CN110290458B - Tunnel positioning method based on block chain and edge calculation, storage medium and terminal - Google Patents
Tunnel positioning method based on block chain and edge calculation, storage medium and terminal Download PDFInfo
- Publication number
- CN110290458B CN110290458B CN201910485226.8A CN201910485226A CN110290458B CN 110290458 B CN110290458 B CN 110290458B CN 201910485226 A CN201910485226 A CN 201910485226A CN 110290458 B CN110290458 B CN 110290458B
- Authority
- CN
- China
- Prior art keywords
- positioning
- block
- nodes
- worker
- node
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1097—Protocols in which an application is distributed across nodes in the network for distributed storage of data in networks, e.g. transport arrangements for network file system [NFS], storage area networks [SAN] or network attached storage [NAS]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
-
- 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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
Abstract
A tunnel positioning method, a storage medium and a terminal based on block chain and edge calculation are provided, the method comprises: calculating by the block head node according to a period by adopting a fusion positioning algorithm to obtain positioning data of the worker positioning equipment node in the corresponding cluster; generating blocks based on the positioning data of the worker positioning equipment nodes in the corresponding clusters and sending the blocks to other block head nodes through the Bluetooth module for authentication; the block head node receives authentication information sent by other block head nodes, and stores the block in a block chain when the block is successfully authenticated by other block head nodes; the block head node which is successfully connected with the cloud server sends the block to a preset cloud server by adopting a built-in WIFI module; and the cloud server receives the blocks by adopting a built-in WIFI module and updates the positioning data of the worker positioning equipment nodes in the corresponding clusters. By means of the scheme, the reliability and the accuracy of positioning of tunnel workers can be improved.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to a tunnel positioning method based on block chains and edge calculation, a storage medium and a terminal.
Background
In recent years, with the increasing construction of traffic infrastructure, the new construction mileage of national highways and railways has increased. China has a vast territory, complex terrain, high west and low east, and mountain lands, plateaus, mountains and the like account for 69 percent of the territory, and tunnel engineering cannot be avoided in the process of constructing a highway in a mountain area.
The tunnel engineering construction has the characteristics of large concealment, complex technology, wide working range, limited working space, long construction period, uncertain geological condition change and the like. The existing characteristics of tunnel construction not only increase the tunnel operation degree of difficulty, have increased very big potential safety hazard moreover for the construction. If an accident occurs, the tunnel construction project cannot complete tasks according to the original plan, and even a part of sudden safety accidents can cause casualties of construction personnel.
However, the existing tunnel positioning method has the problems of poor positioning accuracy and poor reliability.
Disclosure of Invention
The invention solves the technical problem of how to improve the reliability and the accuracy of the positioning of tunnel workers.
In order to achieve the above object, the present invention provides a tunnel positioning method based on block chain and edge calculation, including:
calculating the positioning data of the worker positioning equipment nodes in the corresponding clusters by adopting a preset fusion positioning algorithm according to a preset period by the block head node in each cluster in the block chain; generating a corresponding block based on the calculated positioning data of the worker positioning equipment nodes in the corresponding cluster, and sending the block to other block head nodes for authentication through a built-in Bluetooth module;
other block head nodes receive the blocks sent by the block head nodes through a Bluetooth module, authenticate the blocks sent by the block head nodes and send corresponding authentication information to the block head nodes;
the block head node receives authentication information sent by other block head nodes, and stores the block in a block chain when the block is successfully authenticated by other block head nodes;
the block head node and the other block head nodes respectively try to adopt a built-in WIFI module to connect with a preset cloud server;
the block head node which is successfully connected with the cloud server sends the block to a preset cloud server by adopting a built-in WIFI module;
and the cloud server receives the block by adopting a built-in WIFI module and updates the positioning data of the worker positioning equipment nodes in the corresponding cluster by adopting the positioning data on the block.
Optionally, the calculating, by the block head node, the location data of the worker location device node in the corresponding cluster by using a preset fusion location algorithm includes:
acquiring positioning data of three worker positioning equipment nodes which can be connected by a cloud server through the cloud server;
the block head node respectively acquires the distances between the to-be-solved worker positioning equipment node and the three worker positioning equipment nodes from the three worker positioning equipment nodes through a Bluetooth module;
the block head node calculates and obtains positioning data of the to-be-solved worker positioning equipment node based on the positioning data of the three worker positioning equipment nodes and the distances between the to-be-solved worker positioning equipment node and the three worker positioning equipment nodes;
the block head node updates the positioning matrix of the positioning equipment node of the worker to be solved based on the calculated positioning data;
and the block head node calculates the final positioning data of the positioning equipment node of the worker to be solved based on the updated positioning matrix of the positioning equipment node of the worker to be solved.
