CN114740514A - Method, system, electronic device and storage medium for positioning patrolman in subway station - Google Patents
Method, system, electronic device and storage medium for positioning patrolman in subway station Download PDFInfo
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- CN114740514A CN114740514A CN202210648010.0A CN202210648010A CN114740514A CN 114740514 A CN114740514 A CN 114740514A CN 202210648010 A CN202210648010 A CN 202210648010A CN 114740514 A CN114740514 A CN 114740514A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The application provides a method, a system, electronic equipment and a storage medium for positioning patrol personnel in a subway station, which comprise the following steps: acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset carrier phase differential technology (RTK) positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions; and selecting corresponding positioning information as the position information of the patrolman to be positioned according to the first positioning precision and the second positioning precision. The positioning of the patrol personnel can be realized through a relatively accurate RTK technology, and the positioning can be realized through an inertial navigation technology when the RTK technology cannot be positioned due to weather conditions, so that the personal safety of the patrol personnel is ensured.
Description
Technical Field
The application belongs to the field of navigation positioning, and particularly relates to a method, a system, electronic equipment and a storage medium for positioning patrolmen in a subway station.
Background
Due to the fact that urban rails are distributed on the ground and underground in a staggered mode, terrain and ground features of a subway protection area are very complex, and patrolmen usually need to enter the subway protection area to conduct traditional patrolling. In view of the continuous extension of urban rail transit networks, the construction operation safety management form in a protected area is increasingly severe, and in order to realize efficient, intelligent and accurate manual inspection, the key to solve the problem lies in the accurate positioning of inspection personnel. The urban rail transit protection area has a complex environment, and signals of a low-cost GNSS receiver are easily interfered, so that frequent unlocking of satellite signals is caused, observation errors are caused, and the positioning accuracy and the real-time performance of RTK are seriously influenced.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a method, a system, electronic equipment and a storage medium for positioning patrollers in subway stations, so that the positioning of the patrollers can be realized by a relatively accurate RTK technology, and the positioning can also be realized by an inertial navigation technology when the RTK technology cannot be used for positioning due to weather conditions, thereby ensuring the personal safety of the patrollers.
In a first aspect, a method for positioning patrolmen at a subway station is provided, the method comprising:
acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset carrier phase differential technology (RTK) positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions, wherein the first positioning information is positioning information acquired through RTK, the second positioning information is positioning information acquired through an inertial navigation technology, the first positioning precision is the positioning precision of the RTK, and the second positioning precision is the positioning precision of the inertial navigation technology;
selecting corresponding positioning information as the position information of the patrolman to be positioned according to the first positioning precision and the second positioning precision, and the method comprises the following steps: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
In a possible implementation manner, after the step of selecting corresponding positioning information as the position information of the patrol person to be positioned according to the first positioning accuracy and the second positioning accuracy, the method further includes:
if the RTK and the inertial navigation technology can not be positioned, the walking speed of the patroller to be positioned is obtained from a preset patroller body measurement database, the simultaneous failure time of the RTK and the inertial navigation technology is obtained, the patrolling distance of the patroller to be positioned is obtained according to the walking speed and the simultaneous failure time, and when the RTK and/or the inertial navigation technology take effect again, the patroller to be positioned is positioned again according to the patrolling distance.
In another possible implementation manner, before the step of obtaining the first positioning information and the second positioning information of the patrolling person to be positioned, and obtaining the first positioning accuracy and the second positioning accuracy from the preset carrier phase differential technology RTK positioning accuracy base and the inertial navigation technology positioning accuracy base according to the current weather condition, the method further includes:
and acquiring positioning precision data of the RTK and the inertial navigation technology under different weather conditions through multiple tests under different weather conditions, and creating the RTK positioning precision library and the inertial navigation technology positioning precision library according to the positioning precision data.
In another possible implementation, the weather condition is barometric pressure information.
In a second aspect, a system for locating patrolmen at a subway station is provided, the system comprising:
the system comprises an acquisition module, a positioning module and a control module, wherein the acquisition module is used for acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring the first positioning accuracy and the second positioning accuracy from a preset carrier phase differential technology (RTK) positioning accuracy base and an inertial navigation technology positioning accuracy base according to the current weather condition, the first positioning information is positioning information acquired through an RTK, the second positioning information is positioning information acquired through an inertial navigation technology, the first positioning accuracy is the positioning accuracy of the RTK, and the second positioning accuracy is the positioning accuracy of the inertial navigation technology;
the selection module is used for selecting corresponding positioning information as the position information of the patrol personnel to be positioned according to the first positioning precision and the second positioning precision, and comprises the following steps: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
In one possible implementation, the system further includes:
and the secondary positioning module is used for acquiring the walking speed of the patroller to be positioned from a preset patroller physical measurement database if the RTK and the inertial navigation technology can not be positioned, acquiring the simultaneous failure time of the RTK and the inertial navigation technology, acquiring the patrolling distance of the patroller to be positioned according to the walking speed and the simultaneous failure time, and positioning the patroller to be positioned again according to the patrolling distance when the RTK and/or the inertial navigation technology are/is effective again.
In another possible implementation, the system further includes:
and the precision library creating module is used for acquiring positioning precision data of the RTK and the inertial navigation technology under different weather conditions through multiple tests under different weather conditions, and creating the RTK positioning precision library and the inertial navigation technology positioning precision library according to the positioning precision data.
In another possible implementation, the weather condition is barometric pressure information.
In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for locating a patrol person at a subway station as provided in the first aspect is implemented.
In a fourth aspect, a non-transitory computer readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the method for locating patrolmen at a subway station as provided in the first aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.
Fig. 1 is a flowchart of a method for positioning patrollers in a subway station according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for positioning patrolmen at a subway station according to still another embodiment of the present invention;
fig. 3 is a flowchart of a method for positioning patrolmen at a subway station according to another embodiment of the present invention
Fig. 4 is a block diagram of a system for locating patrolmen at a subway station according to an embodiment of the present invention;
fig. 5 is a block diagram of a system for locating patrolmen at a subway station according to still another embodiment of the present invention;
fig. 6 is a structural diagram of a system for positioning patrolmen at a subway station according to another embodiment of the present invention
Fig. 7 is a schematic physical structure diagram of an electronic device according to the present invention.
Detailed description of the invention
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar modules or modules having the same or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, modules, components, and/or groups thereof. It will be understood that when a module is referred to as being "connected" or "coupled" to another module, it can be directly connected or coupled to the other module or intervening modules may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any module and all combinations of one or more of the associated listed items.
To make the objects, technical solutions and advantages of the present application more clear, the following detailed description of the implementation of the present application will be made with reference to the accompanying drawings.
The technical solutions of the present application and the technical solutions of the present application, for example, to solve the above technical problems, will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for positioning a patrol person at a subway station according to an embodiment of the present invention, where the method includes:
102, selecting corresponding positioning information as the position information of the patroller to be positioned according to the first positioning precision and the second positioning precision, wherein the method comprises the following steps: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
In the embodiment of the present invention, RTK (Real-time kinematic) positioning is generally implemented by a GNSS (Global Navigation Satellite System) chip, and Inertial Navigation positioning is generally implemented by an IMU (Inertial Measurement Unit) chip. When the patroller to be positioned enters the subway station, the GNSS chip mounted on the patroller to be positioned acquires RTK positioning information through calculation, namely first positioning information, and the IMU chip mounted on the patroller to be positioned acquires inertial navigation positioning information through calculation, namely second positioning information. Meanwhile, the equipment installed on the patrolman to be positioned needs to acquire the current weather condition, and respectively acquire the positioning accuracy corresponding to the weather condition, namely the first positioning accuracy and the second positioning accuracy from a preset RTK positioning accuracy library and an inertial navigation technology positioning accuracy library. At specific positioning process, compare first positioning accuracy and second positioning accuracy in real time, set up the positional information who corresponds into the positional information who is waiting to position the inspection personnel according to the result of comparison, specifically do: and if the first positioning precision is superior to the second positioning precision, using the first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using the second positioning information as the position information of the patroller to be positioned.
Wherein the weather condition is barometric pressure information.
In the embodiment of the invention, the weather conditions affecting the GNSS chip are more, and generally all the weather conditions cannot be considered more completely, but the cloud layer is the most important one of the factors affecting the GNSS chip, so that the weather condition judgment method only considering the atmospheric pressure information is provided. The air pressure information can be acquired through the barometer chip.
The method comprises the steps of acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset RTK positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions; and selecting corresponding positioning information as the position information of the patrolman to be positioned according to the first positioning precision and the second positioning precision. The positioning of the patrol personnel can be realized through a relatively accurate RTK technology, and the positioning can be realized through an inertial navigation technology when the RTK technology cannot be positioned due to weather conditions, so that the personal safety of the patrol personnel is ensured.
As shown in fig. 2, which is a flowchart of a method for positioning a patrol person at a subway station according to still another embodiment of the present invention, after the step of selecting corresponding positioning information as the position information of the patrol person to be positioned according to the first positioning accuracy and the second positioning accuracy, the method further includes:
and 104, if the RTK and the inertial navigation technology cannot be positioned, acquiring the walking speed of the patroller to be positioned from a preset patroller body measurement database, acquiring the simultaneous failure time of the RTK and the inertial navigation technology, acquiring the patrolling distance of the patroller to be positioned according to the walking speed and the simultaneous failure time, and positioning the patroller to be positioned again according to the patrolling distance when the RTK and/or the inertial navigation technology are effective again.
In the embodiment of the invention, RTK can be influenced by weather conditions to cause the situation of incapability of positioning, while the inertial navigation technology is influenced by the technology, the time for continuous navigation is limited, if the RTK and the inertial navigation technology fail simultaneously, the walking speed of the inspector can be obtained from a body test database of the inspector which is acquired in advance, the simultaneous failure time of the RTK and the inertial navigation technology is recorded, the inspection distance of the inspector in the simultaneous failure time can be obtained according to the walking speed and the simultaneous failure time, when one or all of the RTK and the inertial navigation technology take effect again, a circular inspection range can be generated by taking the inspection distance as the radius, and the inspector can be positioned again in the inspection range.
As shown in fig. 3, which is a flowchart of a method for positioning a patrol person at a subway station according to another embodiment of the present invention, before the step of obtaining first positioning information and second positioning information of the patrol person to be positioned, and obtaining the first positioning accuracy and the second positioning accuracy from a preset positioning accuracy library of a carrier-phase differential technology RTK and an inertial navigation technology according to a current weather condition, the method further includes:
and 100, acquiring positioning precision data of the RTK and the inertial navigation technology under different weather conditions through multiple tests under different weather conditions, and creating the RTK positioning precision library and the inertial navigation technology positioning precision library according to the positioning precision data.
In the embodiment of the invention, the RTK positioning precision library and the inertial navigation technology positioning precision library record the positioning precision of the RTK and the inertial navigation technology under different weather conditions, and the precision library can provide a basis for selecting the positioning information.
Fig. 4 is a structural diagram of a system for positioning patrolmen at a subway station according to an embodiment of the present invention, where the system includes:
an obtaining module 401, configured to obtain first positioning information and second positioning information of an inspector to be positioned, and obtain the first positioning accuracy and the second positioning accuracy from a preset carrier phase differential technology RTK positioning accuracy library and an inertial navigation technology positioning accuracy library according to a current weather condition, where the first positioning information is positioning information obtained by an RTK, the second positioning information is positioning information obtained by an inertial navigation technology, the first positioning accuracy is the positioning accuracy of the RTK, and the second positioning accuracy is the positioning accuracy of the inertial navigation technology;
a selecting module 402, configured to select, according to the first positioning accuracy and the second positioning accuracy, corresponding positioning information as the position information of the inspection staff to be positioned, where the selecting module includes: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
In the embodiment of the present invention, RTK (Real-time kinematic) positioning is generally implemented by a GNSS (Global Navigation Satellite System) chip, and Inertial Navigation positioning is generally implemented by an IMU (Inertial Measurement Unit) chip. When the patroller to be positioned enters the subway station, the GNSS chip mounted on the patroller to be positioned acquires RTK positioning information through calculation, namely first positioning information, and the IMU chip mounted on the patroller to be positioned acquires inertial navigation positioning information through calculation, namely second positioning information. Meanwhile, the equipment installed on the patrolman to be positioned needs to acquire the current weather condition, and respectively acquire the positioning accuracy corresponding to the weather condition, namely the first positioning accuracy and the second positioning accuracy from a preset RTK positioning accuracy library and an inertial navigation technology positioning accuracy library. At specific positioning process, compare first positioning accuracy and second positioning accuracy in real time, set up the positional information who corresponds into the positional information who is waiting to position the inspection personnel according to the result of comparison, specifically do: and if the first positioning precision is superior to the second positioning precision, using the first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using the second positioning information as the position information of the patroller to be positioned.
Wherein the weather condition is barometric pressure information.
In the embodiment of the invention, the weather conditions affecting the GNSS chip are more, all weather conditions cannot be considered more completely, and the cloud layer is the most important one of the factors affecting the GNSS chip, so that the weather condition judgment method only considering the atmospheric pressure information is provided. The air pressure information can be acquired through the barometer chip.
The method comprises the steps of acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset RTK positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions; and selecting corresponding positioning information as the position information of the patrolman to be positioned according to the first positioning precision and the second positioning precision. The positioning of the patrol personnel can be realized through a relatively accurate RTK technology, and the positioning can be realized through an inertial navigation technology when the RTK technology cannot be positioned due to weather conditions, so that the personal safety of the patrol personnel is ensured.
Fig. 5 is a structural diagram of a system for positioning patrolmen at a subway station according to still another embodiment of the present invention, where the system further includes:
and a re-positioning module 403, configured to, if both the RTK and the inertial navigation technology are unable to perform positioning, obtain a walking speed of the patroller to be positioned from a preset patroller body measurement database, obtain a simultaneous failure time of the RTK and the inertial navigation technology, obtain a patrol distance of the patroller to be positioned according to the walking speed and the simultaneous failure time, and perform positioning again on the patroller to be positioned according to the patrol distance when the RTK and/or the inertial navigation technology are effective again.
In the embodiment of the invention, the RTK is influenced by weather conditions and can have a condition of being incapable of positioning, the inertial navigation technology is influenced by the technology, the time for continuous navigation is limited, if the RTK and the inertial navigation technology fail simultaneously, the walking speed of the inspector can be acquired from a body test database of the inspector, which is acquired in advance, the simultaneous failure time of the RTK and the inertial navigation technology is recorded, the inspection distance of the inspector in the simultaneous failure time can be acquired according to the walking speed and the simultaneous failure time, when one or all of the RTK and the inertial navigation technology take effect again, a circular inspection range can be generated by taking the inspection distance as a radius, and the inspector can be positioned again in the inspection range.
Fig. 6 is a structural diagram of a system for positioning patrolmen at a subway station according to another embodiment of the present invention, where the system further includes:
an accuracy library creating module 400, configured to obtain positioning accuracy data of the RTK and the inertial navigation technology under different weather conditions through multiple tests under different weather conditions, and create the RTK positioning accuracy library and the inertial navigation technology positioning accuracy library according to the positioning accuracy data.
In the embodiment of the invention, the RTK positioning precision library and the inertial navigation technology positioning precision library record the positioning precision of the RTK and the inertial navigation technology under different weather conditions, and the precision library can provide a basis for selection of positioning information.
Fig. 7 illustrates a physical structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: a processor (processor)701, a communication Interface (Communications Interface)702, a memory (memory)703 and a communication bus 704, wherein the processor, the communication Interface and the memory complete communication with each other through the communication bus. The processor may invoke logic instructions in the memory to perform a method for subway station patrol personnel location, the method comprising: acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset carrier phase differential technology RTK positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions; selecting corresponding positioning information as the position information of the patrolman to be positioned according to the first positioning precision and the second positioning precision, and the method comprises the following steps: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the method for locating a patrol person at a subway station provided by the foregoing method embodiments, where the method includes: acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset carrier phase differential technology RTK positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions; selecting corresponding positioning information as the position information of the patrol personnel to be positioned according to the first positioning precision and the second positioning precision, and the method comprises the following steps: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
In still another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the method for locating a patrol person at a subway station provided in the foregoing embodiments, where the method includes: acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset carrier phase differential technology (RTK) positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions; selecting corresponding positioning information as the position information of the patrolman to be positioned according to the first positioning precision and the second positioning precision, and the method comprises the following steps: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial implementation of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for positioning patrolmen at a subway station is characterized by comprising the following steps:
acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring first positioning precision and second positioning precision from a preset carrier phase differential technology (RTK) positioning precision library and an inertial navigation technology positioning precision library according to current weather conditions, wherein the first positioning information is positioning information acquired through RTK, the second positioning information is positioning information acquired through an inertial navigation technology, the first positioning precision is the positioning precision of the RTK, and the second positioning precision is the positioning precision of the inertial navigation technology;
selecting corresponding positioning information as the position information of the patrolman to be positioned according to the first positioning precision and the second positioning precision, and the method comprises the following steps: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
2. The method of claim 1, wherein after the step of selecting the corresponding positioning information as the position information of the patroller to be positioned according to the first and second positioning accuracies, the method further comprises:
if the RTK and the inertial navigation technology can not be positioned, the walking speed of the patroller to be positioned is obtained from a preset patroller body measurement database, the simultaneous failure time of the RTK and the inertial navigation technology is obtained, the patrolling distance of the patroller to be positioned is obtained according to the walking speed and the simultaneous failure time, and when the RTK and/or the inertial navigation technology take effect again, the patroller to be positioned is positioned again according to the patrolling distance.
3. The method of claim 1, wherein prior to the steps of obtaining the first and second positioning information for the patroller to be positioned and obtaining the first and second positioning accuracies from a pre-set carrier phase differential technology (RTK) positioning accuracy library and an inertial navigation technology positioning accuracy library based on current weather conditions, the method further comprises:
and acquiring positioning precision data of the RTK and the inertial navigation technology under different weather conditions through multiple tests under different weather conditions, and creating the RTK positioning precision library and the inertial navigation technology positioning precision library according to the positioning precision data.
4. The method of any one of claims 1-3, wherein the weather condition is barometric pressure information.
5. A system for locating patrolmen at a subway station, said system comprising:
the system comprises an acquisition module, a positioning module and a control module, wherein the acquisition module is used for acquiring first positioning information and second positioning information of an inspector to be positioned, and acquiring the first positioning accuracy and the second positioning accuracy from a preset carrier phase differential technology (RTK) positioning accuracy base and an inertial navigation technology positioning accuracy base according to the current weather condition, the first positioning information is positioning information acquired through an RTK, the second positioning information is positioning information acquired through an inertial navigation technology, the first positioning accuracy is the positioning accuracy of the RTK, and the second positioning accuracy is the positioning accuracy of the inertial navigation technology;
the selection module is used for selecting corresponding positioning information as the position information of the patroller to be positioned according to the first positioning precision and the second positioning precision, and comprises: and if the first positioning precision is superior to the second positioning precision, using first positioning information as the position information of the patroller to be positioned, and if the second positioning precision is superior to the first positioning precision, using second positioning information as the position information of the patroller to be positioned.
6. The system of claim 5, wherein the system further comprises:
and the secondary positioning module is used for acquiring the walking speed of the patroller to be positioned from a preset patroller body measurement database if the RTK and the inertial navigation technology can not be positioned, acquiring the simultaneous failure time of the RTK and the inertial navigation technology, acquiring the patrolling distance of the patroller to be positioned according to the walking speed and the simultaneous failure time, and positioning the patroller to be positioned again according to the patrolling distance when the RTK and/or the inertial navigation technology are effective again.
7. The system of claim 5, wherein the system further comprises:
and the precision library creating module is used for acquiring positioning precision data of the RTK and the inertial navigation technology under different weather conditions through multiple tests under different weather conditions, and creating the RTK positioning precision library and the inertial navigation technology positioning precision library according to the positioning precision data.
8. The system of any one of claims 5-7, wherein the weather condition is barometric pressure information.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method for subway station patrolman location as claimed in any one of claims 1 to 4.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method of subway station patrol personnel location as claimed in any one of claims 1-4.
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