CN110346758A - Ultra wide band positioning and alarming method for power applied to substation inspection personnel - Google Patents
Ultra wide band positioning and alarming method for power applied to substation inspection personnel Download PDFInfo
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- CN110346758A CN110346758A CN201910669378.3A CN201910669378A CN110346758A CN 110346758 A CN110346758 A CN 110346758A CN 201910669378 A CN201910669378 A CN 201910669378A CN 110346758 A CN110346758 A CN 110346758A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Abstract
The invention belongs to wireless positioning fields, and in particular to a kind of ultra wide band positioning and alarming method for power applied to substation inspection personnel.This method has degree of precision and higher robustness, its main way of realization is by carrying running fix label with patrol officer, with the fixed base stations building real time personnel positioning arranged in advance and warning system, danger zone vigilance performance is provided, when operating personnel closes on or enter danger zone, it is timely and effectively warned by system, so as to the personal safety for operating personnel, the operational safety of substation provides important leverage.While the reliability in order to guarantee whole system, it also introduces receiver-autonomous integrity algorithm and is further ensured that the reliability of system, accuracy, failure base station is identified and rejected using RAIM algorithm i.e. in the system comprising 4 or more base stations, cast out the biggish metrical information of range error simultaneously, to further improve the accuracy of positioning and the stability of system.
Description
Technical field
The invention belongs to wireless positioning fields, and in particular to a kind of ultra wide band positioning applied to substation inspection personnel with
Alarming method for power.
Background technique
With going deep into for information age, " position " information is as the indispensable essential information of a kind of people's daily life
Gradually paid close attention to, especially with the fast development of wireless communication technique, many work in people's daily life by now
It is dynamic to require to carry out under satellite positioning, airmanship, however satellite-signal can not be covered or be received in many instances
Signal it is weaker, at this moment want to obtain itself relative position to be a highly difficult thing, but many work that the mankind are current
Dynamic, work be unable to do without location information completely, this allows for more and more wireless location technologies and is able to Emergence and Development, example
Such as ultra wideband location techniques, the research of ultra wide band (Ultra Wideband, UWB) wireless communication technique develops fast in recent years
Speed, market prospects and market needs are very vigorous, especially yield unusually brilliant results in positioning field, ultra wide band positioning is with higher
Temporal resolution and stronger anti-multipath jamming ability, theoretical first-class UWB location algorithm can be such that positioning system reaches centimetre
The even higher positioning accuracy of grade, and hardware requirement is not also high, implements also very convenient, is suitble to many workplaces
Carry out the relative positioning in region.
Existing wireless location technology has based on bluetooth, WIFI, ZIGBEE, RFID, the positioning skill of UWB on the market now
Art, since UWB signal transmitting pulse is extremely short extremely narrow in these technologies, so that it in anti-interference, anti-attenuation, high-resolution resists
There is good effect in terms of multipath, while seeming extremely convenient relative to satellite navigation UWB positioning, it supports autonomous cloth station,
It does not need to receive satellite-signal, does not need high-cost synchronised clock, can be reached in hundred meters of regions with the hardware condition of low cost
The positioning accuracy of Centimeter Level, the autonomous positioning being very suitable in a certain range region.
Location algorithm based on UWB has at present based on arrival time, reaching time-difference, received signal strength, angle of arrival
Equal many algorithms.Algorithm based on arrival time uses relatively broad at present, it is in power system capacity, system reliability, and algorithm is multiple
There is biggish advantage in terms of miscellaneous degree, therefore, it has become a kind of algorithm bases that everybody generallys use.But in actual use
Due to the different use scenarios, the characteristic for positioning target needs to do some special algorithm designs, and this patent is directed to people from substation
Member carries out mobile tracking using Kalman filtering algorithm, for complicated electromagnetic environment and nlos environment influence introduce from
Main integrity algorithm, it is ensured that system is still in the case that communication failure occurs in a small amount of base station in more base stations (4 or more) system
It can work normally, provide the location information of patrol officer, and realize danger zone alarm function.
Summary of the invention
The purpose of the present invention is to provide the ultra wide band positioning for being applied to substation inspection personnel and alarming method for power.