Optionally, when the block is an nth block and n is less than a preset number threshold, the updated positioning matrix of the to-be-solved worker positioning device node is:
wherein the content of the first and second substances,
and the positioning data of the node of the to-be-sought worker positioning device in the ith block is represented, i is 1,2 and 3.
Optionally, when the block is an nth block n which is greater than or equal to a preset number threshold, the positioning matrix of the to-be-solved worker positioning device node is:
wherein k represents the number threshold.
Optionally, the final positioning data of the node of the to-be-sought worker positioning device is calculated by using the following formula:
wherein (x)4,y4) Representing final location data for the desired worker location device node in the nth block.
Optionally, the positioning data of the three worker positioning device nodes is obtained by the cloud server from the three worker positioning device nodes through WIFI modules respectively.
Optionally, the obtaining distances between the to-be-solved worker positioning device node and the three worker positioning device nodes includes:
and determining the distances between the to-be-solved worker positioning equipment node and the three worker positioning equipment nodes according to the strength of the Bluetooth signals between the to-be-solved worker positioning equipment node and the three worker positioning equipment nodes.
Optionally, the coverage area of the bluetooth signal is a circular area with the positions of the three worker positioning device nodes where the bluetooth signal is located as the center of a circle.
The embodiment of the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the method performs any one of the steps of the tunnel location method based on block chain and edge calculation.
The embodiment of the present invention further provides a terminal, which includes a memory and a processor, where the memory stores a computer instruction capable of running on the processor, and the processor executes the steps of any one of the above tunnel location methods based on the block chain and the edge calculation when running the computer instruction.
Compared with the prior art, the invention has the beneficial effects that:
according to the scheme, the block head nodes adopt a preset fusion positioning algorithm to calculate and obtain positioning data of the worker positioning equipment nodes in the corresponding clusters according to a preset period; generating a corresponding block based on the calculated positioning data of the worker positioning equipment nodes in the corresponding cluster, and sending the block to other block head nodes for authentication through a built-in Bluetooth module; other block head nodes receive the blocks sent by the block head nodes through a Bluetooth module, authenticate the blocks sent by the block head nodes and send corresponding authentication information to the block head nodes; the block head node receives authentication information sent by other block head nodes through a Bluetooth module, and stores the block in a block chain when the block is successfully authenticated by other block head nodes; the block head node and the other block head nodes respectively try to adopt a built-in WIFI module to connect with a preset cloud server; the block head node which is successfully connected with the cloud server sends the block to a preset cloud server by adopting a built-in WIFI module; the cloud server receives the blocks by adopting a built-in WIFI module and updates the positioning data of the worker positioning equipment nodes in the corresponding clusters by adopting the positioning data on the blocks; compared with the traditional mode of positioning by adopting the base station, the method can effectively combine the tunnel environment interference factors to accurately position the position carrying the positioning equipment node of the tunnel worker, thereby improving the reliability and accuracy of positioning of the tunnel worker and improving the safety guarantee of the tunnel worker.
Furthermore, the block head nodes are calculated by adopting a preset fusion positioning algorithm to obtain the positioning data of the worker positioning equipment nodes in the corresponding clusters, and iteration is performed on the multiple positioning results based on the edge calculation idea, so that the accuracy of tunnel worker positioning can be further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a tunnel positioning system based on block chains and edge calculation according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a tunnel location method based on block chain and edge calculation according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a simulation comparison result between a tunnel positioning method based on block chain and edge calculation and an existing tunnel positioning method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
As described in the background art, the environment in the tunnel is complex, the signal propagation capability is poor, and the current domestic tunnel safety monitoring system has the following defects: due to the characteristics of dispersibility and concealment of the tunnel, construction personnel and construction vehicles cannot know the safety information of the tunnel in time, and management personnel have blind spots on the safety management of the tunnel. The cost of a monitoring and positioning system configured with a camera is too high. Some employees cannot obtain any information from the employee when the safety location facility partially fails, and even all workers will be in crisis when power is lost or the network is lost in the tunnel. The traditional tunnel positioning system has larger loophole, poorer robustness and urgent need for improving the performance.
