CN107864510B - Indoor positioning method, terminal equipment and storage medium suitable for nuclear island of nuclear power station - Google Patents
Indoor positioning method, terminal equipment and storage medium suitable for nuclear island of nuclear power station Download PDFInfo
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- CN107864510B CN107864510B CN201711427897.6A CN201711427897A CN107864510B CN 107864510 B CN107864510 B CN 107864510B CN 201711427897 A CN201711427897 A CN 201711427897A CN 107864510 B CN107864510 B CN 107864510B
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- 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
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- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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Abstract
The invention relates to an indoor positioning method, terminal equipment and a storage medium suitable for a nuclear island of a nuclear power station, wherein the method comprises the following steps: s10: the mobile radio frequency positioning device starts a radio frequency positioning function for the tags arranged at different positions in the surrounding environment at a fixed frequency, so that different tags send radio frequency signals with different frequencies; s20: according to the strength of the received signal, respectively determining the distances between the first tag, the second tag and the third tag, wherein the strength of the radio frequency signal is the first, the second and the third; s30: reading acceleration, angular velocity, magnetic force and pressure data of a person in the traveling process through a built-in inertial positioning module; s40: during traveling, the positioning is carried out by combining two methods of radio frequency identification and inertial positioning. S50: the location is interacted with through a map. The invention overcomes the factors such as electromagnetic shielding of the containment vessel and the internal compartment thereof in the nuclear island, which are not beneficial to indoor positioning, and realizes accurate positioning and tracking of personnel or equipment carrying the positioning device in the complex nuclear island environment.
Description
Technical Field
The invention relates to the field of indoor positioning, in particular to an indoor positioning method, terminal equipment and storage medium suitable for a nuclear island of a nuclear power station.
Background
At present, no effective positioning method exists in a nuclear island of a reactor of a nuclear power station, and various inconveniences are brought to accident emergency and maintenance. Meanwhile, because the environment in the nuclear island is very special, factors such as a complex building structure, a plurality of compartments, short effective wireless signal transmission distance, weak illumination visible light, special indoor air pressure, shielding of external wireless communication by a containment vessel and the like are integrated, many indoor and outdoor positioning modes depending on signal transmission and signal reception are difficult to achieve in the environment in the nuclear island. Meanwhile, a large number of mechanical and electronic instruments exist in each narrow compartment in the nuclear island, and the positioning technology applied by the equipment is determined to be as few as possible to build extra equipment in the nuclear island. Because the traditional positioning technology such as a bluetooth positioning method, a GPS positioning method, a wifi positioning method and the like still needs to build complex and expensive auxiliary equipment for coordinate positioning, the method cannot be applied to the environment in the nuclear island of the nuclear power station.
The invention patent with application number 201510876604.7 discloses an indoor composite positioning method for fire rescue, which uses inertial positioning elements such as a three-axis accelerometer and a three-axis gyroscope as a signal acquisition module to carry out dead reckoning, and utilizes passive RFID to calibrate the position, but the method only updates the position information through the node information of the RFID, wastes the workload of node arrangement and equipment improvement, has low correction degree on speed, has limited help on position correction by the rough position information acquisition capability of coordinate positioning of a single node, and easily causes great errors for complex indoor environments in a nuclear island.
The invention patent with application number 201610772706.9 discloses an indoor personnel inertial positioning method based on substation depth-of-field image recognition, which utilizes a mode of combining image recognition and inertial positioning to theoretically realize more accurate positioning in a substation environment, but because the environment in a nuclear island is far more complicated and darker than the environment in a substation, the similarity of each compartment is higher and no obvious recognition degree exists. Therefore, the visual positioning mode cannot exert the unique advantages in the environment, and the application requirement of accurate positioning in the nuclear island of the nuclear power station is met.
Disclosure of Invention
In order to solve the above problems, the present invention aims to provide an indoor positioning method, a terminal device and a storage medium suitable for a nuclear island of a nuclear power station, so as to overcome the factors unfavorable for indoor positioning, such as electromagnetic shielding of a containment vessel and an internal compartment thereof in the nuclear island, and realize accurate positioning and tracking of personnel or equipment carrying a positioning device in a complex nuclear island environment.
