of the bluetooth base station is greater than or equal to the signal strength value of the chirp spread spectrum base station, S3: based on the Beidou satellite combination and the Bluetooth base station, carrying out joint positioning on the position of the petrochemical worker, and obtaining final positioning coordinates of the position of the petrochemical worker;
in the case that the signal strength value of the bluetooth base station is smaller than the signal strength value of the chirp spread spectrum base station, S4: based on the Beidou satellite combination and the chirp spread spectrum base station, carrying out joint positioning on the position of the petrochemical worker, and obtaining final positioning coordinates of the position of the petrochemical worker, wherein S4 comprises:
s41: establishing a pseudo range equation from petrochemical staff to a satellite;
assuming that the mobile receiver of the located petrochemical personnel is able to receive i satellite signals, 0<i is less than or equal to 4, and the coordinates of each satellite are [ x ] i ，y i ，z i ]Let the coordinates of the petrochemical staff be [ x, y, z ]]Pseudo-range equation for satellite to petrochemical personnel:
wherein D is i For the pseudorange from satellite to petrochemical staff, Δd represents the integrated error caused by satellite clock error, satellite signal propagation in ionosphere, troposphere, w i Is satellite-based measurement noise;
s42: establishing a pseudo range equation from petrochemical workers to the chirp spread spectrum base station;
distance R between petrochemical workers and each chirp spread spectrum base station is measured and obtained by adopting bilateral asynchronous TOA estimation method based on chirp spread spectrum base station j Further, the coordinates of petrochemical workers are obtained, and a pseudo range equation from the chirp spread spectrum base station to the petrochemical workers is obtained:
wherein Δr=c, a seed Δt ', Δt' represents the clock error in the system, and c is the beam; v j Representing measurement noise based on the chirp spread spectrum base station; (x) j ，y j ) Absolute coordinates of the chirp spread spectrum base station; delta is a fixed offset, and the error is represented as Δrj=delta+c, Δt', the above formula can be expressed as:s43: combining a pseudo range equation from the petrochemical staff to the satellite and a pseudo range equation from the petrochemical staff to the chirp spread spectrum base station, and establishing an overdetermined equation set:
s44: carrying out linearization treatment and least square solving on the overdetermined equation set to obtain final positioning coordinates of the position of the petrochemical staff;
and (3) adopting Taylor expansion and removing higher order terms above second order to carry out linearization treatment on the overdetermined equation set:
initial position X 0 ：/>Wherein d i 、l i B 、m i B 、n i B 、r j 、l j w 、m j w All are introduced intermediate parameters, and the values of the parameters are as follows:
d 0 、r 0 respectively measuring the distance measurement error of the Beidou satellite system and the distance measurement error of the chirp spread spectrum base station;
the linearized system of equations is given in matrix form as follows: ax=b
，/>，/>Wherein, N is the number of received satellite signals, M is the number of signals received from the chirp spread spectrum base station;
solving the equation by using least squares to obtain an optimal estimated solution:final positioning coordinates of the petrochemical personnel's location: />。
2. The Beidou-based petrochemical personnel joint positioning method of claim 1, wherein the S1 comprises:
solving a signal intensity value RTK of each satellite, sampling at equal intervals k times in a period T, and calculating a calculation formula of the signal intensity value RTK as follows:
wherein R is i For the signal intensity value acquired the i-th time, max (R i ) For the maximum signal strength value of k samples, min (R i ) Is the smallest signal strength value among the k samples.
3. The Beidou-based petrochemical personnel joint positioning method of claim 1, wherein the step S3 comprises:
s31: acquiring Bluetooth positioning coordinates of the position of the petrochemical worker through the Bluetooth base station;
s32: converting Beidou positioning coordinates in the Beidou positioning data obtained in the step S1 and Bluetooth positioning coordinates obtained in the step S31 into the same positioning coordinate system;
s33: and fusing the Beidou positioning coordinate and the Bluetooth positioning coordinate under the same positioning coordinate system by adopting a neural network, and outputting a final positioning coordinate.
4. The Beidou-based petrochemical personnel joint positioning method according to claim 3, wherein the step S32 comprises:
converting Beidou positioning coordinates in the Beidou positioning data obtained in the step S1 into a Bluetooth positioning coordinate system; or, converting the Bluetooth positioning coordinate obtained in the S31 into a Beidou positioning coordinate system.
5. The Beidou-based petrochemical personnel joint positioning method of claim 4, wherein the step S32 comprises:
determining a Bluetooth positioning coordinate system O-XYZ and a Beidou positioning coordinate system O m -X m Y m Z m ；
Determining Beidou positioning coordinate [ x ] in Beidou positioning coordinate system m ，y m ，z m ]With bluetooth positioning coordinates [ x, y, z ] in a bluetooth positioning coordinate system]Is a relationship of (3).