According to the technical scheme, the positioning data of the worker positioning equipment nodes in the corresponding clusters are obtained by calculating the block head nodes in each cluster in the block chain according to a preset period by adopting a preset fusion positioning algorithm; generating a corresponding block based on the calculated positioning data of the worker positioning equipment nodes in the corresponding cluster and sending the block to other block head nodes for authentication; the other block head nodes authenticate the blocks sent by the block head nodes and send corresponding authentication information to the block head nodes; the block head node receives authentication information sent by other block head nodes, and stores the block in a block chain when the block is successfully authenticated by other block head nodes; the block head node and the other block head nodes respectively try to be connected with a preset cloud server; the block head node which is successfully connected with the cloud server sends the block to a preset cloud server; the cloud server receives the block and updates the positioning data of the worker positioning equipment nodes in the corresponding cluster by adopting the positioning data on the block; compared with the traditional mode of positioning by adopting the base station, the method can effectively combine the tunnel environment interference factors to accurately position the position carrying the positioning equipment node of the tunnel worker, thereby improving the reliability and accuracy of positioning of the tunnel worker and improving the safety guarantee of the tunnel worker. In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
For the convenience of understanding, the structure of the tunnel location system based on block chains and edge calculation in the embodiment of the present invention will be briefly described below.
Fig. 1 is a schematic structural diagram of a tunnel location system based on a block chain and edge calculation according to an embodiment of the present invention. Referring to fig. 1, a tunnel positioning system based on a block chain and edge calculation may specifically include a worker positioning device node and a cloud server 12.
Each worker positioning device node 11 is internally provided with a bluetooth module, a WIFI module and a GPS locator. In an embodiment of the invention, the bluetooth communication module and the GPS locator are connected in a mobile power supply, and the bluetooth module has high durability and is provided with a spare button battery.
In specific implementation, the plurality of worker positioning device nodes 11 are divided into a plurality of clusters 111-11N according to areas, and one worker positioning device node 11 is selected from each cluster 11i (i is an integer, and i is greater than or equal to 1 and less than or equal to N) as a block head node 11i1 corresponding to the cluster. The block head node 11i1 is respectively coupled with the block head nodes 11j1 of other clusters 11j (j is an integer, j is not less than 1 and not more than N, j is not equal to i) and the worker positioning equipment nodes 11iM in the corresponding clusters through a Bluetooth module, and the WIFI module is adopted for coupling the cloud server 12.
The operation principle of the tunnel location system based on block chain and edge calculation in the embodiment of the present invention will be described with reference to fig. 2.
Fig. 2 is a flowchart illustrating a tunnel location method based on block chains and edge calculation according to an embodiment of the present invention. Referring to fig. 2, a tunnel positioning method based on block chain and edge calculation may specifically include the following steps:
step S201: the block head nodes adopt a preset fusion positioning algorithm to calculate and obtain positioning data of the worker positioning equipment nodes in the corresponding clusters according to a preset period, and generate corresponding blocks based on the calculated positioning data of the worker positioning equipment nodes in the corresponding clusters and send the blocks to other block head nodes for authentication through the built-in Bluetooth module.
In an embodiment of the present invention, the block head node of each cluster is used for storing the block heads of all blocks of the block chain and the block body data including the block of the positioning data generated by the node, and the latest block head node is used for storing all the blocks generated in the block chain network. When the block head nodes adopt a preset fusion positioning algorithm to calculate and obtain the positioning data of the worker positioning equipment nodes in the corresponding cluster:
firstly, the block head node acquires positioning data of three worker positioning equipment nodes which can be connected by the cloud server through the cloud server, namely the cloud server finds any three worker positioning equipment nodes with normal communication of the WIFI module in a plurality of worker positioning equipment nodes in the total interval, and the worker positioning equipment nodes communicate through the WIFI moduleDirectly acquiring the positioning data of the three worker positioning equipment nodes, wherein the three worker positioning equipment nodes are respectively marked as A (x)1,y1)、B(x2,y2)、C(x3,y3)。
And then, the block head node acquires the distances between the worker positioning equipment node to be solved and the three worker positioning equipment nodes. In an embodiment of the present invention, the three worker positioning device nodes a (x)1,y1)、 B(x2,y2)、C(x3,y3) Respectively through a Bluetooth module and a positioning device node D (x) of a worker to be asked4,y4) Connecting, and determining a node D (x) of the positioning equipment of the worker to be solved through the signal intensity of the Bluetooth module4,y4) To three worker positioning device nodes A (x), respectively1,y1)、B(x2,y2)、C(x3,y3) Has an Euclidean distance r between1、r2、r3. The coverage area of the Bluetooth signal is a circular area with the positions of three worker positioning equipment nodes where the Bluetooth signal is located as the circle center.