The specific scheme is as follows:
an indoor positioning method suitable for a nuclear island of a nuclear power station comprises the following steps:
s10: the mobile radio frequency positioning device starts a radio frequency positioning function for the tags arranged at different positions in the surrounding environment at a fixed frequency, so that different tags send radio frequency signals with different frequencies;
s20: after the mobile radio frequency positioning device receives radio frequency signals with different frequencies, according to the strength of the received signals, setting the radio frequency signal with the strongest signal as a first radio frequency signal, setting the radio frequency signal with the second strongest signal as a second radio frequency signal, setting the radio frequency signal with the third strongest signal as a third radio frequency signal, setting labels corresponding to the third radio frequency signal as a first label, a second label and a third label respectively, and determining the distance between the mobile radio frequency positioning device and the first label, the second label and the third label;
s30: the mobile radio frequency positioning device reads acceleration, angular velocity, magnetic force and pressure data in the advancing process through an internal inertial positioning module of the mobile radio frequency positioning device;
s40: continuously judging whether the intensity of the radio frequency signal of the third label is smaller than the characteristic value or not in the process of traveling, if not, calculating the current position by the mobile radio frequency positioning device by using the distance between the mobile radio frequency positioning device and the first, second and third labels, and if so, calculating the step length and direction of the traveling process by the mobile radio frequency positioning device through the acceleration, angular velocity, magnetic force and pressure data in the traveling process read by the inertial measurement unit according to the calculated position when the intensity of the radio frequency signal of the third label is equal to the characteristic value so as to determine the current position;
s50: and interacting according to the map stored in the mobile radio frequency positioning device and the position information of the device, and displaying the position and the path information of the mobile radio frequency positioning device.
Further, the mobile radio frequency positioning device is arranged on a person or equipment needing positioning.
Further, in step S20, the manner of determining the distances between the mobile radio frequency positioning device and the first, second, and third tags is to store, in the mobile radio frequency positioning device, the correspondence among the signal frequencies obtained in advance by the radio frequency signals with different frequencies, the distances between the transmission positions and the reception positions of the radio frequency signals, and the received signal strength values; and the mobile radio frequency positioning device determines the distance between the label and the mobile positioning device according to the signal frequency, the received signal strength value and the corresponding relation of the first radio frequency signal, the second radio frequency signal and the third radio frequency signal.
Further, the Inertial positioning module comprises a nine-axis Attitude and Heading Reference System (AHRS) composed of an Inertial Measurement Unit (IMU), a three-axis magnetometer and low-cost sensors, a barometer and a navigation microprocessor.
Further, the setting condition of the characteristic value in step S40 is that when the rf signal strength is greater than the characteristic value, the rf signal is a valid rf signal, and when the rf signal strength is less than the characteristic value, the rf signal cannot be a valid rf signal.
An indoor positioning terminal device suitable for a nuclear island of a nuclear power station comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method of the embodiment of the invention.
A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above for an embodiment of the invention.
According to the technical scheme, the mobile radio frequency positioning device is arranged on the personnel or equipment needing positioning, the technology combining radio frequency identification and inertial positioning is used, the factors such as electromagnetic shielding of a containment vessel and an internal compartment of the containment vessel in the nuclear island, which are not beneficial to indoor positioning, are overcome, and accurate positioning and tracking of the personnel or equipment carrying the positioning device in a complex nuclear island environment are realized.
Drawings
Fig. 1 is a schematic diagram illustrating a first step of the embodiment of the present invention.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The first embodiment is as follows:
an indoor positioning method suitable for a nuclear island of a nuclear power plant is provided in an embodiment of the present invention, as shown in fig. 1, which is a schematic flow chart of the indoor positioning method suitable for the nuclear island of the nuclear power plant in the embodiment of the present invention, and the method may include the following steps:
an indoor positioning method suitable for a nuclear island of a nuclear power station comprises the following steps:
and S10, the mobile radio frequency positioning device starts the radio frequency positioning function to the tags arranged at different positions in the surrounding environment at a fixed frequency, so that the different tags emit radio frequency signals with different frequencies.
The mobile radio frequency positioning device is arranged on a person or equipment needing positioning.
The tags are Radio Frequency Identification (RFID) tags, each of which has a unique electronic code and is attached to an object to identify a target object, commonly referred to as an electronic tag or an intelligent tag.
The radio frequency identification is a non-contact automatic identification technology, a target object is automatically identified through a radio frequency signal, relevant data are obtained, manual intervention is not needed in identification work, and the radio frequency identification can work in various severe environments.
S20: after the mobile radio frequency positioning device receives radio frequency signals with different frequencies, according to the strength of the received signals, the radio frequency signal with the strongest signal is set as a first radio frequency signal, the radio frequency signal with the second strongest signal is set as a second radio frequency signal, the radio frequency signal with the third strongest signal is set as a third radio frequency signal, tags corresponding to the third radio frequency signal are respectively set as a first tag, a second tag and a third tag, and the distances between the mobile radio frequency positioning device and the first tag, the second tag and the third tag are determined.
In the embodiment, the mobile radio frequency positioning device stores the corresponding relationship among the signal frequency obtained in advance by the radio frequency signals with different frequencies, the distance between the radio frequency signal transmitting position and the receiving position and the received signal strength value; and the mobile radio frequency positioning device determines the distance between the label and the mobile positioning device according to the signal frequency, the received signal strength value and the corresponding relation of the first radio frequency signal, the second radio frequency signal and the third radio frequency signal.
S30: the mobile radio frequency positioning device reads acceleration, angular velocity, magnetic force and pressure data in the traveling process through a built-in inertial positioning module.
In this embodiment, the inertial positioning module includes a nine-axis Attitude and Heading Reference System (AHRS) composed of an Inertial Measurement Unit (IMU), a three-axis magnetometer, and a low-cost sensor, a barometer, and a navigation microprocessor, where the inertial measurement unit is composed of a three-axis gyroscope and a three-axis accelerometer with coordinate axes being uniformly positioned, and the gyroscope and the accelerometer are respectively used for measuring an angular rate (or a velocity increment and an angular increment) and a specific force; and the navigation microprocessor resolves the attitude, speed and position information of the system carrier through the detection data of the inertial measurement unit and the inertial navigation principle. The inertial positioning module provides absolute course information through the detection of the magnetometer on the geomagnetic field, corrects the data of the gyroscope, and can complete data fusion, attitude calculation and position information estimation with higher precision.
In the embodiment, in order to correct the accumulated error generated by each device of the system in the integration process and the result deviation caused by external factors, three sensors are mutually fused and compensated to obtain the high-precision posture, the barometer is used for assisting in correcting height position information by combining the position corresponding to the tag and air pressure information, the navigation microprocessor is used for correcting and compensating the static error of the sensors and the drift error in long-time use, the position information is obtained by pedestrian position estimation, tracking and positioning data and the like of the walking path are wirelessly transmitted to an upper computer, the walking movement path of a wearer or equipment in a three-dimensional space can be observed, and the accurate positioning of a carrier is realized.
S40: and continuously judging whether the intensity of the radio frequency signal of the third label is smaller than the characteristic value or not in the process of travelling, if not, calculating the current position by the mobile radio frequency positioning device by using the distance between the mobile radio frequency positioning device and the first, second and third labels, and if so, calculating the step length and direction of the travelling process by the mobile radio frequency positioning device according to the acceleration, angular velocity, magnetic force and pressure data in the travelling process read by the inertial measurement unit from the calculated position when the intensity of the radio frequency signal of the third label is equal to the characteristic value so as to determine the current position.
The setting condition of the characteristic value is that when the strength of the radio frequency signal is smaller than the characteristic value, the strength of the radio frequency signal is too small to be calculated as effective strength of the radio frequency signal.
In this embodiment, the mobile positioning device calculates the current position of the mobile positioning device by its distance from the first, second and third tags using the TOA algorithm.
S50: and interacting according to the map stored in the positioning device and the position information of the device, and displaying the position and the path information of the mobile radio frequency positioning device.
According to the embodiment of the invention, the mobile radio frequency positioning device is arranged on the personnel or equipment needing positioning, and the technology combining radio frequency identification and inertial positioning is used, so that the factors such as electromagnetic shielding of a containment vessel and an internal compartment thereof in the nuclear island, which are not beneficial to indoor positioning, are overcome, and accurate positioning and tracking of the personnel or equipment carrying the positioning device in a complex nuclear island environment are realized.
Example two:
the invention further provides an indoor positioning terminal device suitable for a nuclear island of a nuclear power station, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the method embodiment of the first embodiment of the invention.
Further, as an executable scheme, the indoor positioning terminal device suitable for the nuclear island of the nuclear power plant may be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The indoor positioning terminal equipment suitable for the nuclear island of the nuclear power station can comprise, but is not limited to, a processor and a memory. It is understood by those skilled in the art that the above-mentioned structure of the indoor positioning terminal device suitable for the nuclear island of the nuclear power plant is only an example of the indoor positioning terminal device suitable for the nuclear island of the nuclear power plant, and does not constitute a limitation to the indoor positioning terminal device suitable for the nuclear island of the nuclear power plant, and may include more or less components than the above, or combine some components, or different components, for example, the indoor positioning terminal device suitable for the nuclear island of the nuclear power plant may further include an input/output device, a network access device, a bus, and the like, which is not limited in this embodiment of the present invention.
Further, as an executable solution, the Processor may be a Central Processing Unit (CPU), or may be other general purpose processors, Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and so on. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, and the processor is a control center of the indoor positioning terminal device suitable for the nuclear island of the nuclear power plant, and various interfaces and lines are used to connect various parts of the entire indoor positioning terminal device suitable for the nuclear island of the nuclear power plant.