6. The Beidou-based petrochemical personnel joint positioning method according to claim 5, wherein in S32, beidou positioning coordinates [ x ] in a Beidou positioning coordinate system m ，y m ，z m ]With bluetooth positioning coordinates [ x, y, z ] in a bluetooth positioning coordinate system]The relationship of (2) is as follows:
wherein alpha is the rotation angle of the Bluetooth positioning coordinate system O-XYZ around the y axis, beta is the rotation angle of the Bluetooth positioning coordinate system O-XYZ around the z axis, and gamma is the rotation angle of the Bluetooth positioning coordinate system O-XYZ around the x axis.
7. The Beidou-based petrochemical personnel joint positioning method according to claim 3, wherein in the step S33, the neural network adopts a BP neural network.
8. The Beidou-based petrochemical personnel joint positioning method according to claim 7, wherein in the step S33, the BP neural network comprises two input vectors, namely Beidou positioning coordinates and Bluetooth positioning coordinates, respectively, and one output vector represents final positioning coordinates outputted after fusion.
9. Petrochemical industry staff allies oneself with positioner based on big dipper, its characterized in that, the device includes:
the mobile receiver is used for being worn on the body of petrochemical workers and comprises a Beidou tag, a Bluetooth tag and a chirp spread spectrum tag, wherein the Beidou tag is used for being in communication connection with a Beidou satellite system, the Bluetooth tag is used for being in communication connection with a Bluetooth base station, and the chirp spread spectrum tag is used for being in communication connection with the chirp spread spectrum base station;
the processor is used for solving the RTK of the signal intensity value of each satellite in the Beidou satellite system where the petrochemical staff is located, obtaining four satellites with the maximum signal intensity, and forming a Beidou satellite combination for acquiring Beidou positioning data; the signal intensity values of the Bluetooth base station and the chirp spread spectrum base station at the position of the petrochemical staff are compared; under the condition that the signal intensity value of the Bluetooth base station is larger than or equal to that of the chirp spread spectrum base station, the position of the petrochemical worker is jointly positioned based on the Beidou satellite combination and the Bluetooth base station, and final positioning coordinates of the position of the petrochemical worker are obtained; under the condition that the signal intensity value of the Bluetooth base station is smaller than that of the chirp spread spectrum base station, the combination positioning is carried out on the position of the petrochemical worker based on the Beidou satellite combination and the chirp spread spectrum base station, and final positioning coordinates of the position of the petrochemical worker are obtained, and the method comprises the following steps:
s41: establishing a pseudo range equation from petrochemical staff to a satellite;
assuming that the mobile receiver of the located petrochemical personnel is able to receive i satellite signals, 0<i is less than or equal to 4, and the coordinates of each satellite are [ x ] i ，y i ，z i ]Let the coordinates of the petrochemical staff be [ x, y, z ]]Pseudo-range equation for satellite to petrochemical personnel:
wherein D is i For the pseudorange from satellite to petrochemical staff, Δd represents the integrated error caused by satellite clock error, satellite signal propagation in ionosphere, troposphere, w i Is satellite-based measurement noise;
s42: establishing a pseudo range equation from petrochemical workers to the chirp spread spectrum base station;
distance R between petrochemical workers and each chirp spread spectrum base station is measured and obtained by adopting bilateral asynchronous TOA estimation method based on chirp spread spectrum base station j Further, the coordinates of petrochemical workers are obtained, and a pseudo range equation from the chirp spread spectrum base station to the petrochemical workers is obtained:
wherein Δr=c, a seed Δt ', Δt' represents the clock error in the system, and c is the beam; v j Representing measurement noise based on the chirp spread spectrum base station; (x) j ，y j ) Absolute coordinates of the chirp spread spectrum base station; delta is a fixed offset, and the error is represented as Δrj=delta+c, Δt', the above formula can be expressed as:s43: combining a pseudo range equation from the petrochemical staff to the satellite and a pseudo range equation from the petrochemical staff to the chirp spread spectrum base station, and establishing an overdetermined equation set:
s44: carrying out linearization treatment and least square solving on the overdetermined equation set to obtain final positioning coordinates of the position of the petrochemical staff;
and (3) adopting Taylor expansion and removing higher order terms above second order to carry out linearization treatment on the overdetermined equation set:initial position X 0 ：
Wherein d i 、l i B 、m i B 、n i B 、r j 、l j w 、m j w All are introduced intermediate parameters, and the values of the parameters are as follows:
d 0 、r 0 respectively measuring the distance measurement error of the Beidou satellite system and the distance measurement error of the chirp spread spectrum base station;
the linearized system of equations is given in matrix form as follows: ax=b
，/>，/>Wherein N is the number of received satellite signals, M is the received signal from the chirp spread spectrum base stationNumber;
solving the equation by using least squares to obtain an optimal estimated solution:final positioning coordinates of the petrochemical personnel's location:
。
CN202311364638.9A 2023-10-20 2023-10-20 Beidou-based petrochemical worker joint positioning method and device Active CN117111126B (en)

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