Thereafter, the device node D (x) is located based on the worker to be sought4,y4) To three worker positioning device nodes A (x), respectively1,y1)、B(x2,y2)、C(x3,y3) Has an Euclidean distance r between1、r2、r3Establishing a three-point simultaneous formula:
solving the three-point simultaneous formula to obtain D (x) under three-point positioning4,y4)：
In one embodiment of the present invention, an edge calculation idea is introduced, and when a block head node receives a block, all previous block types are determinedUpdating parameters of the bit data and performing recalculation, namely introducing a centroid algorithm, and taking the mean value of the positioning data of the current nth block and the positioning data of the to-be-solved worker positioning equipment node in the previous (n-1) blocks as the positioning data D (x) of the to-be-solved worker positioning equipment node in the nth block4,y4). Specifically, firstly, based on the calculated positioning data, the positioning matrix of the positioning equipment node of the worker to be solved is updated, and the corresponding positioning matrix is obtained
Then, based on the updated positioning matrix of the to-be-solved worker positioning device node, calculating by adopting the following formula to obtain the final positioning data of the to-be-solved worker positioning device node:
in an embodiment of the present invention, in order to prevent the calculation of the block head node from exceeding the load, the maximum number of calculations of the block head node, that is, the number threshold may be set to k times. In other words, when the block is the nth block and n is less than the preset number threshold, the updated positioning matrix of the to-be-sought worker positioning device node is:
wherein the content of the first and second substances,
representing the positioning data of the node of the positioning device of the worker to be solved in the ith block, i is 1,2,3. When the n is the nth block and n is greater than or equal to a preset time threshold, the positioning matrix of the to-be-solved worker positioning equipment node is as follows:
through the mode, the block head node of each cluster can obtain the positioning data of each worker positioning equipment node in the corresponding area. When the positioning data of each worker positioning device node in the corresponding area is obtained, the block head node may perform a hash operation to attempt to generate a block according to the positioning data of each worker positioning device node in the area and the block head data of the previous block.
When one block is successfully generated, the block head node sends the generated block to other block head nodes in the block chain network through the Bluetooth module for authentication, so that the validity of the generated block is confirmed and added to the block chain after the block head node passes the authentication.
Step S202: and other block head nodes receive the blocks sent by the block head nodes through Bluetooth modules, authenticate the blocks sent by the block head nodes and send corresponding authentication information to the block head nodes.
In a specific implementation, when receiving the block data sent by the block head node, the other block head nodes authenticate the received block, such as voting, through their own built-in bluetooth modules, and return their authentication information to the block head node through their own built-in bluetooth modules.
Step S203: and the block head node receives the authentication information sent by the other block head nodes through a Bluetooth module, and stores the block in a block chain when the other block head nodes are determined to successfully authenticate the block.
In a specific implementation, when receiving the authentication information sent by the other block head node, the block head node confirms whether the block generated by itself is valid through the authentication information sent by the other block head node. When it is determined that the generated block is valid, i.e., a block is successfully generated, the block head node and the other block head nodes add the block to the block chain.
Step S204: and the block head node and the other block head nodes respectively try to adopt a built-in WIFI module to connect with a preset cloud server.
In specific implementation, when the generated block is added to the block chain, all block head nodes including the block head node and the other block head nodes respectively try to connect with a preset cloud server by using respective built-in WIFI modules, so as to send the location data of the worker equipment location node in the newly updated block to the cloud server, and then the location data is transmitted out of the tunnel.
Step S205: and the block head node which is successfully connected with the cloud server sends the block to a preset cloud server by adopting a built-in WIFI module.
In specific implementation, the first block head node in all the block head nodes, which is successfully connected with the cloud server through the WIFI module, sends the generated block to the cloud server, so as to update the positioning data of the worker equipment positioning node stored in the cloud server.