The memory may be configured to store the computer program and/or the module, and the processor may implement various functions of the indoor positioning terminal device suitable for the nuclear island of the nuclear power plant by executing or executing the computer program and/or the module stored in the memory and calling data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a flash memory Card (Fnash Card), at least one magnetic disk storage device, a flash memory device, or other volatile solid state storage device.
The invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the above-mentioned method of an embodiment of the invention.
The module/unit integrated with the indoor positioning terminal device suitable for the nuclear island of the nuclear power station can be stored in a computer readable storage medium if the module/unit is realized in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying said computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. An indoor positioning method suitable for a nuclear island of a nuclear power station is characterized by comprising the following steps: the method comprises the following steps:
s10: the mobile radio frequency positioning device starts a radio frequency positioning function for the tags arranged at different positions in the surrounding environment at a fixed frequency, so that different tags send radio frequency signals with different frequencies;
s20: after the mobile radio frequency positioning device receives radio frequency signals with different frequencies, according to the strength of the received signals, setting the radio frequency signal with the strongest signal as a first radio frequency signal, setting the radio frequency signal with the second strongest signal as a second radio frequency signal, setting the radio frequency signal with the third strongest signal as a third radio frequency signal, setting labels corresponding to the third radio frequency signal as a first label, a second label and a third label respectively, and determining the distance between the mobile radio frequency positioning device and the first label, the second label and the third label;
s30: the mobile radio frequency positioning device reads acceleration, angular velocity, magnetic force and pressure data in the advancing process through an internal inertial positioning module of the mobile radio frequency positioning device;
s40: continuously judging whether the intensity of the radio frequency signal of the third label is smaller than the characteristic value or not in the process of traveling, if not, calculating the current position by the mobile radio frequency positioning device by using the distance between the mobile radio frequency positioning device and the first, second and third labels, and if so, calculating the step length and direction of the traveling process by the mobile radio frequency positioning device through the acceleration, angular velocity, magnetic force and pressure data in the traveling process read by the inertial measurement unit according to the calculated position when the intensity of the radio frequency signal of the third label is equal to the characteristic value so as to determine the current position;
s50: and interacting according to the map stored in the mobile radio frequency positioning device and the position information of the device, and displaying the position and the path information of the mobile radio frequency positioning device.
2. The indoor positioning method suitable for the nuclear island of the nuclear power plant as claimed in claim 1, wherein: the mobile radio frequency positioning device is arranged on a person or equipment needing positioning.
3. The indoor positioning method suitable for the nuclear island of the nuclear power plant as claimed in claim 1, wherein: in step S20, the manner of determining the distances between the mobile rf positioning device and the first, second, and third tags is to store the correspondence among the signal frequencies obtained in advance by storing the radio frequency signals with different frequencies in the mobile rf positioning device, the distances between the transmitting positions and the receiving positions of the radio frequency signals, and the received signal strength values; and the mobile radio frequency positioning device determines the distance between the label and the mobile positioning device according to the signal frequency, the received signal strength value and the corresponding relation of the first radio frequency signal, the second radio frequency signal and the third radio frequency signal.
4. The indoor positioning method suitable for the nuclear island of the nuclear power plant as claimed in claim 1, wherein: the inertial positioning module comprises a nine-axis attitude heading reference system, a barometer and a navigation microprocessor, wherein the nine-axis attitude heading reference system consists of an inertial measurement unit, a three-axis magnetometer and a low-cost sensor.
5. The indoor positioning method suitable for the nuclear island of the nuclear power plant as claimed in claim 1, wherein: the setting condition of the characteristic value in step S40 is that when the rf signal strength is greater than the characteristic value, the rf signal is a valid rf signal, and when the rf signal strength is less than the characteristic value, the rf signal cannot be regarded as a valid rf signal.
6. Indoor positioning terminal equipment suitable for a nuclear island of a nuclear power plant, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method according to claims 1 to 5.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to claims 1 to 5.
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| CN110809232B (en) * | 2019-10-22 | 2021-06-08 | 新华三信息安全技术有限公司 | Positioning method, positioning device, positioning equipment and computer readable storage medium |
| TWI741821B (en) * | 2020-10-07 | 2021-10-01 | 廣達電腦股份有限公司 | Electronic device with gravity sensor assisted positioning |
| TWI751790B (en) * | 2020-11-16 | 2022-01-01 | 財團法人金屬工業研究發展中心 | Radio frequency positioning method |
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Application publication date: 20180330 Assignee: XIAMEN MIBET NEW ENERGY Co.,Ltd. Assignor: XIAMEN University Contract record no.: X2023350000145 Denomination of invention: An indoor positioning method, terminal equipment, and storage medium suitable for nuclear power plant nuclear islands Granted publication date: 20200424 License type: Common License Record date: 20230328 |