Ultra wide band positioning and alarming method for power applied to substation inspection personnel, method includes the following steps:
Step 1: for the geographical feature in work of transformer substation region, suitable side is selected around working region to be positioned
The fixed base stations of position arrangement 4 or more；
Step 2: bilateral ranging is carried out according to UWB wireless communication technique, i.e. TWR ranging, obtain mobile tag to be positioned with
The distance between each fixed base stations information；
Step 3: the more than four groups of ranging information founding mathematical models that will be obtained melt using the least square based on TOA
It closes Taylor algorithm and carries out position resolving, obtain the specific three-dimensional coordinate information of label entrained by staff；
Step 4: mobile job specification is needed for patrol officer, using Kalman filtering carry out mobile target with
Track；
Step 5: for the complex work environment of substation, introducing RAIM algorithm, System self-test is debugged certainly；
Step 6: obtained coordinate information is radioed into control terminal, is shown by host computer interface, while
Danger zone is arranged into or out alarm in control terminal.
The detailed process of step 1 are as follows: in the location algorithm based on arrival time, 3 locating base stations is needed to obtain 3 groups of marks
Label-base station distance information establishes 3 range equations about two-dimentional unknown coordinates, calculates the two-dimensional coordinate letter of label to be measured
Breath, needs 4 base stations to calculate the three-dimensional coordinate information of label to be measured.
TWR ranging described in step 2 the following steps are included:
Step 2.1: all base stations of the label into system first issue Poll polling message, and record sending time
Stamp；
Step 2.2: all base stations for receiving label polling message, which are write down, receives information time stamp, then sends
Response message is equally write down and sends message time stamp；
Step 2.3: label records receiving time stamp after receiving Response message, and is ready for sending Final message,
Equally record the sending time stamp of Final message；
Step 2.4: last base station receives Final message, writes down receiving time stamp, to this complete TWR exchange
End cycle finally calculates the exchange time found out between each base station and label according to all timestamp founding mathematical models,
Thus each base station is calculated to the distance of label, completes the ranging information acquisition on basis；
Founding mathematical models described in step 2.4 are expressed as following formula:
Wherein, Tp1For sending time stamp, Tp2To receive information time stamp, Tr1To send Response message time stamp, Tr2
To receive Response message time stamp, Tf1It is stabbed for the sending time of Final message, Tf2To receive Final message time stamp.
The step 3 the following steps are included:
Step 3.1: the initial position estimation of label to be measured is provided, can simply set initial position co-ordinates to (0,
0,0)；
Step 3.2: the distance model application Taylor expansion of foundation being linearized, the linear matrix about distance is established
Equation；
Step 3.3: using the linear matrix equation formula in least square method solution procedure 3.2, being used to improve precision
The least square method of weighting solves positioning coordinate；
Step 3.4: with the root of Newton iteration renewal equation group, convergent effect can be reached by a small number of iteration several times
Fruit；
Step 3.5: checking the convergence of iteration, the shift value that iteration is obtained and preset iteration threshold value carry out
Compare, until coordinate precision reaches default threshold value.
When the step 4 includes: locating and tracking, the target rule of thumb moved can usually be estimated as uniform motion,
Therefore current location can be predicted by the position and speed of last moment, then this prediction result and observed result
A weighted average is done as positioning result, the size of weight depends on the degree of uncertainty of observation position and predicted position,
It can mathematically prove that, when prediction process and observation process are all linear Gausses, doing weighting according to the method for Kalman is most
Excellent；It specifically includes following four process: establishing the state equation of system；Establish the observational equation of system；To next stage
State is predicted；Kalman gain updates and state updates.
The step 5 the following steps are included:
Step 5.1: obtaining measurement data；
Step 5.2: RAIM calculation can be used if base station number is more than or equal to 4 in the number of fixed base stations in judgement system
Method, otherwise RAIM algorithm is invalid；
Step 5.3: Counting statistics amount, because system is in non-faulting and deposits in the case of a fault, normalization variable difference
Different publications is obeyed, fault detection can be carried out according to this distribution character and is rejected.