Step S206: and the cloud server receives the block by adopting a built-in WIFI module and updates the positioning data of the worker positioning equipment nodes in the corresponding cluster by adopting the positioning data on the block.
In a specific implementation, a first block head node successfully connected to a cloud server through a WIFI module sends the block to the cloud server, that is, worker position information is propagated to the outside of the tunnel. And when the cloud server receives the block sent by the first successfully-connected block head node, acquiring the positioning data of all the worker positioning equipment nodes from the block, and updating the positioning data of all the worker positioning equipment nodes stored in the cloud server by adopting the acquired positioning data of all the worker positioning equipment nodes acquired from the block.
In the block chain, a first block head node which is successfully connected with the cloud server through the WIFI module in a first period can send the block to the cloud server for authentication, so that after the block passes the authentication, the validity of the generated block is confirmed and the block is added to the block chain to serve as the block head.
The invention discloses a positioning system, which effectively overcomes complex environmental problems such as network problems and power supply problems in tunnels, can monitor the position information of all constructors in real time and provides guarantee for the safety of workers; the method carries out network information transmission by combining block chains and edge calculation, is different from the traditional base station positioning, effectively combines the interference factors of tunnel environment, and raises the safety guarantee of each worker to the highest; the worker positioning equipment related by the invention is convenient to carry, does not need large-area power supply and base station connection, is convenient to popularize and has stronger robustness; the positioning algorithm applied by the invention is a fusion positioning algorithm, and the positioning result is iterated for multiple times based on the edge calculation idea, so that the positioning accuracy is effectively improved.
The performance of the tunnel positioning method and system based on block chain and edge calculation in the embodiment of the present invention will be verified through data of simulation experiments. The hardware environment of the simulation experiment is Ubuntu16.04, a 64-bit operating system, the training platform is digital science special software Matlab, the size of a simulation matrix is set to be 500x300 pixel points, the number of worker positioning equipment nodes is set to be 250, the worker positioning equipment nodes are randomly placed in the simulation matrix, the positions of the worker positioning equipment nodes in the simulation matrix are set to be 1, and otherwise, the positions of the worker positioning equipment nodes are set to be 0. The traditional positioning algorithm (algorithm 1), the block chain positioning algorithm (algorithm 2), the block chain + edge calculation positioning algorithm (algorithm 3), the block chain + edge calculation + fusion positioning algorithm (algorithm 4) are respectively used for testing and verifying the effectiveness and the realizability of the system.
In order to objectively evaluate the precision of a classifier training model, the invention adopts the accuracy Acc to measure the performance of a positioning system model, and the calculation formula is as follows:
wherein, TP represents true 0 and prediction is 0; FN indicates true 0 and predicted 1; FP means true 1 and predicted 0; TN means true 0 and predicted 0.
As can be seen from fig. 3, the tunnel positioning method and system (algorithm 4) provided by the present invention obtain 92.7% of performance in terms of accuracy, and the accuracy is respectively improved by 4.2%, 10.5%, and 35.2% compared with other algorithms, i.e., algorithm 1, algorithm 2, and algorithm 3. When the nodes (20) are disconnected in a small number, the performance of the traditional positioning algorithm (algorithm 1) is subjected to avalanche reduction, Acc is sharply reduced from 58.6% to 32.7%, and the tunnel positioning system (algorithm 4) provided by the invention is only reduced by 2.0%. When only a few nodes (50) work, the accuracy of other comparison algorithms (algorithm 1, algorithm 2 and algorithm 3) is below 60%, and the accuracy of the tunnel positioning system provided by the invention is still maintained at 86.5%.
Therefore, as can be seen from simulation experiment results, the tunnel positioning system provided by the invention has stronger positioning accuracy and robustness in case of emergency, and the positioning effect is greatly improved compared with a comparison algorithm.
