CN110913332A - Regional positioning system and method - Google Patents
Regional positioning system and method Download PDFInfo
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- CN110913332A CN110913332A CN201911145983.7A CN201911145983A CN110913332A CN 110913332 A CN110913332 A CN 110913332A CN 201911145983 A CN201911145983 A CN 201911145983A CN 110913332 A CN110913332 A CN 110913332A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0011—Control or signalling for completing the hand-off for data sessions of end-to-end connection
- H04W36/0027—Control or signalling for completing the hand-off for data sessions of end-to-end connection for a plurality of data sessions of end-to-end connections, e.g. multi-call or multi-bearer end-to-end data connections
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
Abstract
The invention discloses a regional positioning system and a method, and the method comprises the following steps: determining an original position of a moving target based on an inertial navigation technology; accessing a positioning base station based on a radio frequency mode, and outputting login information; and determining the position of the corresponding positioning base station according to the login information so as to correct the original position to obtain the final position. The system is used for executing the method. The embodiment of the invention determines the position of the moving target through the inertial navigation technology, has low requirement on the field and can improve the adaptability; accessing the positioning base station in a video mode to match the physical position relation between the moving target and the determined place, and correcting the relation between the positioning base station and the position of the moving target to obtain an accurate position.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a regional positioning system and a regional positioning method.
Background
In the field of petroleum and petrochemical industry and other refining industries, the safety management of personnel is very important. The first item of security management is to know where the worker is currently located in the factory floor.
The positioning modes of conventional products in the market at present mainly comprise GPS/Beidou positioning, WiFi positioning, UWB positioning, RFID and the like. However, since the refinery area has many high-rise metal buildings, such as ethylene refinery towers, the whole tower is metal, which shields the GPS signal and generates serious reflection influence, resulting in a great positioning error of the GPS/beidou in such an area. Many routes and power supplies need to be arranged for WiFi positioning/UWB positioning, and the refinery area strictly prohibits random wire drawing to prevent explosion. The communication distance of the RFID is limited, large area positioning is difficult to realize, and if the label is used as a positioning base station calibrated in real time, the power consumption is large due to long-term and real-time work; in order to meet the requirement of long-time work, a battery is required to be arranged in the oil tank, and the larger the battery is, the greater the explosion risk is, so that the oil tank is not suitable for being placed in an oil tank storage area; in addition, the size of the label base station is large, punching construction is needed, and random punching and other constructions are not allowed in a refinery area.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an area positioning method which can meet the positioning requirement under the complex safety environment.
The invention also provides an area positioning system.
In a first aspect, an embodiment of the present invention provides an intra-area positioning system, including: the system comprises a mobile positioning end, a positioning base station, a communication base station and a management end which are arranged on a mobile target; the mobile positioning end determines the original position of a moving target based on an inertial navigation technology; the mobile positioning terminal accesses the positioning base station based on a radio frequency mode, and the accessed positioning base station outputs login information; the communication base station transmits the login information to the management terminal; and the management terminal determines the position of the corresponding positioning base station according to the login information so as to correct the original position and obtain the final position.
The regional positioning system of the embodiment of the invention at least has the following beneficial effects: the position of the moving target is determined through the inertial navigation technology, the requirement on the field is low, and the adaptability can be improved; accessing the positioning base station in a video mode to match the physical position relation between the moving target and the determined place, and correcting the relation between the positioning base station and the position of the moving target to obtain an accurate position.
According to the regional positioning system of the other embodiments of the present invention, the key positioning points and the non-key positioning points are formed by setting the positioning base stations with different access distances. Through different access distances, the mobile target is limited to be close to a certain degree to realize login, and the fact that the mobile target is close to a specified key positioning point can be guaranteed.
According to the regional positioning system of other embodiments of the present invention, a communication base station is provided with a plurality of communication channels; correspondingly, when the current communication channel conflicts, the mobile positioning terminal switches another communication channel to connect the communication base station. By arranging a plurality of channels, the data transmission pressure is relieved.
According to another embodiment of the local positioning system of the present invention, the communication base station communicates with the mobile positioning terminal based on a spread spectrum method. By means of the spread spectrum mode, the data transmission range can be enlarged, and the radio frequency power consumption can be reduced.
According to the regional positioning system in other embodiments of the present invention, the mobile positioning terminal selects one positioning base station as a starting base station, obtains displacement data based on an inertial navigation technique, and obtains an original position of the mobile target by combining the position of the starting base station and the displacement data.
In a second aspect, an embodiment of the present invention provides an area location method, which is applicable to the above system, and includes: determining an original position of a moving target based on an inertial navigation technology; accessing a positioning base station based on a radio frequency mode, and outputting login information; and determining the position of the corresponding positioning base station according to the login information so as to correct the original position to obtain the final position.
The regional positioning method of the embodiment of the invention at least has the following beneficial effects: the position of the moving target is determined through the inertial navigation technology, the requirement on the field is low, and the adaptability can be improved; accessing the positioning base station in a video mode to match the physical position relation between the moving target and the determined place, and correcting the relation between the positioning base station and the position of the moving target to obtain an accurate position.
According to the regional positioning method of the other embodiments of the present invention, the key positioning points and the non-key positioning points are formed by setting positioning base stations with different access distances.
According to the regional positioning method of the other embodiments of the invention, a plurality of communication channels are arranged; correspondingly, when the current communication channel conflicts, the mobile positioning terminal switches another communication channel to connect the communication base station.
According to another embodiment of the method for local positioning in an area of the present invention, the communication base station communicates with the mobile positioning terminal based on a spread spectrum method.
According to other embodiments of the invention, a method for locating a location within a region comprises: and selecting a positioning base station as a starting base station, obtaining displacement data based on an inertial navigation technology, and combining the position of the starting base station and the displacement data to obtain the original position of the moving target.
Drawings
FIG. 1 is a schematic diagram of a connection of an embodiment of a local positioning system in an embodiment of the present invention;
fig. 2 is a flowchart illustrating an embodiment of a method for local area positioning according to the present invention.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the method or the element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If a feature is referred to as being "disposed," "secured," "connected," or "mounted" to another feature, it can be directly disposed, secured, or connected to the other feature or indirectly disposed, secured, connected, or mounted to the other feature.
In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Example 1.
Referring to fig. 1, a connection diagram of a regional positioning system in an embodiment of the present invention is shown.
The system comprises: the system comprises a mobile positioning end 1, a positioning base station 2, a communication base station 3 and a management end 4 which are arranged on a mobile target; the mobile positioning end 1 determines the original position of a moving target based on an inertial navigation technology; the mobile positioning terminal 1 accesses the positioning base station 2 based on a radio frequency mode, and the accessed positioning base station 2 outputs login information; the communication base station 3 transmits the login information to the management terminal 4; the management terminal 4 determines the position of the corresponding positioning base station 2 according to the login information to correct the original position to obtain the final position. Wherein the content of the first and second substances,
the moving target is mainly a human, and can be unmanned machinery; the mobile positioning terminal 1 is mainly a signal transmitter based on a radio frequency technology, can realize a radio frequency function, and can also realize an inertial navigation function through various sensors to determine the current position; the positioning base station 2 is a signal transmitting and receiving base station based on a radio frequency technology, and can realize interaction with the mobile positioning terminal 1; the communication base station 3 is set to aim at that the positioning base station 2 does not have a powerful data transmission/communication function, and the data collection and transmission can be realized through the communication base station 3; the management terminal 4 mainly processes data.
The regional positioning system of the embodiment of the invention at least has the following beneficial effects: the position of the moving target is determined through the inertial navigation technology, the requirement on the field is low, and the adaptability can be improved; and accessing the positioning base station 2 in a video mode to match the physical position relation between the moving target and the determined place, and correcting the relation between the positioning base station 2 and the position of the moving target to obtain an accurate position.
According to the regional positioning system of the other embodiments of the present invention, the base station 2 is positioned by setting different access distances to form a key positioning point and a non-key positioning point. In practical application, besides the need of simply determining the position of the employee, the employee needs to be ensured to be actually close to a certain area; for example, to ensure that a patrol guard patrols a certain place; therefore, as a further application of positioning, the positioning base stations 2 with different access distances are set, that is, the access distances of some positioning base stations 2 are very short, and it is necessary for employees (i.e., the mobile target and the mobile positioning terminal 1) to approach each other certainly; through different access distances, the mobile target is limited to be close to a certain degree to realize login, and the fact that the mobile target is close to a specified key positioning point can be guaranteed.
According to the regional positioning system of other embodiments of the present invention, the communication base station 3 is provided with a plurality of communication channels; correspondingly, when the current communication channel has conflict, the mobile positioning terminal 1 switches another communication channel to connect with the communication base station 3. By arranging a plurality of channels, the data transmission pressure is relieved.
According to the regional positioning system of other embodiments of the present invention, the communication base station 3 communicates with the mobile positioning terminal 1 based on a spread spectrum method. By means of the spread spectrum mode, the data transmission range can be enlarged, and the radio frequency power consumption can be reduced.
According to the regional positioning system of other embodiments of the present invention, the mobile positioning terminal 1 selects one positioning base station 2 as a starting point base station, obtains displacement data based on the inertial navigation technology, and obtains an original position of a moving target by combining the position of the starting point base station and the displacement data.
Example 2.