The step 6 includes: the three-dimensional coordinate information calculated by step 3, after Kalman filter tracking
More accurate coordinate information is obtained, finally by obtained coordinate information by radioing to control terminal using host computer circle
Face shows, controllers can intuitively see relative position of the patrol officer in working region, and simultaneity factor can be with
Whether the coordinate resolved according to judgement is close or enters danger zone, and the entrance of personnel, Huo Zhechao are realized with this
It alarms out.
The beneficial effects of the present invention are:
This method has degree of precision and higher robustness, and region alarm function passes through setting warning on the upper computer interface
Region is warned when the coordinate resolved is close or enters danger zone, the entrance of personnel is realized with this, or
Person is beyond alarm.While the reliability in order to guarantee whole system, also introduce receiver-autonomous integrity algorithm (Receiver
Autonomous Integrity Monitoring, RAIM) be further ensured that reliability, the accuracy of system, that is, including 4
Failure base station is identified and rejected using RAIM algorithm in the system of a above base station, while it is biggish to cast out range error
Metrical information, to further improve the accuracy of positioning and the stability of system.
Detailed description of the invention
Fig. 1 is localization method schematic diagram.
Fig. 2 is localization method flow chart.
Fig. 3 is host computer display schematic diagram.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
1. in some remote location areas, in the substation that satellite-signal can not normally receive, inspection staff
It can not usually be positioned using satellite-signal, commanding can not also learn that the patrol officer position just in working region is believed
Breath, can not carry out remote command, or even be difficult the danger for preventing staff from accidentally entering dangerous or inoperative permission region
Situation.Thus the invention proposes a kind of ultra wide band positioning and police applied to substation inspection personnel to solve the above-mentioned problems
Show method, the method steps are as follows:
(a) it is directed to the geographical feature in work of transformer substation region, suitable orientation is selected around working region to be positioned
The fixed base stations of arrangement 4 or more, the arrangement of base station should follow far from metal object, avoid blocking transmitting antenna, base station is kept away
Exempt from principles such as the same height, in favor of reducing interference.
(b) using UWB wireless communication technique carry out TWR (bilateral ranging) ranging, obtain mobile tag to be positioned with it is each
The distance between fixed base stations information；
(c) the more than four groups of ranging information founding mathematical models that will be obtained merge safe using the least square based on TOA
It strangles algorithm and carries out position resolving, obtain the specific three-dimensional coordinate information of label entrained by staff；
(d) it is directed to the job specification (needing to move) of patrol officer, the tracking of mobile target is carried out using Kalman filtering,
And then improve the real-time accuracy of system；
(e) be directed to the complex work environment of substation, introduce RAIM algorithm, failure base station in timely discovery system or
Label accomplishes that System self-test from debugging, greatly improves system robustness；
(f) obtained coordinate information is finally radioed into control terminal, and then is shown by host computer interface, controlled
Personnel processed can intuitively see relative position of the patrol officer in working region, and then facilitate remote command, while may be used also
Danger zone is arranged into or out alarm, convenient for carrying out safety precaution in control terminal.
2. step (a) is as follows about the specific explanations at system base-station cloth station and positioning requirements:
In the location algorithm based on arrival time, 3 locating base stations is at least needed to obtain 3 groups of labels-base station distance letter
Breath can just calculate the two-dimensional coordinate information of label to be measured, similarly to establish 3 range equations about two-dimentional unknown coordinates
The three-dimensional coordinate information of label to be measured can be calculated by least needing 4 base stations.
3. detailed process is as follows for the TWR ranging of step (b), by taking the ranging between the base station label 1- 1 as an example, other modules it
Between survey according to similarly:
(b1) label first is to base station sending Poll polling message, and records sending time stamp Tp1；
(b2) base station for receiving label polling message, which is write down, receives information time stamp Tp2, then send Response and disappear
Breath is equally write down and sends message time stamp Tr1；
(b3) label records receiving time stamp T after receiving Response messager2, and it is ready for sending Final message, together
Sample records the sending time stamp T of Final messagef1；
(b4) last base station receives Final message, writes down receiving time stamp Tf2, to this complete TWR exchange week
Phase terminates, and the exchange time found out between each base station and label is finally calculated according to all timestamp founding mathematical models, by
This calculates each base station to the distance of label, and the ranging information for completing basis obtains, and specific communication process is shown in attached drawing.It was calculated
Journey are as follows:
4. least square fusion Taylor algorithm of step (c) application based on TOA carries out position resolving, staff institute is obtained
Detailed process is as follows for the specific three-dimensional coordinate information of carrying label:
(c1) initial position estimation of label to be measured is provided, simply can set (0,0,0) for initial position co-ordinates；
(c2) by the distance model of foundationIgnore two using Taylor expansion
The above component of rank is in (x0,y0) at linearized to obtain following equation:
Thus the linear matrix equation formula B=A Δ about distance is established, wherein
(c3) the linear matrix equation formula in (c2) is solved using least square method, uses weighting most to improve precision
Small square law solves positioning coordinate；
(c4) root for using Newton iteration renewal equation group can reach convergent effect by a small number of iteration several times；
(c5) convergence of iteration is checked, the shift value that iteration is obtained compares with preset iteration threshold value
Compared with until coordinate precision reaches default threshold value；
5. step (d) carries out the tracking of mobile target using Kalman filtering, and then improves the tool of the real-time accuracy of system
Body process is as follows:
When locating and tracking, the target rule of thumb moved can usually be estimated as uniform motion, therefore can pass through upper one
The position and speed at moment predicts current location, this prediction result and observed result are then done a weighted average and made
For positioning result, the size of weight depends on the degree of uncertainty of observation position and predicted position, can mathematically prove
When prediction process and observation process are all linear Gausses, it is optimal for doing weighting according to the method for Kalman.It specifically includes down
Face Four processes: the state equation of system is established；Establish the observational equation of system；The state of next stage is predicted；Card
Germania gain update and state update.
6. step (e) introduces RAIM algorithm, failure base station or label in timely discovery system accomplish System self-test certainly
Detailed process is as follows for debugging:
(e1) measurement data is obtained；
(e2) RAIM algorithm can be used if base station number is more than or equal to 4 in the number of fixed base stations in judgement system,
Otherwise RAIM algorithm is invalid；
(e3) Counting statistics amount, because system is in non-faulting and deposits in the case of a fault, normalization variable is obeyed respectively
Different publications can carry out fault detection according to this distribution character and reject.
7. step (f) controllers intuitively see relative position of the patrol officer in working region, control terminal setting
Into or out alarm, detailed process is as follows for danger zone:
The three-dimensional coordinate information calculated by c obtains more accurate coordinate information after Kalman filter tracking,
Finally obtained coordinate information is shown by radioing to control terminal using host computer interface, controllers can be with
Intuitively see relative position of the patrol officer in working region, simultaneity factor can be according to the coordinate that judgement resolves
It is no close or enter danger zone, the entrance of personnel is realized with this, or beyond alarm.
A kind of ultra wide band positioning and alarming method for power applied to substation inspection personnel, comprising the following steps:
(a) it is directed to the geographical feature in work of transformer substation region, suitable orientation is selected around working region to be positioned
The fixed base stations of arrangement 4 or more, the arrangement of base station should follow far from metal object, avoid blocking transmitting antenna, base station is kept away
Exempt from principles such as the same height, in favor of reducing interference.
(b) using UWB wireless communication technique carry out TWR (bilateral ranging) ranging, obtain mobile tag to be positioned with it is each
The distance between fixed base stations information；
(c) the more than four groups of ranging information founding mathematical models that will be obtained merge safe using the least square based on TOA
It strangles algorithm and carries out position resolving, obtain the specific three-dimensional coordinate information of label entrained by staff；
(d) it is directed to the job specification (needing to move) of patrol officer, the tracking of mobile target is carried out using Kalman filtering,
And then improve the real-time accuracy of system；
(e) be directed to the complex work environment of substation, introduce RAIM algorithm, failure base station in timely discovery system or
Label accomplishes that System self-test from debugging, greatly improves system robustness；
(f) obtained coordinate information is finally radioed into control terminal, and then is shown by host computer interface, controlled
Personnel processed can intuitively see relative position of the patrol officer in working region, and then facilitate remote command, while may be used also
Danger zone is arranged into or out alarm, convenient for carrying out safety precaution in control terminal.
Detailed process is as follows for step (a):
In the location algorithm based on arrival time, 3 locating base stations is at least needed to obtain 3 groups of labels-base station distance letter
Breath can just calculate the two-dimensional coordinate information of label to be measured, similarly to establish 3 range equations about two-dimentional unknown coordinates
The three-dimensional coordinate information of label to be measured can be calculated by least needing 4 base stations.
Detailed process is as follows for the TWR ranging of step (b), by taking the ranging between label-base station as an example, between base station and base station
Survey according to similarly:
(b1) all base stations of the label into system first issue Poll polling message, and record sending time stamp；
(b2) all base stations for receiving label polling message, which are write down, receives information time stamp, then sends Response and disappears
Breath is equally write down and sends message time stamp；
(b3) label records receiving time stamp after receiving Response message, and is ready for sending Final message, equally
Record the sending time stamp of Final message；
(b4) last base station receives Final message, writes down receiving time stamp, arrives this complete TWR ac cycle
Terminate, the exchange time found out between each base station and label is finally calculated according to all timestamp founding mathematical models, thus
Each base station is calculated to the distance of label, completes the ranging information acquisition on basis, specific communication process is shown in attached drawing.
Detailed process is as follows for step (c):
(c1) initial position estimation of label to be measured is provided, simply can set (0,0,0) for initial position co-ordinates；
(c2) by the distance model of foundationLine is carried out using Taylor expansion
Property, establish the linear matrix equation formula about distance；
(c3) the linear matrix equation formula in (c2) is solved using least square method, uses weighting most to improve precision
Small square law solves positioning coordinate；
(c4) root for using Newton iteration renewal equation group can reach convergent effect by a small number of iteration several times；
(c5) convergence of iteration is checked, the shift value that iteration is obtained compares with preset iteration threshold value
Compared with until coordinate precision reaches default threshold value；
Detailed process is as follows for step (d):
When locating and tracking, the target rule of thumb moved can usually be estimated as uniform motion, therefore can pass through upper one
The position and speed at moment predicts current location, this prediction result and observed result are then done a weighted average and made
For positioning result, the size of weight depends on the degree of uncertainty of observation position and predicted position, can mathematically prove
When prediction process and observation process are all linear Gausses, it is optimal for doing weighting according to the method for Kalman.It specifically includes down
Face Four processes: the state equation of system is established；Establish the observational equation of system；The state of next stage is predicted；Card
Germania gain update and state update.
Detailed process is as follows for step (e):
(e1) measurement data is obtained；
(e2) RAIM algorithm can be used if base station number is more than or equal to 4 in the number of fixed base stations in judgement system,
Otherwise RAIM algorithm is invalid；
(e3) Counting statistics amount, because system is in non-faulting and deposits in the case of a fault, normalization variable is obeyed respectively
Different publications can carry out fault detection according to this distribution character and reject.
Detailed process is as follows for step (f):
The three-dimensional coordinate information calculated by c obtains more accurate coordinate information after Kalman filter tracking,
Finally obtained coordinate information is shown by radioing to control terminal using host computer interface, controllers can be with
Intuitively see relative position of the patrol officer in working region, simultaneity factor can be according to the coordinate that judgement resolves
It is no close or enter danger zone, the entrance of personnel is realized with this, or beyond alarm.
The present invention discloses a kind of ultra wide band positioning applied to substation inspection personnel and alarming method for power, is mainly used for power transformation
Personnel positioning of the patrol officer in inspection working region of standing and dangerous warning.This method has degree of precision and stronger robust
Property, main way of realization is by carrying running fix label with patrol officer, with the fixed base stations structure arranged in advance
Real time personnel positioning and warning system are built, danger zone vigilance performance is provided, when operating personnel closes on or enters danger zone,
It is timely and effectively warned by system, so as to the personal safety for operating personnel, the operational safety of substation provides important
It ensures.
The realization of personnel positioning is mainly by time-based ranging, in addition least-squares algorithm resolves location information,
The specific steps are flight time of the measurement ultra-broadband signal between mobile tag and fixed base stations, the calculating flight time is multiplied by letter
Number propagate speed (light velocity) obtain distance between the two, finally by algorithm resolve label position.Region alarm function
By the way that warning region is arranged on the upper computer interface, warned when the coordinate resolved is close or enters danger zone
Show, the entrance of personnel is realized with this, or beyond alarm.While the reliability in order to guarantee whole system, it also introduces and receives
Machine autonomous integrity algorithm (Receiver Autonomous Integrity Monitoring, RAIM) is further ensured that system
Reliability, accuracy, i.e., failure base station is identified and is picked using RAIM algorithm in the system comprising 4 or more base stations
It removes, while casting out the biggish metrical information of range error, to further improve the accuracy of positioning and the stability of system.
Claims (7)
1. being applied to ultra wide band positioning and the alarming method for power of substation inspection personnel, which is characterized in that this method includes following step
It is rapid:
Step 1: for the geographical feature in work of transformer substation region, selecting orientation to arrange 4 around working region to be positioned
Or more fixed base stations；
Step 2: bilateral ranging is carried out according to UWB wireless communication technique, i.e. TWR ranging, obtain mobile tag to be positioned with it is each
The distance between fixed base stations information；
Step 3: the more than four groups of ranging information founding mathematical models that will be obtained merge safe using the least square based on TOA
Le method carries out position resolving, obtains the specific three-dimensional coordinate information of label entrained by staff；
Step 4: needing mobile job specification for patrol officer, the tracking of mobile target is carried out using Kalman filtering；
Step 5: for the complex work environment of substation, introducing RAIM method, System self-test is debugged certainly；
Step 6: obtained coordinate information being radioed into control terminal, is shown by host computer interface, while being controlled
End setting danger zone enters, beyond alarm.
2. the ultra wide band positioning and alarming method for power, feature according to claim 1 applied to substation inspection personnel exists
In, the step 1 include: in the localization method based on arrival time, need 3 locating base stations obtain 3 groups of label-base stations away from
3 range equations about two-dimentional unknown coordinates are established from information, are calculated the two-dimensional coordinate information of label to be measured, are needed 4
A base station calculates the three-dimensional coordinate information of label to be measured.
3. the ultra wide band positioning and alarming method for power, feature according to claim 1 applied to substation inspection personnel exists
In: TWR ranging described in step 2 the following steps are included:
Step 2.1: all base stations of the label into system first issue Poll polling message, and record sending time stamp；
Step 2.2: all base stations for receiving label polling message, which are write down, receives information time stamp, then sends Response and disappears
Breath is write down and sends message time stamp；
Step 2.3: label records receiving time stamp after receiving Response message, and is ready for sending Final message, records
The sending time of lower Final message is stabbed；
Step 2.4: last base station receives Final message, writes down receiving time stamp, obtains a complete TWR ac cycle,
The exchange time found out between each base station and label is finally calculated according to all timestamp founding mathematical models, is thus calculated each
To the distance of label, the ranging information for completing basis is obtained for a base station；
Founding mathematical models described in step 2.4 are expressed as following formula:
Wherein, Tp1For sending time stamp, Tp2To receive information time stamp, Tr1To send Response message time stamp, Tr2To receive
It is stabbed to Response message time, Tf1It is stabbed for the sending time of Final message, Tf2To receive Final message time stamp.
4. the ultra wide band positioning and alarming method for power, feature according to claim 1 applied to substation inspection personnel exists
In: the step 3 the following steps are included:
Step 3.1: providing the initial position estimation of label to be measured, set (0,0,0) for initial position co-ordinates；
Step 3.2: the distance model application Taylor expansion of foundation being linearized, the linear matrix equation about distance is established
Formula；
Step 3.3: using the linear matrix equation formula in least square method solution procedure 3.2, in order to improve precision using weighting
Least square method solve positioning coordinate；
Step 3.4: with the root of Newton iteration renewal equation group, reaching convergent effect by a small number of iteration several times；
Step 3.5: checking the convergence of iteration, the shift value that iteration is obtained compares with preset iteration threshold value
Compared with until coordinate precision reaches default threshold value.
5. the ultra wide band positioning and alarming method for power, feature according to claim 1 applied to substation inspection personnel exists
In: when the step 4 includes: locating and tracking, the target state estimator rule of thumb moved is uniform motion, passes through last moment
Position and speed predicts current location, this prediction result and observed result are then done a weighted average as positioning
As a result, the size of weight depends on the degree of uncertainty of observation position and predicted position, weighted according to the method for Kalman；
It specifically includes following four process: establishing the state equation of system；Establish the observational equation of system；To the state of next stage into
Row prediction；Kalman gain updates and state updates.
6. the ultra wide band positioning and alarming method for power, feature according to claim 1 applied to substation inspection personnel exists
In: the step 5 the following steps are included:
Step 5.1: obtaining measurement data；
Step 5.2: the number of fixed base stations in judgement system uses RAIM method, otherwise if base station number is more than or equal to 4
RAIM method is invalid；
Step 5.3: Counting statistics amount, because system is in non-faulting and deposits in the case of a fault, normalization variable is obeyed respectively
Different publications carries out fault detection according to this distribution character and rejects.
7. the ultra wide band positioning and alarming method for power, feature according to claim 1 applied to substation inspection personnel exists
In: the step 6 includes: the three-dimensional coordinate information calculated by step 3, is obtained more after Kalman filter tracking
For accurate coordinate information, finally obtained coordinate information is shown by radioing to control terminal using host computer interface
Out, controllers see corresponding position of the patrol officer in working region, the seat that simultaneity factor is resolved according to judgement
Whether mark is close, enters danger zone.
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| CN111505570A (en) * | 2020-04-23 | 2020-08-07 | 四川星网云联科技有限公司 | Ultra-wideband two-dimensional positioning method based on linear search |
| CN112099485A (en) * | 2020-08-03 | 2020-12-18 | 深圳市优必选科技股份有限公司 | Danger area avoiding method and device, computer readable storage medium and robot |
| CN112558111A (en) * | 2020-11-27 | 2021-03-26 | 广东电网有限责任公司肇庆供电局 | Unmanned aerial vehicle positioning method and device |
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| CN111142098A (en) * | 2019-12-24 | 2020-05-12 | 江苏云巅电子科技有限公司 | Dynamic three-dimensional speed measurement system and method based on UWB technology |
| CN113466786A (en) * | 2020-03-31 | 2021-10-01 | 阿里巴巴集团控股有限公司 | Positioning method, device and system |
| CN111505570A (en) * | 2020-04-23 | 2020-08-07 | 四川星网云联科技有限公司 | Ultra-wideband two-dimensional positioning method based on linear search |
| CN112099485A (en) * | 2020-08-03 | 2020-12-18 | 深圳市优必选科技股份有限公司 | Danger area avoiding method and device, computer readable storage medium and robot |
| CN112558111A (en) * | 2020-11-27 | 2021-03-26 | 广东电网有限责任公司肇庆供电局 | Unmanned aerial vehicle positioning method and device |
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| CN113099463A (en) * | 2021-03-28 | 2021-07-09 | 国网浙江省电力有限公司经济技术研究院 | UWB base station layout analysis system and method based on BIM and progress plan |
| CN113099463B (en) * | 2021-03-28 | 2022-07-12 | 国网浙江省电力有限公司经济技术研究院 | UWB base station layout analysis system and method based on BIM and progress plan |
| CN113152985B (en) * | 2021-04-29 | 2022-09-09 | 南京邮电大学 | Ultra-wideband virtual electronic fence monitoring method for substation reconstruction and extension construction |
| CN113152985A (en) * | 2021-04-29 | 2021-07-23 | 南京邮电大学 | Ultra-wideband virtual electronic fence monitoring method for substation reconstruction and extension construction |
| CN113446061A (en) * | 2021-07-14 | 2021-09-28 | 上海六梓科技有限公司 | High-precision personnel positioning method |
| CN113359506A (en) * | 2021-07-29 | 2021-09-07 | Oppo广东移动通信有限公司 | Control system, method and device of household equipment and wireless communication module |
| CN113359506B (en) * | 2021-07-29 | 2023-12-26 | Oppo广东移动通信有限公司 | Control system, method and device of household equipment and wireless communication module |
| CN114827897A (en) * | 2022-06-22 | 2022-07-29 | 杭州优智联科技有限公司 | UWB-based positioning scheduling method, device, system and medium for multiple base stations and multiple labels |
| CN115273542A (en) * | 2022-06-27 | 2022-11-01 | 浪潮通信技术有限公司 | Port vehicle anti-collision system and method |
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