The invention discloses a tunnel positioning method and system based on block chain and edge calculation, which comprises the steps of selecting worker positioning equipment with normal communication of a WIFI module in a specified range as a block head of the range, and acquiring node data uploaded by all block bodies in the range within a preset time period through a Bluetooth module; carrying out positioning algorithm fusion on the node data to obtain node position data; performing hash operation according to the node position data and the block head data of the previous block to try to generate a block; when a block is successfully generated, the block is sent to other nodes in the blockchain network for authentication, so that after the block is authenticated, the validity of the generated block is confirmed and added to the blockchain. The scheme can effectively overcome the complex environmental problems such as network problem and power supply problem in the tunnel, can monitor the position information of all constructors in real time, and provides guarantee for the safety of workers; the method carries out network information transmission by combining block chains and edge calculation, is different from the traditional base station positioning, effectively combines the interference factors of tunnel environment, and raises the safety guarantee of each worker to the highest; the worker positioning equipment related by the invention is convenient to carry, does not need large-area power supply and base station connection, is convenient to popularize and has stronger robustness; the positioning algorithm applied by the invention is a fusion positioning algorithm, and the positioning result is iterated for multiple times based on the edge calculation idea, so that the positioning accuracy is effectively improved.
The embodiment of the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the method performs any one of the steps of the tunnel location method based on block chain and edge calculation.
The embodiment of the present invention further provides a terminal, which includes a memory and a processor, where the memory stores a computer instruction capable of running on the processor, and the processor executes the steps of any one of the above tunnel location methods based on the block chain and the edge calculation when running the computer instruction.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.
Claims (9)
1. A tunnel positioning method based on block chain and edge calculation is characterized by comprising the following steps:
the method comprises the following steps that block head nodes in each cluster in a block chain are calculated according to a preset period by adopting a preset fusion positioning algorithm to obtain positioning data of worker positioning equipment nodes in the corresponding cluster, and the method specifically comprises the following steps: the block head node acquires positioning data of three worker positioning equipment nodes which can be connected by the cloud server from the cloud server through a WIFI module; respectively acquiring distances between the to-be-solved worker positioning equipment node and the three worker positioning equipment nodes from the three worker positioning equipment nodes through a Bluetooth module; calculating the positioning data of the positioning equipment nodes of the workers to be solved based on the positioning data of the three positioning equipment nodes of the workers and the distances between the positioning equipment nodes of the workers to be solved and the three positioning equipment nodes of the workers to be solved; updating a positioning matrix of the positioning equipment node of the worker to be solved based on the calculated positioning data; calculating to obtain the final positioning data of the positioning equipment nodes of the workers to be solved based on the updated positioning matrix of the positioning equipment nodes of the workers to be solved; generating a corresponding block based on the calculated positioning data of the worker positioning equipment nodes in the corresponding cluster, and sending the block to other block head nodes for authentication through a built-in Bluetooth module;
other block head nodes receive the blocks sent by the block head nodes through a Bluetooth module, authenticate the blocks sent by the block head nodes and send corresponding authentication information to the block head nodes;
the block head node receives authentication information sent by other block head nodes through a Bluetooth module, and stores the block in a block chain when the block is successfully authenticated by other block head nodes; the block head node and the other block head nodes respectively try to adopt a built-in WIFI module to connect with a preset cloud server;
the block head node which is successfully connected with the cloud server sends the block to a preset cloud server by adopting a built-in WIFI module;
and the cloud server receives the block by adopting a built-in WIFI module and updates the positioning data of the worker positioning equipment nodes in the corresponding cluster by adopting the positioning data on the block.
2. The method according to claim 1, wherein when the block is an nth block and n is less than a preset number threshold, the updated positioning matrix of the node of the worker positioning device to be obtained is:
wherein the content of the first and second substances,
and the positioning data of the node of the to-be-sought worker positioning device in the ith block is represented, i is 1,2 and 3.
3. The blockchain and edge based meter of claim 2The calculated tunnel positioning method is characterized in that when the block is the nth block and n is greater than or equal to a preset time threshold, the positioning matrix of the to-be-solved worker positioning equipment node is as follows:
wherein k represents the number threshold.
4. The method according to claim 3, wherein the final positioning data of the node of the worker positioning device to be obtained is calculated by using the following formula:
wherein (x)4,y4) Representing final location data for the desired worker location device node in the nth block.
5. The method according to any one of claims 2 to 4, wherein the positioning data of the three worker positioning device nodes are acquired by the cloud server from the three worker positioning device nodes through WIFI modules respectively.
6. The method for positioning a tunnel according to claim 5, wherein the obtaining distances between the worker positioning device node to be obtained and the three worker positioning device nodes comprises:
and determining the distances between the to-be-solved worker positioning equipment node and the three worker positioning equipment nodes according to the strength of the Bluetooth signals between the to-be-solved worker positioning equipment node and the three worker positioning equipment nodes.
