CN114666722A - Chemical device internal and external positioning system and method based on positioning beacon - Google Patents
Chemical device internal and external positioning system and method based on positioning beacon Download PDFInfo
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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
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
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Abstract
The embodiment of the invention provides a positioning beacon-based chemical device internal and external positioning system and method, belonging to the technical field of personnel positioning. The system comprises: a positioning beacon for broadcasting a first wireless signal; the positioning terminal is used for determining the area information of the positioning terminal according to all the received first wireless signals; if the area information is in the device, positioning the positioning terminal through the positioning beacon; if the area information is the boundary area, determining a positioning mode according to the strength of the first wireless signal and the signal strength of the navigation satellite; if the regional information is outside the device, positioning the positioning terminal through a navigation satellite; and the communication base station is used for receiving the positioning information output by the positioning terminal and sending the positioning information to the monitoring server. The invention determines the regional information of the positioning terminal based on the positioning beacon, thereby realizing the smooth switching of wireless positioning and satellite navigation positioning, greatly reducing the deployment quantity of the wireless positioning beacon and effectively improving the positioning precision of the device.
Description
Technical Field
The invention relates to the technical field of personnel positioning, in particular to a positioning beacon-based chemical device internal and external positioning system and a positioning beacon-based chemical device internal and external positioning method.
Background
For the chemical industry, the device internal and external integrated positioning has important value, and the existing positioning system for the chemical enterprises mainly has two types: 1. using wireless systems such as Bluetooth or Zigbee to carry out full-field coverage to realize positioning; 2. and positioning by using a GPS/Beidou system and the like. The scheme 1 can realize seamless positioning, but positioning equipment needs to be deployed on the whole field, so that the cost is too high; scheme 2 is with low costs, but the location can only be better in the spacious region of device outside, and the downtown part can't be fixed a position, and the floor is difficult to distinguish, and building next door positioning accuracy is low, and satellite navigation power consumption is big.
Due to the situation, the scheme 2 is difficult to meet the application requirements of enterprises in chemical enterprises, and the scheme 1 can only be implemented in enterprises with relatively small areas due to overhigh cost, so that the implementation is difficult for large enterprises with square kilometers. One balanced scheme is that the device is internally positioned by adopting wireless systems such as Bluetooth or Zigbee, and the device is externally positioned by adopting a GPS/Beidou satellite positioning system. This scheme has more difficult problem in the aspect of the inside and outside switch of device, and in border area, the effect is poor, if: at the edge of the second floor in the device, the wireless system is used for positioning, but the satellite positioning system is mistakenly used for positioning personnel to the road outside the device, and the like.
Disclosure of Invention
The embodiment of the invention aims to solve the problem of inaccurate internal and external positioning switching of the device in the prior art by determining the positioning mode based on the positioning beacon.
In order to achieve the above object, in a first aspect of the present invention, there is provided a positioning beacon-based chemical device inside and outside positioning system, including:
the system comprises a positioning terminal, a plurality of positioning beacons arranged in the device and in a boundary region between the inside and the outside of the device, at least one communication base station and a monitoring server;
the positioning beacon is used for broadcasting a first wireless signal;
the positioning terminal is used for:
determining area information of the positioning terminal according to all received first wireless signals, wherein the area information comprises an in-device area, a boundary area and an out-device area; and
if the area information is in the device, positioning the positioning terminal through a positioning beacon and outputting positioning information;
if the area information is the boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;
if the area information is outside the device, positioning the positioning terminal through a navigation satellite, and outputting positioning information;
and the communication base station is used for receiving the positioning information output by the positioning terminal and sending the positioning information to the monitoring server.
Optionally, the communication base station is further configured to:
and broadcasting auxiliary information of the navigation satellite to the positioning terminal, wherein the auxiliary information comprises navigation satellite identity information and navigation satellite orbit information.
Optionally, the first wireless signal includes group information corresponding to a positioning beacon, where the group information is a or B, where a denotes that the positioning beacon is disposed in the apparatus, and B denotes that the positioning beacon is disposed in a boundary region between inside and outside of the apparatus, and the positioning terminal is further configured to:
according to the group information of all the received first wireless signals, determining the positioning beacons of which the group information corresponding to all the received first wireless signals is A as a group A, and determining the positioning beacons of which the group information corresponding to all the received first wireless signals is B as a group B;
and respectively calculating the signal quality of the group A and the signal quality of the group B through a first preset algorithm, and determining the area information of the positioning terminal according to the signal quality of the group A and the signal quality of the group B.
Optionally, the positioning beacon is further disposed in a preset area outside the device, and the group information of the positioning beacon disposed in the preset area outside the device is B.
Optionally, the positioning terminal is further configured to:
obtaining the strength of the first wireless signal in the group A greater than the first threshold value RTFirst radio signal strength RAMAcquiring that the intensity of the first wireless signal in the group B is greater than the first threshold value RTFirst radio signal strength RBM；
Calculating the signal quality w of group A respectively according to the following formulaAAnd signal quality w of group BB：
wA＝(RT+RA1)+(RT+RA2)+...+(RT+RAM)；
wB＝(RT+RB1)+(RT+RB2)+...+(RT+RBN)；
If wA＞wBAnd w isA＞wTThe area information of the positioning terminal is in the device;
if wB≥wAAnd w isB＞wTThe area information of the positioning terminal is a boundary area;
otherwise, the area information of the positioning terminal is outside the device;
wherein wTIs the second threshold.
Optionally, the positioning terminal includes a satellite positioning module, and the positioning terminal is further configured to:
and if the area information is in the device, closing the satellite positioning module, positioning the positioning terminal through a positioning beacon, and outputting positioning information.
Optionally, the positioning terminal is further configured to:
if the regional information is the boundary region, starting the satellite positioning module and acquiring a second wireless signal of a navigation satellite;
calculating the signal quality Q of all the acquired navigation satellites through a second preset algorithm according to all the acquired second wireless signals;
if wBIf the signal strength is not less than Q, the position information of the positioning beacon corresponding to the first wireless signal with the maximum received signal strength is used as the positioning information of the positioning terminal;
if Q < wBAnd positioning the positioning terminal through the navigation satellite and outputting positioning information.
Optionally, the positioning terminal is further configured to:
determining the signal-to-noise ratio of the corresponding navigation satellite according to all the acquired second wireless signals;
acquiring the signal-to-noise ratio C of the navigation satellite with the signal-to-noise ratio larger than a third threshold KN；
Calculating the signal quality Q of the navigation satellite according to the following formula:
wherein, X is the GDoP value of the navigation satellite.
Optionally, the positioning terminal is further configured to:
inputting the positioning information generated by positioning through the positioning beacon and the positioning information generated by positioning through the navigation satellite into a filter according to time sequence, and taking the positioning information output by the filter as final positioning information;
and sending the final positioning information to the monitoring server through the communication base station.
In a second aspect of the present invention, there is provided a method for positioning inside and outside of a chemical apparatus based on a positioning beacon, where the method is applied to a system for positioning inside and outside of a chemical apparatus based on a positioning beacon, and the method includes:
a positioning beacon broadcasts a first wireless signal;
the positioning terminal determines area information of the positioning terminal according to all received first wireless signals, wherein the area information comprises an inner device area, a boundary area and an outer device area;
if the area information is in the device, positioning the positioning terminal through a positioning beacon and outputting positioning information;
if the area information is the boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;
if the area information is outside the device, positioning the positioning terminal through a navigation satellite, and outputting positioning information;
and the communication base station receives the positioning information output by the positioning terminal and sends the positioning information to the monitoring server.
Optionally, the method further comprises:
and the communication base station broadcasts the auxiliary information of the navigation satellite to the positioning terminal, wherein the auxiliary information comprises navigation satellite identity information and navigation satellite orbit information.
Optionally, the determining, by the positioning terminal, area information of the positioning terminal according to all received first wireless signals includes:
the positioning terminal determines positioning beacons with the group information A corresponding to all the received first wireless signals as a group A and determines the positioning beacons with the group information B corresponding to all the received first wireless signals as a group B according to the group information of all the received first wireless signals;
and respectively calculating the signal quality of the group A and the signal quality of the group B through a first preset algorithm, and determining the area information of the positioning terminal according to the signal quality of the group A and the signal quality of the group B.
Optionally, the positioning beacon is further disposed in a preset area outside the device, and the group information of the positioning beacon disposed in the preset area outside the device is B.
Optionally, the calculating the signal quality of the group a and the signal quality of the group B by using a first preset algorithm, and determining the area information of the positioning terminal according to the signal quality of the group a and the signal quality of the group B includes:
obtaining the strength of the first wireless signal in the group A greater than the first threshold value RTFirst radio signal strength RAMAcquiring that the intensity of the first wireless signal in the group B is greater than the first threshold value RTFirst radio signal strength RBM；
Calculating the signal quality w of the group A respectively according to the following formulaAAnd signal quality w of group BB：
wA＝(RT+RA1)+(RT+RA2)+...+(RT+RAM)；
wB＝(RT+RB1)+(RT+RB2)+...+(RT+RBN)；
If wA＞wBAnd w isA＞wTThe area information of the positioning terminal is in the device;
if wB≥wAAnd w isB＞wTThe area information of the positioning terminal is a boundary area;
otherwise, the area information of the positioning terminal is outside the device;
wherein wTIs a second threshold.
Optionally, the positioning terminal includes a satellite positioning module, and if the area information is in the device, the positioning terminal is positioned through a positioning beacon and outputs positioning information, including:
and if the area information is in the device, closing the satellite positioning module, positioning the positioning terminal through a positioning beacon, and outputting positioning information.
Optionally, if the area information is a boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information, where the determining includes:
if the regional information is the boundary region, starting the satellite positioning module and acquiring a second wireless signal of a navigation satellite;
calculating the signal quality Q of all the acquired navigation satellites through a second preset algorithm according to all the acquired second wireless signals;
if wBIf the signal strength is not less than Q, the position information of the positioning beacon corresponding to the first wireless signal with the maximum received signal strength is used as the positioning information of the positioning terminal;
if Q < wBAnd positioning the positioning terminal through the navigation satellite and outputting positioning information.
Optionally, the calculating, according to all the acquired second wireless signals, the signal quality Q of all the acquired navigation satellites by using a second preset algorithm includes:
determining the signal-to-noise ratio of the corresponding navigation satellite according to all the acquired second wireless signals;
acquiring the signal-to-noise ratio C of the navigation satellite with the signal-to-noise ratio larger than a third threshold KN；
Calculating the signal quality Q of the navigation satellite according to the following formula:
wherein, X is the GDoP value of the navigation satellite.
Optionally, the receiving, by the communication base station, the positioning information output by the positioning terminal and sending the positioning information to the monitoring server includes:
the positioning terminal inputs the positioning information generated by positioning through the positioning beacon and the positioning information generated by positioning through the navigation satellite into the filter according to time sequence, and the positioning information output by the filter is used as final positioning information;
and the positioning terminal sends the final positioning information to the monitoring server through the communication base station.
According to the technical scheme, the wireless positioning and the satellite navigation are combined for positioning, and the area information of the positioning terminal is determined based on the positioning beacon, so that the wireless positioning and the satellite navigation positioning are switched, the positioning terminal is ensured to always select the optimal positioning system for positioning, and meanwhile, the smooth switching of the internal and external positioning of the chemical device is realized; compared with a simple wireless positioning system, the wireless positioning beacon deployment quantity is greatly reduced, and meanwhile, compared with a simple satellite navigation system, the positioning precision in the device is effectively improved.
Additional features and advantages of embodiments of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a system of a positioning beacon-based chemical apparatus internal and external positioning system according to a preferred embodiment 1 of the present invention;
fig. 2 is a flowchart of a method for positioning inside and outside of a chemical apparatus based on a positioning beacon according to a preferred embodiment 2 of the present invention.
Detailed Description
The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Example 1
As shown in fig. 1, the present embodiment provides a chemical device inside and outside positioning system based on a positioning beacon, including:
the system comprises a positioning terminal, a plurality of positioning beacons arranged in the device and in a boundary region between the inside and the outside of the device, at least one communication base station and a monitoring server;
a positioning beacon for broadcasting a first wireless signal;
the positioning terminal is used for determining the area information of the positioning terminal according to all the received first wireless signals, wherein the area information comprises an inner device area, a boundary area and an outer device area; and
if the area information is in the device, positioning the positioning terminal through the positioning beacon and outputting positioning information;
if the area information is the boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all the first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;
if the area information is outside the device, positioning the positioning terminal through a navigation satellite, and outputting positioning information;
and the communication base station is used for receiving the positioning information output by the positioning terminal and sending the positioning information to the monitoring server.
Thus, the embodiment performs combined positioning through wireless positioning and satellite navigation, and determines the area information of the positioning terminal based on the positioning beacon, so as to switch the wireless positioning and the satellite navigation positioning, ensure that the positioning terminal always selects the optimal positioning system for positioning, and simultaneously realize smooth switching of internal and external positioning of the chemical device; compared with a simple wireless positioning system, the wireless positioning beacon deployment quantity is greatly reduced, and meanwhile, compared with a simple satellite navigation system, the positioning precision in the device is effectively improved.
Specifically, the large-scale chemical device has the characteristics of continuity and complex technological process, is densely arranged, has criss-cross pipelines, and has the characteristics of large floor area and large volume. The staff is at large-scale chemical plant field work, for example, when the staff patrols and examines large-scale chemical plant, often need fix a position the staff in real time, simultaneously, when on-the-spot staff discovers the trouble or takes place the accident, can in time acquire the fault location, is favorable to the safety control to large-scale chemical plant scene. In this embodiment, the positioning terminal includes a wireless positioning module and a satellite positioning module, and the positioning terminal is worn by a worker so as to position the worker in real time. A positioning beacon is a wireless device that broadcasts a first wireless signal to the outside, the first wireless signal including an ID number and location information for the positioning beacon, each positioning beacon having a unique ID number. In this embodiment, the positioning beacon may broadcast the first wireless signal based on a short-distance transmission protocol such as bluetooth or Zigbee, and correspondingly, the wireless positioning module of the positioning terminal is in communication connection with the positioning beacon based on the same short-distance transmission protocol. The communication base station is in communication connection with the positioning terminal, for example, through 4G/5G communication connection, positioning information sent by the positioning terminal is quasi-returned to the monitoring server through LPWAN, LoRa, NB-IoT, 5G, 4G, GSM, GPRS or titanium, so that a worker can obtain real-time positioning information and a positioning path of a worker on site through the monitoring server. The positioning beacons of the embodiment are arranged in the devices of the large chemical engineering devices and in and out boundary regions of the large chemical engineering devices, for example, a plurality of positioning beacons are arranged in the devices of the large chemical engineering devices, so that the positioning beacons completely cover the interior of the devices, and meanwhile, N meters are derived outwards at the entrances and exits of the large chemical engineering devices, for example, M, for example, 4 positioning beacons are arranged in a 15-meter region, which is the boundary region between the interior of the device and the exterior of the device. Therefore, when the staff works on site, the positioning terminal always keeps communication connection with the positioning beacon, and the positioning terminal calculates the signal intensity of all received first wireless signals by receiving the first wireless signals broadcasted by the positioning beacon, so that the area information of the positioning terminal is judged to be in the device, outside the device or in the boundary area of the large chemical device according to the signal intensity of the first wireless signals, wherein the calculation of the wireless signal intensity is the prior art, and the description is omitted here. The area information may be determined according to the strength of the received first wireless signal and the position information of the positioning beacon corresponding to the first wireless signal, for example, the positioning terminal receives the first wireless signal a, the first wireless signal B, and the first wireless signal C broadcasted by the positioning beacons A, B and C, where the first wireless signal a, the first wireless signal B, and the first wireless signal C carry the ID information and the position information of the positioning beacon A, B, C, for example, the ID information of the positioning beacon A, B, C is A, B, C, and the position information is intra-device 1, intra-device 2, and border area 1, respectively. The positioning terminal calculates the signal strength of 3 first wireless signals respectively, for example, if the signal strength of the first wireless signal C is calculated to be the maximum, it is determined that the positioning terminal is closest to the positioning beacon C, and since the position information of the positioning beacon C is the boundary region 1, it is determined that the area information of the positioning terminal is the boundary region.
In this embodiment, the positioning terminal is further configured to:
and if the area information is in the device, the satellite positioning module is closed, the positioning terminal is positioned through the positioning beacon, and the positioning information is output. When the positioning terminal determines that the area information is in the device, the satellite positioning module is closed, so that the satellite positioning module is prevented from being in invalid connection with the navigation satellite, and the power consumption of the positioning terminal can be effectively reduced.
Meanwhile, in order to improve the positioning speed, sensitivity and accuracy when the positioning terminal starts satellite positioning, the communication base station of this embodiment is further configured to:
and broadcasting auxiliary information of the navigation satellite to the positioning terminal, wherein the auxiliary information comprises navigation satellite identity information and navigation satellite orbit information. In the existing satellite positioning technology, a satellite positioning module stores information of a navigation satellite in a storage device and uses the satellite information at regular time, however, when the satellite information stops distribution due to a navigation satellite fault, a positioning terminal still uses the stored invalid satellite information for positioning, so that a positioning result cannot be obtained, and time and electric energy are wasted. The auxiliary information of the navigation satellite is obtained through the communication base station, the auxiliary information of the navigation satellite is broadcasted to the positioning terminal, and the positioning terminal can judge whether to update the stored satellite information according to the received auxiliary information, so that when the satellite positioning module is started, the connection time with the navigation satellite can be effectively shortened, and the positioning efficiency is improved.
In a preferred implementation method of this embodiment, the location information of the first wireless signal includes group information corresponding to a positioning beacon, where the group information is a or B, where a denotes that the positioning beacon is disposed in the apparatus, and B denotes that the positioning beacon is disposed in a boundary region between the inside and the outside of the apparatus, so that the positioning terminal can determine whether the area information of the positioning beacon corresponding to the first wireless signal is in the apparatus or the boundary region according to the group information in the first wireless signal, and therefore, the positioning terminal is further configured to:
according to the group information of all the received first wireless signals, determining the positioning beacons of which the group information corresponding to all the received first wireless signals is A as a group A, and determining the positioning beacons of which the group information corresponding to all the received first wireless signals is B as a group B; respectively calculating the signal quality of the group A and the group B through a first preset algorithm, and determining the area information of the positioning terminal according to the effective signals of the group A and the group B; because when the positioning terminal is in some areas outside the device, because the influence of the sheltering of the large-scale chemical engineering device on satellite signals is large, the satellite positioning accuracy is poor, therefore, the positioning beacon is further arranged in the preset area outside the device, and the group information of the positioning beacon arranged in the preset area outside the device is B.
Specifically, the positioning terminal periodically monitors the first wireless signal broadcast by the positioning beacon, for example, it may be set that the positioning terminal monitors every 5 seconds, and because the coverage area of each positioning beacon is limited, the positioning terminal only receives the first wireless signals broadcast by specific n positioning beacons in a certain area. The positioning terminal acquires each first wireless signal group information by analyzing all received first wireless signals, divides positioning beacons with the same group information A into a group A, divides positioning beacons with the same group information B into a group B, and respectively calculates the signal quality of the group A and the group B, so that the group A or the group B is judged to be effective according to the signal quality, for example, when the signal quality of the group A is greater than that of the group B, the group A is judged to be effective, and the area information of the positioning terminal is in the device; when the signal quality of the group A is not greater than that of the group B, judging that the group B is effective, and positioning the area information of the terminal as a boundary area; when the signal quality of the group a and the signal quality of the group B do not satisfy the above condition, for example, when the first wireless signal of the group a and the group B is not received, both the group a and the group B are invalid, and the area information of the positioning terminal is outside the device.
The positioning terminal calculates the signal quality of the group a and the group B by a preset first preset algorithm, and therefore, the positioning terminal is further configured to:
obtaining the strength of the first wireless signal in the group A greater than the first threshold value RTFirst radio signal strength RAMAcquiring that the intensity of the first wireless signal in the group B is greater than a first threshold value RTFirst radio signal strength RBM(ii) a The acquired first wireless signals in the group A and the group B, the signal strength of which is lower than a first threshold value, for example, the first wireless signals of-85 db are discarded, and the first wireless signals of which the signal strength is lower than-85 db can be regarded as that the positioning terminal is at the edge of the coverage range of the positioning beacon, so that after the first wireless signals broadcast by the positioning terminal are discarded, the interference of invalid signals can be effectively avoided, and the signal quality of the group A and the group B can be calculated more accurately.
Calculating the Signal quality w of group AAAnd signal quality w of group BBThe specific calculation formula of (2) is as follows:
wA＝(RT+RA1)+(RT+RA2)+...+(RT+RAM)；
wB＝(RT+RB1)+(RT+RB2)+...+(RT+RBN)；
if wA＞wBAnd w is aA＞wTThe area information of the positioning terminal is in the device; if wB≥wAAnd w is aB＞wTThe area information of the positioning terminal is a boundary area; otherwise, positioning the regional information of the terminal outside the device; wherein wTIs a second threshold. For example, the first wireless signals with the group A signal intensity of more than-85 db obtained by discarding the invalid signals by the positioning terminal are respectively RA1＝-70db、RA2-55db and RA3＝-35dbSubstituting it into formula to calculate wA-415db (-85db + (-70db)) + (-85db + (-55db)) + (-85db + (-35 db)); the first wireless signals with the B group signal intensity larger than-85 db obtained after the positioning terminal discards invalid signals are respectively RB1＝-75db、RB2＝-77db、RB3-80db and RB4Is-83 db, and is substituted into the formula to obtain wB(-85db + (-75db)) + (-85db + (-77db)) + (-85db + (-80db)) + (-85db + (-83db)) -, -655 db; due to wA＞wBTherefore, if the group a is determined to be valid, the area information of the positioning terminal is determined to be in-device, which indicates that the positioning terminal is in the device of the large chemical plant at this time.
When the area information of the positioning terminal is determined to be the boundary area through the first preset algorithm, the positioning mode needs to be determined through the first wireless signal and the satellite signal, and then the positioning terminal is further configured to:
if the regional information is the boundary region, starting a satellite positioning module and acquiring a second wireless signal of the navigation satellite; calculating the signal quality Q of all the acquired navigation satellites through a second preset algorithm according to all the acquired second wireless signals; if wBIf the signal strength is not less than Q, the position information of the positioning beacon corresponding to the first wireless signal with the maximum received signal strength is used as the positioning information of the positioning terminal; if Q < wBAnd positioning the positioning terminal through the navigation satellite and outputting positioning information.
In this embodiment, the positioning terminal calculates the signal quality of the second wireless signal through a second preset algorithm, and therefore, the positioning terminal is further configured to:
determining the signal-to-noise ratio of the corresponding navigation satellite according to all the acquired second wireless signals; acquiring the signal-to-noise ratio C of the navigation satellite with the signal-to-noise ratio larger than a third threshold KN(ii) a Calculating the signal quality Q of the navigation satellite according to the following formula:
wherein, X is a GDoP value of the navigation satellite, and the value may be regarded as a fixed value, or an average value of the obtained GDoP values of all the navigation satellites may be taken.
In particular, the method comprises the following steps of,when the positioning terminal determines that the area information of the positioning terminal is a boundary area according to a first preset algorithm, the positioning terminal starts a satellite positioning module and searches for second wireless signals of a navigation satellite, simultaneously calculates the signal-to-noise ratio of all the received second wireless signals, and compares the signal-to-noise ratio C of all the second wireless signals with the signal-to-noise ratio larger than a third threshold K1、C2、...CNSubstituting the above formula to calculate the signal quality Q of the navigation satellite, wherein K is 25db, and the calculation of GDoP value of the navigation satellite is the prior art, which is not repeated herein, by comparing the signal quality Q of the navigation satellite with the signal quality w of the group BBThe positioning mode with the best signal quality is selected for positioning, so that the positioning precision can be effectively improved.
In order to improve the smoothness of the output positioning result, the positioning terminal further needs to perform filtering processing on the positioning result, so the positioning terminal is further configured to:
the positioning information generated by positioning through the positioning beacon and the positioning information generated by positioning through the navigation satellite are input into the filter according to a time sequence, the filter can be Kalman filtering, particle filtering or a combination of Kalman filtering and particle filtering, the positioning information is output according to the time sequence and serves as final positioning information after being filtered by the filter, and the final positioning information is sent to the monitoring server by the positioning terminal through the communication base station, so that background workers can monitor the real-time positioning and action tracks of field workers in real time.
Example 2
As shown in fig. 2, based on embodiment 1, the present invention further provides a chemical apparatus internal and external positioning method based on a positioning beacon, including:
each positioning beacon respectively broadcasts a first wireless signal;
the positioning terminal determines the area information of the positioning terminal according to all the received first wireless signals, wherein the area information comprises an in-device area, a boundary area and an out-device area;
if the area information is in the device, positioning the positioning terminal through the positioning beacon and outputting positioning information;
if the area information is the boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all the first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;
if the area information is outside the device, positioning the positioning terminal through a navigation satellite, and outputting positioning information;
and the communication base station receives the positioning information output by the positioning terminal and sends the positioning information to the monitoring server.
Optionally, the method further comprises:
and the communication base station broadcasts the auxiliary information of the navigation satellite to the positioning terminal, wherein the auxiliary information comprises navigation satellite identity information and navigation satellite orbit information.
Optionally, the determining, by the positioning terminal, area information of the positioning terminal according to all received first wireless signals includes group information corresponding to the positioning beacon, where the group information is a or B, where a denotes that the positioning beacon is disposed in the apparatus, and B denotes that the positioning beacon is disposed in a boundary region between the inside and the outside of the apparatus, and the determining, by the positioning terminal, includes:
the positioning terminal determines the positioning beacons of which the received group information corresponding to all the first wireless signals is A as an A group and determines the positioning beacons of which the received group information corresponding to all the first wireless signals is B as a B group according to the received group information of all the first wireless signals;
and respectively calculating the signal quality of the group A and the group B through a first preset algorithm, and determining the area information of the positioning terminal according to the effective signals of the group A and the group B.
Optionally, the positioning beacon is further disposed in a preset area outside the device, and the group information of the positioning beacon disposed in the preset area outside the device is B.
Optionally, the method includes calculating signal qualities of the group a and the group B by using a first preset algorithm, and determining area information of the positioning terminal according to effective signals of the group a and the group B, including:
obtaining the strength of the first wireless signal in the group A greater than the first threshold value RTFirst radio signal strength RAMAcquiring that the intensity of the first wireless signal in the group B is greater than a first threshold value RTFirst radio signal strength RBM；
Calculating the signal quality w of group A respectively according to the following formulaAAnd signal quality w of group BB：
wA＝(RT+RA1)+(RT+RA2)+...+(RT+RAM)；
wB＝(RT+RB1)+(RT+RB2)+...+(RT+RBN)；
If wA＞wBAnd w isA＞wTThe area information of the positioning terminal is in the device;
if wB≥wAAnd w isB＞wTThe area information of the positioning terminal is a boundary area;
otherwise, positioning the regional information of the terminal outside the device;
wherein wTIs the second threshold.
Optionally, the positioning terminal includes a satellite positioning module, and if the area information is in the device, the positioning terminal is positioned through the positioning beacon, and the positioning information is output, including:
and if the area information is in the device, the satellite positioning module is closed, the positioning terminal is positioned through the positioning beacon, and the positioning information is output.
Optionally, if the area information is the boundary area, determining that the positioning terminal performs positioning through the positioning beacon or the navigation satellite according to the strength of all the first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information, where the method includes:
if the regional information is the boundary region, starting a satellite positioning module and acquiring a second wireless signal of the navigation satellite;
calculating effective signals Q of all the obtained navigation satellites through a second preset algorithm according to all the obtained second wireless signals;
if wBIf the signal strength is not less than Q, the position information of the positioning beacon corresponding to the first wireless signal with the maximum received signal strength is used as the positioning of the positioning terminalInformation;
if Q < wBAnd positioning the positioning terminal through the navigation satellite and outputting positioning information.
Optionally, calculating the obtained effective signals Q of all the navigation satellites through a second preset algorithm according to all the obtained second wireless signals, including:
determining the signal-to-noise ratio of the corresponding navigation satellite according to all the acquired second wireless signals;
acquiring the signal-to-noise ratio C of the navigation satellite with the signal-to-noise ratio larger than a third threshold KN；
Calculating the signal quality Q of the navigation satellite according to the following formula:
wherein, X is the GDoP value of the navigation satellite.
Optionally, the receiving, by the communication base station, the positioning information output by the positioning terminal and sending the positioning information to the monitoring server includes:
the positioning terminal inputs the positioning information generated by positioning through the positioning beacon and the positioning information generated by positioning through the navigation satellite into the filter according to time sequence, and the positioning information output by the filter is used as final positioning information;
and the positioning terminal sends the final positioning information to the monitoring server through the communication base station.
In summary, the invention calculates and compares the signal intensities of the positioning beacon group and the navigation satellite through the preset algorithm, and determines which group of positioning beacons or navigation satellites is adopted to position the positioning terminal according to the comparison result, thereby effectively solving the problem of large positioning error caused by the fact that the mobile personnel can not be accurately positioned and switched inside and outside the device in the prior art, being beneficial to improving the positioning efficiency of the site working personnel of large-scale chemical devices in the chemical industry, and greatly improving the positioning accuracy.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to make a single chip, a chip, or a processor (processor) execute all or part of the steps in 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 addition, any combination of the various embodiments of the present invention is also possible, and the same shall be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (18)
1. A chemical device inside and outside positioning system based on positioning beacons is characterized by comprising: the system comprises a positioning terminal, a plurality of positioning beacons arranged in the device and in a boundary region between the inside and the outside of the device, at least one communication base station and a monitoring server;
the positioning beacon is used for broadcasting a first wireless signal;
the positioning terminal is used for:
determining area information of the positioning terminal according to all received first wireless signals, wherein the area information comprises an in-device area, a boundary area and an out-device area; and
if the area information is in the device, positioning the positioning terminal through a positioning beacon and outputting positioning information;
if the area information is the boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;
if the area information is outside the device, positioning the positioning terminal through a navigation satellite, and outputting positioning information;
and the communication base station is used for receiving the positioning information output by the positioning terminal and sending the positioning information to the monitoring server.
2. The location beacon-based chemical plant internal and external positioning system of claim 1, wherein the communication base station is further configured to:
and broadcasting auxiliary information of the navigation satellite to the positioning terminal, wherein the auxiliary information comprises navigation satellite identity information and navigation satellite orbit information.
3. A positioning beacon-based chemical industry device inside and outside positioning system according to claim 1, wherein the first wireless signal includes group information corresponding to a positioning beacon, the group information being a or B, where a denotes that the positioning beacon is disposed inside the device, and B denotes that the positioning beacon is disposed in a boundary region between inside and outside the device, the positioning terminal is further configured to:
according to the received group information of all the first wireless signals, determining the positioning beacons of which the group information corresponding to all the first wireless signals is A as a group A, and determining the positioning beacons of which the group information corresponding to all the first wireless signals is B as a group B;
and respectively calculating the signal quality of the group A and the signal quality of the group B through a first preset algorithm, and determining the area information of the positioning terminal according to the signal quality of the group A and the signal quality of the group B.
4. The chemical device inside and outside positioning system based on positioning beacons as claimed in claim 3, wherein the positioning beacons are further arranged in a preset area outside the device, and the group information of the positioning beacons arranged in the preset area outside the device is B.
5. The positioning beacon-based chemical device inside and outside positioning system according to claim 3, wherein the positioning terminal is further configured to:
obtaining that the intensity of the first wireless signal in the group A is larger than a first threshold value RTFirst radio signal strength RAMAcquiring that the intensity of the first wireless signal in the group B is greater than the first threshold value RTFirst radio signal strength RBM；
Calculating the signal quality w of the group A respectively according to the following formulaAAnd signal quality w of group BB：
wA＝(RT+RA1)+(RT+RA2)+...+(RT+RAM)；
wB＝(RT+RB1)+(RT+RB2)+...+(RT+RBN)；
If wA＞wBAnd w isA＞wTThe area information of the positioning terminal is in the device;
if wB≥wAAnd w isB＞wTThe area information of the positioning terminal is a boundary area;
otherwise, the area information of the positioning terminal is outside the device;
wherein wTIs the second threshold.
6. The positioning beacon-based chemical device inside and outside positioning system according to claim 5, wherein the positioning terminal comprises a satellite positioning module, and the positioning terminal is further configured to:
and if the area information is in the device, closing the satellite positioning module, positioning the positioning terminal through a positioning beacon, and outputting positioning information.
7. The positioning beacon-based chemical device inside and outside positioning system according to claim 6, wherein the positioning terminal is further configured to:
if the regional information is the boundary region, starting the satellite positioning module and acquiring a second wireless signal of the navigation satellite;
calculating the signal quality Q of all the acquired navigation satellites through a second preset algorithm according to all the acquired second wireless signals;
if wBIf the signal strength is not less than Q, the position information of the positioning beacon corresponding to the first wireless signal with the maximum received signal strength is used as the positioning information of the positioning terminal;
if Q < wBAnd positioning the positioning terminal through the navigation satellite and outputting positioning information.
8. The positioning beacon-based chemical device inside and outside positioning system according to claim 7, wherein the positioning terminal is further configured to:
determining the signal-to-noise ratio of the corresponding navigation satellite according to all the acquired second wireless signals;
acquiring the signal-to-noise ratio C of the navigation satellite with the signal-to-noise ratio larger than a third threshold KN；
Calculating the signal quality Q of the navigation satellite according to the following formula:
wherein, X is the GDoP value of the navigation satellite.
9. The positioning beacon-based chemical device inside and outside positioning system according to claim 8, wherein the positioning terminal is further configured to:
inputting the positioning information generated by positioning through the positioning beacon and the positioning information generated by positioning through the navigation satellite into a filter according to time sequence, and taking the positioning information output by the filter as final positioning information;
and sending the final positioning information to the monitoring server through the communication base station.
10. A chemical device internal and external positioning method based on a positioning beacon is characterized in that the method is applied to a chemical device internal and external positioning system based on the positioning beacon, and the method comprises the following steps:
a positioning beacon broadcasts a first wireless signal;
the positioning terminal determines area information of the positioning terminal according to all received first wireless signals, wherein the area information comprises an inner device area, a boundary area and an outer device area;
if the area information is in the device, positioning the positioning terminal through a positioning beacon and outputting positioning information;
if the area information is the boundary area, determining that the positioning terminal performs positioning through a positioning beacon or a navigation satellite according to the strength of all first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting positioning information;
if the area information is outside the device, positioning the positioning terminal through a navigation satellite, and outputting positioning information;
and the communication base station receives the positioning information output by the positioning terminal and sends the positioning information to the monitoring server.
11. The method for locating inside and outside a chemical device based on a positioning beacon according to claim 10, further comprising:
and the communication base station broadcasts the auxiliary information of the navigation satellite to the positioning terminal, wherein the auxiliary information comprises navigation satellite identity information and navigation satellite orbit information.
12. The method as claimed in claim 10, wherein the positioning beacon is plural, and the first wireless signal includes group information corresponding to the positioning beacon, where the group information is a or B, where a denotes that the positioning beacon is located inside the apparatus, and B denotes that the positioning beacon is located in a boundary region between inside and outside the apparatus, and the positioning terminal determines area information of the positioning terminal according to all the received first wireless signals, including:
the positioning terminal determines positioning beacons with the group information A corresponding to all the received first wireless signals as a group A and determines the positioning beacons with the group information B corresponding to all the received first wireless signals as a group B according to the group information of all the received first wireless signals;
and respectively calculating the signal quality of the group A and the signal quality of the group B through a first preset algorithm, and determining the area information of the positioning terminal according to the signal quality of the group A and the signal quality of the group B.
13. The method as claimed in claim 12, wherein the positioning beacon is further disposed in a preset area outside the chemical device, and the group information of the positioning beacon disposed in the preset area outside the chemical device is B.
14. The method as claimed in claim 12, wherein the step of calculating the signal quality of group a and group B by a first predetermined algorithm, and determining the area information of the positioning terminal according to the signal quality of group a and group B comprises:
obtaining the strength of the first wireless signal in the group A greater than the first threshold value RTFirst radio signal strength RAMAcquiring that the intensity of the first wireless signal in the group B is greater than the first threshold value RTFirst radio signal strength RBM；
Calculating the signal quality w of the group A respectively according to the following formulaAAnd signal quality w of group BB：
wA＝(RT+RA1)+(RT+RA2)+...+(RT+RAM)；
wB＝(RT+RB1)+(RT+RB2)+...+(RT+RBN)；
If wA＞wBAnd w isA＞wTThe area information of the positioning terminal is in the device;
if wB≥wAAnd w is aB＞wTThe area information of the positioning terminal is a boundary area;
otherwise, the area information of the positioning terminal is outside the device;
wherein wTIs a second threshold.
15. The method according to claim 14, wherein the positioning terminal comprises a satellite positioning module, and the positioning terminal is positioned by the positioning beacon and outputs positioning information if the area information is inside the device, the method comprising:
and if the area information is in the device, closing the satellite positioning module, positioning the positioning terminal through a positioning beacon, and outputting positioning information.
16. The method as claimed in claim 15, wherein if the area information is a boundary area, determining that the positioning terminal is positioned by a positioning beacon or a navigation satellite according to the strength of all the first wireless signals received by the positioning terminal and the signal strength of the navigation satellite, and outputting the positioning information comprises:
if the regional information is the boundary region, starting the satellite positioning module and acquiring a second wireless signal of the navigation satellite;
calculating the signal quality Q of all the acquired navigation satellites through a second preset algorithm according to all the acquired second wireless signals;
if wBIf the signal strength is not less than Q, the position information of the positioning beacon corresponding to the first wireless signal with the maximum received signal strength is used as the positioning information of the positioning terminal;
if Q < wBAnd positioning the positioning terminal through the navigation satellite and outputting positioning information.
17. The positioning beacon-based chemical device inside and outside positioning method according to claim 16, wherein the calculating the obtained effective signals Q of all navigation satellites through a second preset algorithm according to all the obtained second wireless signals comprises:
determining the signal-to-noise ratio of the corresponding navigation satellite according to all the acquired second wireless signals;
acquiring the signal-to-noise ratio C of the navigation satellite with the signal-to-noise ratio larger than a third threshold KN；
Calculating the signal quality Q of the navigation satellite according to the following formula:
wherein, X is the GDoP value of the navigation satellite.
18. The method for positioning inside and outside the chemical engineering device based on the positioning beacon according to claim 17, wherein the communication base station receives the positioning information output by the positioning terminal and sends the positioning information to the monitoring server, and the method comprises:
the positioning terminal inputs the positioning information generated by positioning through the positioning beacon and the positioning information generated by positioning through the navigation satellite into the filter according to time sequence, and the positioning information output by the filter is used as final positioning information;
and the positioning terminal sends the final positioning information to the monitoring server through the communication base station.
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Effective date of registration: 20221230 Address after: Yanan City, Shandong province Qingdao City three road 266071 No. 218 Applicant after: CHINA PETROLEUM & CHEMICAL Corp. Applicant after: Sinopec Safety Engineering Research Institute Co.,Ltd. Applicant after: Qingdao Sinochem sunshine Management System Certification Center Co.,Ltd. Address before: Yanan City, Shandong province Qingdao City three road 266071 No. 218 Applicant before: CHINA PETROLEUM & CHEMICAL Corp. Applicant before: SINOPEC Research Institute OF SAFETY ENGINEERING Applicant before: Qingdao Sinochem sunshine Management System Certification Center Co.,Ltd. |
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