The purpose of this embodiment is to explain the operation flow and principle of a specific regional positioning system in relation to a specific field environment on the basis of embodiment 1:
the whole regional positioning system comprises: a positioning sub base station (namely a positioning base station, which is hereinafter referred to as a sub base station), a positioning terminal (namely a mobile positioning end) worn by a person (namely a moving target), a communication base station and a management background (namely a management end), wherein,
the background management function mainly comprises statistics and management personnel/positioning terminals.
Function of positioning terminal worn by person: for location monitoring of personnel; a2.4 GHz radio frequency circuit is arranged in the positioning terminal, and radio frequency signals are transmitted outwards all the time, and the radio frequency signals carry the equipment ID number of the positioning terminal.
The functions of the communication base station are as follows: the system is used for receiving the information of the positioning sub base station and sending the information to background management;
positioning function of the sub base station: the accurate position of the current sub base station is calibrated; and after reading the equipment ID number of the personnel positioning terminal, the sub-base station transmits the equipment ID number and the equipment number of the sub-station to the communication base station, and then the communication base station transmits the equipment ID number and the equipment number to the background management. And the background management records the coordinate information of each positioning sub-base station in advance, and after receiving the number of the corresponding positioning sub-base station, the corresponding substation position can be known, so that the position of the personnel positioning terminal can be known.
Meanwhile, the function of the positioning terminal also comprises uploading the displacement information of the positioning terminal to a communication base station or a management background, and the specific communication mode can be a wireless transmission mode such as 4G. Inertial navigation technology, the technical carrier of which is a device capable of measuring the acceleration and angular velocity of a moving carrier; the principle of the method is that the motion situation of a motion carrier (namely a moving target) is measured, namely the walking steps of a person are measured, specifically, the walking starting and stopping actions of the person are judged through the change of an acceleration value, one starting and stopping action represents that the person walks one step, and how far the person walks is calculated through judging the walking steps of the person; the direction of the person walking is judged by the change of the angular velocity.
In addition, considering that the inertial navigation has accumulated errors during operation, a positioning substation can be placed every 10 minutes for correcting inertial navigation positioning, and the specific correction principle comprises the following steps: the coordinates of the positioning sub-station are accurately known, and after the sub-station receives the signal of the positioning terminal, the positioning terminal can be judged to be in the vicinity of the sub-station. In this case, the positioning terminal or the management backend can estimate the position of the terminal (i.e., perform correction based on the inertial navigation calculation error between the initial position and the existing position in combination with the set error adjustment algorithm), and therefore, the position coordinates estimated by inertial navigation can be corrected in combination with the coordinates of the positioning substation.
Finally, a positioning mode mainly based on inertial navigation and assisted by RFID is formed. The method is different from the single RFID and has the serious defects that single-stage positioning and positioning display are not moved.
In a real application scenario, staff are often required to go to a specified place to perform daily card punching, for example, an oil depot, such as a corridor fork, and the like, and the card punching may be arranged according to a specific application scenario.
Placing a type of positioning substation; the substation has small transmitting power, the specific communication range can be about 2 meters, and the access can be realized only when the inspection personnel arrives at the specified inspection point.
In the above specific example, the inertial navigation may be corrected by a management background, or may be performed by a positioning terminal; at this time, the positioning slave station needs to feed back its own information to the positioning terminal.
The frequency of the positioning substation is once per second, so if the terminal needs to receive the signal transmitted by the positioning substation well, the time for receiving needs to be prolonged by the positioning terminal. The extension of the receiving time inevitably leads to the increase of the power consumption of the positioning terminal, therefore, according to the characteristic of the frequently used signal transmitting frequency, the receiving time slot of the positioning terminal can be set as: the receiving time is set to 0.6 second, so that the terminal receives the signals twice and can completely receive the signals of the substation.
In the above specific example, the positioning terminal needs to upload data of various sensors (such as a three-axis sensor and an acceleration sensor) related to inertial navigation to the management background; the butt joint can be directly realized, and the transmission can also be replaced by the communication base station; for convenience, the transmission is generally performed by wireless communication, such as conventional 2G communication or 4G communication. However, the power consumption of the method is very high, if 4G communication is adopted, the endurance time of the positioning terminal is very short, frequent charging is needed, and the working efficiency is seriously influenced.
Considering that the area of the refinery area is generally about 6km square (not excluding larger), that is, if one base station is required to cover the whole refinery area, the communication radius is about 3 km. By combining the requirements, a set of low-power-consumption spread spectrum communication base station with the communication distance reaching 6km is designed, so that the power consumption of the positioning terminal can be greatly reduced. The communication base station is adopted for communication, the communication emission current of the positioning terminal only needs 13mA, and compared with the working current of 400-600 mA of 4G communication, the current is obviously reduced, and the emission duration is very short, so that the spread spectrum communication base station with low power consumption can well meet the requirements of communication and low power consumption.
Meanwhile, considering that the number of the positioning terminals is large, 2000 employees are estimated to be in one factory, and 2000 terminals are taken into consideration. When there are 2000 positioning terminals, there may be communication conflict problem between 2000 positioning terminals and the communication base station, so to solve the communication conflict, the communication base station adopts multi-channel communication mode.
The communication base station is provided with at least two communication channels which are specially used for receiving signals, and when the positioning terminal finds that the communication with the communication base station conflicts, the positioning terminal can switch to another channel for communication so as to avoid the conflict;
each positioning terminal can be set to communicate with the communication base station once every 10 seconds to perform time-sharing communication, so that the collision probability can be reduced;
in addition, a communication link which combines receiving and sending is designed in the communication base station for carrying out interactive communication on the key information, and the key information can be ensured to be communicated.
And finally, the communication base station collects the information and then transmits the information to the management background through 4G.
The final effect is that only one to two communication base stations need to be deployed in the whole area to meet the communication requirement, and the method is very convenient.
Example 3.
Referring to fig. 2, it is shown that an embodiment of the present invention provides a regional positioning method, which is applicable to the above system, and includes:
s1, determining the original position of the moving target based on the inertial navigation technology;
s2, accessing the positioning base station based on the radio frequency mode, and outputting login information;
and S3, determining the position of the corresponding positioning base station according to the login information to correct the original position to obtain the final position.
The regional positioning method of the embodiment of the invention at least has the following beneficial effects: the position of the moving target is determined through the inertial navigation technology, the requirement on the field is low, and the adaptability can be improved; accessing the positioning base station in a video mode to match the physical position relation between the moving target and the determined place, and correcting the relation between the positioning base station and the position of the moving target to obtain an accurate position.
According to the regional positioning method of the other embodiments of the present invention, the base stations are positioned by setting different access distances to form the key positioning points and the non-key positioning points.
According to the regional positioning method of the other embodiments of the invention, a plurality of communication channels are arranged; correspondingly, when the current communication channel conflicts, the mobile positioning terminal switches another communication channel to connect the communication base station.
According to another embodiment of the method for local positioning in an area of the present invention, the communication base station communicates with the mobile positioning terminal based on a spread spectrum method.
According to other embodiments of the invention, a method for locating a location within a region comprises: and selecting a positioning base station as a starting base station, obtaining displacement data based on an inertial navigation technology, and combining the position of the starting base station and the displacement data to obtain the original position of the moving target.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. An intra-regional positioning system, comprising: the system comprises a mobile positioning end, a positioning base station, a communication base station and a management end which are arranged on a mobile target; wherein the content of the first and second substances,
the mobile positioning end determines the original position of the moving target based on an inertial navigation technology;
the mobile positioning terminal accesses the positioning base station based on a radio frequency mode, and the accessed positioning base station outputs login information;
the communication base station transmits the login information to the management terminal;
and the management terminal determines the position of the corresponding positioning base station according to the login information so as to correct the original position and obtain the final position.
2. The system of claim 1, wherein the positioning base stations with different access distances are configured to form a key positioning point and a non-key positioning point.
3. The system of claim 1, wherein the communication base station is configured with a plurality of communication channels; in a corresponding manner, the first and second optical fibers are,
and when the current communication channel conflicts, the mobile positioning terminal switches another communication channel to connect the communication base station.
4. The system of claim 1, wherein the communication base station communicates with the mobile positioning terminal based on a spread spectrum method.
5. The system of claim 1, wherein the mobile location terminal selects a location base station as a starting base station, obtains displacement data based on inertial navigation, and combines the position of the starting base station and the displacement data to obtain an original position of the moving object.
6. An area positioning method applied to the positioning system of any one of claims 1 to 5, comprising:
determining an original position of a moving target based on an inertial navigation technology;
accessing a positioning base station based on a radio frequency mode, and outputting login information;
and determining the position of the corresponding positioning base station according to the login information so as to correct the original position to obtain a final position.
7. The method of claim 6, wherein the positioning base stations with different access distances are used to form a key positioning point and a non-key positioning point.
8. The method of claim 6, wherein a plurality of communication channels are provided; in a corresponding manner, the first and second optical fibers are,
and when the current communication channel conflicts, the mobile positioning terminal switches another communication channel to connect the communication base station.
9. The method as claimed in claim 6, wherein the communication base station communicates with the mobile location terminal based on a spread spectrum method.
10. The method of local positioning within a region of claim 6, comprising:
selecting a positioning base station as a starting base station, obtaining displacement data based on an inertial navigation technology, and combining the position of the starting base station and the displacement data to obtain the original position of a moving target.
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