7. The method according to claim 6, wherein the coverage area of the Bluetooth signal is a circular area with the positions of three worker positioning device nodes where the Bluetooth signal is located as the center of a circle.
8. A computer readable storage medium having stored thereon computer instructions, wherein the computer instructions when executed perform the steps of the block chain and edge calculation based tunnel location method according to any one of claims 1 to 7.
9. A terminal comprising a memory and a processor, the memory having stored thereon computer instructions capable of being executed on the processor, the processor when executing the computer instructions performing the steps of the block chain and edge calculation based tunnel location method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485226.8A CN110290458B (en) | 2019-06-05 | 2019-06-05 | Tunnel positioning method based on block chain and edge calculation, storage medium and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910485226.8A CN110290458B (en) | 2019-06-05 | 2019-06-05 | Tunnel positioning method based on block chain and edge calculation, storage medium and terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110290458A CN110290458A (en) | 2019-09-27 |
| CN110290458B true CN110290458B (en) | 2020-11-03 |
Family
ID=68003419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910485226.8A Active CN110290458B (en) | 2019-06-05 | 2019-06-05 | Tunnel positioning method based on block chain and edge calculation, storage medium and terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110290458B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112492513B (en) * | 2020-10-31 | 2023-03-24 | 上海墨珩网络科技有限公司 | Credible information positioning method and device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107094288B (en) * | 2017-04-24 | 2019-11-05 | 兰州交通大学 | Train locating method based on clustering wireless sensor network network under major long tunnel environment |
| CN107172586B (en) * | 2017-05-19 | 2020-05-12 | 北京航空航天大学 | Mobile terminal network positioning method based on block chain |
| US10872089B2 (en) * | 2017-10-24 | 2020-12-22 | United Parcel Service Of America, Inc. | Automated occupant tracking systems and methods |
-
2019
- 2019-06-05 CN CN201910485226.8A patent/CN110290458B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110290458A (en) | 2019-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110290470B (en) | Tunnel positioning system based on block chain and edge calculation | |
| JP7207633B2 (en) | Progressive Global Positioning System and Progressive Global Positioning Method | |
| CN103841641B (en) | Wireless sensor network distributed collaborative positioning method based on arrival angle and Gossip algorithm | |
| WO2015118819A1 (en) | Navigation-message-authenticating positioning device | |
| EP3624497A1 (en) | Positioning offset correction method and apparatus | |
| CN110719570A (en) | Transmission method and communication device for map sensitive information | |
| CN103760583A (en) | Navigation terminal locating method | |
| CN110290458B (en) | Tunnel positioning method based on block chain and edge calculation, storage medium and terminal | |
| CN107968987A (en) | RSSI weighted mass center localization methods based on definite integral combining environmental parameter | |
| US11140652B2 (en) | Data processing method and apparatus | |
| CN110555256B (en) | GPS route simulation data generation method and device | |
| CN111144776A (en) | Construction safety supervisory systems based on BIM model | |
| CN108510357A (en) | Improved shared bicycle smart lock framework control method and device | |
| CN113792642B (en) | River and lake ecological management data processing method and system based on intelligent technology | |
| KR100953435B1 (en) | Positioning method with combination of AoA and ToA using two base station | |
| CN105992337A (en) | Pseudo base station positioning method and apparatus | |
| CN113326204A (en) | Transformer substation system testing method and device, terminal equipment and storage medium | |
| CN108632749A (en) | Indoor orientation method and device | |
| CN112995893A (en) | Fingerprint positioning method, system, server and storage medium | |
| Ihsan et al. | Artificial intelligence and location verification in vehicular networks | |
| Punithan et al. | King's graph-based neighbor-vehicle mapping framework | |
| CN111465010B (en) | Method for protecting vehicle position privacy in cooperative driving | |
| Kotwal et al. | Development of range free three dimensional localisation in wireless sensor networks | |
| CN110927758B (en) | Automatic vehicle key retrieving method and system | |
| CN110646762B (en) | System, method and computer readable storage medium for monitoring position of person in tunnel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 201, building 2, phase II, No.1 Kechuang Road, Yaohua street, Qixia District, Nanjing City, Jiangsu Province Applicant after: NANJING University OF POSTS AND TELECOMMUNICATIONS Address before: 210003 Gulou District, Jiangsu, Nanjing new model road, No. 66 Applicant before: NANJING University OF POSTS AND TELECOMMUNICATIONS |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |