CN115397014A - High-precision fusion positioning system and method and electronic equipment - Google Patents
High-precision fusion positioning system and method and electronic equipment Download PDFInfo
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Abstract
The invention relates to the technical field of automatic positioning, in particular to a high-precision fusion positioning system and method and electronic equipment. The system comprises a server, a management terminal, a core switch, a positioning base station, a switch module and a positioning label. The core switch is used for exchanging data of all equipment accessed to the Ethernet, the management terminal is used for monitoring staff of a railway construction site in real time, the switch module is used for accessing a positioning substation of the railway construction site, the positioning base station is used for outputting a transmitting signal to the positioning label, receiving a reflecting signal reflected by the positioning label, measuring angle information of the positioning label and time of the reflecting signal reflected by the positioning label reaching the positioning base station, and calculating position information according to the time. The invention can realize the real-time sub-meter-level high-precision position data positioning of all working personnel in a railway construction site, and realize the management and control of a high-risk area and a risk area of dangerous equipment in the railway construction site.
Description
Technical Field
The invention relates to the technical field of automatic positioning, in particular to a high-precision fusion positioning system and method and electronic equipment.
Background
Aiming at operation sites such as manufacturing factories, workshops, mines, coal yards and the like in complex environments with severe conditions, wide cross construction range, high frequency, large danger coefficient and the like, the operation contents of different work types are complex and dangerous, high-risk areas at the site of railway construction are numerous, workers cannot effectively avoid dangerous areas or dangerous equipment during daily operation, dangerous accidents occur, casualties cannot be rapidly alarmed for help seeking or self rescue, rescuers cannot accurately acquire the real-time positions of the personnel at the site of railway construction, the personnel cannot rapidly arrive at the site for rescue when the casualties occur, daily inspection of major dangerous source equipment at the site of railway construction is not standard, and the dangerous accidents occur. Therefore, a positioning system capable of positioning all the workers in the railway construction site in real time by using sub-meter-level high-precision position data is urgently needed.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a high-precision fusion positioning system, method and electronic device, which are used to solve the problems in the prior art that the real-time position of personnel on a railway construction site cannot be accurately obtained, casualties cannot rapidly arrive at a place to perform rescue, daily routing inspection of major hazard source equipment on the railway construction site is not standardized, and dangerous accidents occur.
To achieve the above and other related objects, the present invention provides a high precision fusion positioning system, comprising:
the core switch is used for carrying out data exchange on all devices accessed to the Ethernet and serves as the core switching device of the Ethernet;
the management terminal is used for monitoring staff on a railway construction site in real time and acquiring positioning information, geographic information and personnel information through the access server;
the server is used for providing positioning information, geographic information and personnel information for the management terminal and storing the positioning information, the geographic information and the personnel information;
the switch module is used for accessing a positioning substation of a railway construction site;
the positioning base station is used for outputting a transmitting signal to the positioning label, receiving a reflected signal reflected by the positioning label, measuring angle information of the positioning label and time of the reflected signal reflected by the positioning label reaching the positioning base station, and calculating position information according to the time, wherein the positioning base station is arranged in a railway construction site at intervals and is in communication connection with the switch module;
and the positioning tag is used for ranging and positioning staff on the railway construction site.
In an embodiment of the present invention, the positioning base station includes:
the MCU control module is used as a controller of the positioning base station;
the Bluetooth module is in communication connection with the MCU control module;
the radio frequency transceivers are in communication connection with the MCU control module and the array antenna;
a duplexer, wherein the signal input end of the duplexer is connected with the signal output ends of the plurality of radio frequency transceivers;
a signal input end of the radio frequency receiver is connected with a signal output end of the duplexer, and a signal output end of the radio frequency receiver is connected with a signal input end of the MCU control module;
and the signal input end of the first memory is connected with the signal output end of the MCU control module.
In an embodiment of the present invention, the switch module includes a plurality of switches, and a ring ethernet is formed between the plurality of switches.
In an embodiment of the present invention, the positioning tag includes:
the antenna terminal is in communication connection with the array antenna;
a processor, which is connected with the antenna terminal in a communication way;
the positioning chip is used for positioning the positioning label and is in bidirectional communication connection with the processor;
a second memory communicatively coupled to the processor;
and the signal output end of the clock is connected with the signal input end of the processor.
In one embodiment of the invention, the positioning tag is worn by a railway construction site worker.
The invention also provides a high-precision fusion positioning method, which comprises the following steps:
s1, performing data exchange on all equipment accessed to the Ethernet through a core switch, wherein the core switch is used as core switching equipment of the Ethernet;
s2, monitoring the staff in the railway construction site in real time through the management terminal, and acquiring positioning information, geographic information and personnel information through an access server;
s3, providing positioning information, geographic information and personnel information for the management terminal through a server, and storing the positioning information, the geographic information and the personnel information;
s4, accessing a positioning substation of a railway construction site through a switch module;
s5, outputting a transmitting signal to a positioning label through a positioning base station, receiving a reflected signal reflected by the positioning label, measuring angle information of the positioning label and time of the reflected signal reflected by the positioning label reaching the positioning base station, and calculating position information according to the time, wherein the positioning base station is installed in a railway construction site at intervals and is in communication connection with the switch module;
and S6, carrying out distance measurement and positioning on the staff in the railway construction site through the positioning tag.
In an embodiment of the present invention, the outputting, by the positioning base station, the transmission signal to the positioning tag and receiving the reflection signal reflected by the positioning tag in step S5 includes:
s51, outputting a transmitting signal a (t) to a positioning label through a positioning base station;
s52, calculating a reflected signal channel impulse response h (T), h (T) = A (D) delta (T-T (D)), wherein A (D) is a reflected signal amplitude function, and delta (T-T (D)) is an impulse function;
and S53, calculating a reflected signal b (t) reflected by the positioning tag according to the reflected signal channel impulse response h (t), wherein b (t) = h (t) × a (t) + c (t), h (t) is the reflected signal channel impulse response, a (t) is a transmission signal, and c (t) is the reflected signal thermal noise.
In an embodiment of the present invention, the step S5 of measuring the angle information of the positioning tag and the time when the reflected signal reflected by the positioning tag reaches the positioning base station includes:
s511, measuring the azimuth angle of the positioning tag:
wherein (x, y, z) represents the location coordinates of the location tag, (x) i ，y i ，z i ) Coordinates for positioning the base station;
s512, measuring the pitch angle of the positioning label:
s513, calculating the time t of the reflected signal reflected by the positioning tag reaching the positioning base station,
in an embodiment of the present invention, the calculating the location information according to time in step S5 includes:
s514, according to the time T of the reflected signal reflected by the positioning label to the positioning base station, calculating the time T from the transmission of the reflected signal to the reception of the positioning label response signal of the substation in the positioning base station A ：T A ＝t(1+P A ) Wherein P is A Locating the clock frequency offset of a substation in a base station;
s515, calculating the delay time T from the receiving of the reflected signal to the sending of the response signal by the positioning tag B I.e. the time T used for processing the signal of the positioning label B ＝t(1+P B ) Wherein, P B A clock frequency offset for the positioning tag;
s516, calculating positioning label to positioning base stationDistance information between substations
Where c is the signal transmission speed.
The invention also provides electronic equipment which comprises a processor and a memory, wherein the memory stores program instructions, and the processor runs the program instructions to realize the high-precision fusion positioning method.
As described above, the high-precision fusion positioning system, method and electronic device of the present invention have the following advantages:
the high-precision fusion positioning system comprises a server, a management terminal, a core switch, a positioning base station, a switch module and a positioning label, can realize the real-time sub-meter-level high-precision position data positioning of all workers on a railway construction site, realizes the management and control of a high-risk area and a risk area of dangerous equipment on the railway construction site, and reminds the workers to rapidly evacuate the area if the workers break into the dangerous area without permission and under unknown conditions to generate danger alarm.
The high-precision fusion positioning system can send out SOS alarm through the management terminal when the working personnel have dangerous accidents and casualties, and the management and rescue personnel can quickly receive the alarm and position the position data of the personnel to realize quick rescue, thereby improving the personal safety of the working personnel.
The high-precision fusion positioning system can realize high-quality supervision on high-risk patrol areas of the railway construction site department, timely and effectively troubleshoot dangerous sources of the patrol areas, and efficiently improve personnel safety and production benefits of the railway construction site department.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision fusion positioning system according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a positioning base station of a high-precision fusion positioning system according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a positioning tag of the high-precision fusion positioning system according to the embodiment of the present application.
Fig. 4 is a flowchart of a high-precision fusion positioning method provided in the embodiment of the present application.
Fig. 5 is a flowchart illustrating a step S5 of a high-precision fusion positioning method according to an embodiment of the present application.
Fig. 6 is a flowchart of the operation of step S5 of the high-precision fusion positioning method according to yet another embodiment of the present application.
Fig. 7 is a schematic block diagram of a structure of an electronic device according to an embodiment of the present application.
Fig. 8 is a schematic block diagram of a structure of a computer-readable storage medium according to an embodiment of the present application.
Description of the element reference numerals
1. Server
2. Management terminal
3. Core switch
4. Positioning base station
5. Switch module
6. Positioning label
41 MCU control module
42. Bluetooth module
43. Radio frequency transceiver
44. Array antenna
45. Duplexer
46. Radio frequency receiver
47. First memory
51. First switch
52. Second switch
53. Third switch
54. Nth exchanger
61. Processor with a memory having a plurality of memory cells
62. Second memory
63. Antenna terminal
64. Clock (CN)
65. Positioning chip
66. Power supply
10. Processor with a memory having a plurality of memory cells
20. Memory device
30. Computer readable storage medium
40. Computer instructions
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a high-precision fusion positioning system according to an embodiment of the present disclosure. The invention provides a high-precision fusion positioning system which improves the traditional Bluetooth positioning precision by 10 times, can control the real-time position of workers and the risk of a high-risk area of a railway construction site by managers and rescuers in complex environments such as factories, workshops, mines, coal yards and the like and high-risk workers and rescue personnel of high-risk workshops, and plays a role in high efficiency, convenience and safety in safety management of a routing inspection area, and comprises but not limited to a server 1, a management terminal 2, a core switch 3, a positioning base station 4, a switch module 5 and a positioning tag 6. The core switch 3 is used for exchanging data of all equipment accessed to the Ethernet, the core switch 3 is used as core switching equipment of the Ethernet, the management terminal 2 is used for monitoring staff in the railway construction site in real time, positioning information, geographic information and personnel information are obtained by accessing the server 1, the server 1 is used for providing the positioning information, the geographic information and the personnel information for the management terminal 2 and storing the positioning information, the geographic information and the personnel information, the switch module 5 is used for accessing a positioning substation in the railway construction site, the positioning base station 4 is used for outputting a transmitting signal to the positioning tag 6 and receiving a reflecting signal reflected by the positioning tag 6, measuring the angle information of the positioning tag 6 and the time of the reflecting signal reflected by the positioning tag 6 reaching the positioning base station 4 and calculating the position information according to the time, the positioning base stations 4 are installed in the railway construction site at intervals, the positioning base stations 4 are in communication connection with the switch module 5, and the positioning tag 6 is used for ranging and positioning the staff in the railway construction site.
Specifically, the switch module 5 includes a plurality of switches, is first switch 51, second switch 52, third switch 53, nth switch 54 respectively, and is a plurality of constitute cyclic annular ethernet between the switch, the location label 6 is worn by the railway construction site staff. The management terminal 2 is used for performing data management on the positioning tag 6 and a worker wearing the positioning tag 6, including data addition, deletion, query and modification. The positioning base station 4 comprises a plurality of positioning substations, and is used for performing positioning ranging on the positioning tags 6. The management terminal 2 can be connected with a monitoring terminal, and can be accessed into the Ethernet through the Internet to remotely monitor workers.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a positioning base station of a high-precision fusion positioning system according to an embodiment of the present application. The positioning base station 4 includes, but is not limited to, an MCU control module 41, a bluetooth module 42, a plurality of radio frequency transceivers 43, an array antenna 44, a duplexer 45, a radio frequency receiver 46, and a first memory 47. MCU control module 41 is as the controller of location basic station 4, bluetooth module 42 with communication connection between the MCU control module 41 is a plurality of radio frequency transceiver 43 with communication connection between MCU control module 41, the array antenna 44, the signal input part of duplexer 45 with the signal output part of a plurality of radio frequency transceivers 43 is connected, radio frequency receiver 46's signal input part with duplexer 45's signal output part is connected, radio frequency receiver 46's signal output part with MCU control module 41's signal input part is connected, first memory 47's signal input part with MCU control module 41's signal output part is connected.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a positioning tag of a high-precision fusion positioning system according to an embodiment of the present disclosure. The positioning tag 6 includes, but is not limited to, a processor 61, a second memory 62, an antenna terminal 63, a clock 64, and a positioning chip 65, where the antenna terminal 63 is communicatively connected to the array antenna 44, the processor 61 is communicatively connected to the antenna terminal 63, the positioning chip 65 is used for positioning the positioning tag 6, the positioning chip 65 is communicatively connected to the processor 61 in a bidirectional manner, the second memory 62 is communicatively connected to the processor 61 in a bidirectional manner, and a signal output end of the clock 64 is connected to a signal input end of the processor 61. Specifically, the processor 61 may employ, but is not limited to, an STM chip, the second memory 62 is used for storing data, and is in communication connection with the processor 61 in a bus manner, the clock 64 employs a crystal oscillator, and the positioning chip 65 may employ, but is not limited to, a DW1000 chip.
Referring to fig. 4, fig. 4 is a flowchart illustrating a high-precision fusion positioning method according to an embodiment of the present disclosure. The invention provides a high-precision fusion positioning method, which comprises the following steps:
step S1, performing data exchange on all devices accessed to the Ethernet through a core switch 3, wherein the core switch 3 is used as a core switching device of the Ethernet.
And S2, monitoring the railway construction site workers in real time through the management terminal 2, and acquiring positioning information, geographic information and personnel information through the access server 1.
And S3, providing the positioning information, the geographic information and the personnel information for the management terminal 2 through the server 1, and storing the positioning information, the geographic information and the personnel information.
And S4, accessing the positioning substation of the railway construction site through the switch module 5.
And S5, outputting a transmitting signal to a positioning label 6 through a positioning base station 4, receiving a reflected signal reflected by the positioning label 6, measuring angle information of the positioning label 6 and time of the reflected signal reflected by the positioning label 6 reaching the positioning base station 4, calculating position information according to the time, installing the positioning base station 4 in a railway construction site at intervals, and connecting the positioning base station 4 with the switch module 5 in a communication manner.
Specifically, the position information may be measured by an angle of arrival (AOA) method, a single antenna is used to transmit a direction-finding signal, an antenna array is built in a device at a receiving end, when a signal passes through the antenna array, a phase difference is generated due to different distances received in the array, and a relative signal direction is calculated, an angle of departure (AOD) method is opposite to the former, a device with an antenna array at a fixed position sends the signal to a single antenna terminal, and the terminal can calculate an incoming wave direction through the received signal, and then positioning is performed. The basic principle of angle detection of the AOA or the AOD is to acquire the phase difference of signals on different array elements through an antenna array and then acquire incoming wave direction information through a signal angle estimation algorithm. In order to better support AOA and AOD, the related technical requirements of IQ sampling and CTE of signals are established.
Taking two antennas as an example, when a fixed-frequency signal is sent from a transmitting end, an electromagnetic wave will reach the antenna 1 and the antenna 2, and because the spatial positions of the antenna 1 and the antenna 2 are different, the wave paths of the signal reaching the two antennas are different, and further, a difference in phase will also occur. Different incoming wave directions will generate different phase differences. The radio frequency chip can obtain phase information by performing IQ sampling on signals on each antenna, and phase difference can be obtained by comparing the phase information on 2 antennas.
When the two antennas are close enough (less than half wavelength), the whole period ambiguity of the phase difference can be eliminated, and the incoming wave direction can be uniquely confirmed. Where λ is the wavelength of the transmitted signal, Δ φ is the reception of antenna 1 and antenna 2The phase difference of the same signal, theta is the angle of arrival (AOA) of the signal to be obtained, d is the distance between the two antennas, and
the CTE is a fixed frequency (250 kHz) unmodulated signal which can be used very conveniently for phase difference detection, which has a duration of 16us to 160us, no CRC check, and supports both types of broadcast mode and connected mode. The CTE signal is a signal added after the CRC check and does not affect the original data content. Whether or not there is a CTE, which can be specified in the header of the PDU, includes a setting for the type of CTE (AOA, AOD lus, AOD 2 us) and a duration setting for the CTE.
The array antenna 44 can obtain two-dimensional angles by using a linear array, a rectangular array and a circular array.
The positioning base station (4) can adopt a single base station or multi-base station mode, and the single base station positions: if the height change of the positioned terminal is small, a single-base-station two-dimensional positioning method with fixed height can be adopted, a ray from the base station can be obtained through AOA angle estimation, and the ray is intersected with the height plane of the positioning terminal to obtain a plane coordinate. The positioning coverage of a single base station is a conical area taking the base station as a center, the farther the base station is away from the single base station, the larger the plane coordinate change caused by the same angle error is, the larger the position error is, and the closer the base station is, the better the positioning accuracy is. The coverage of the high-precision area can be improved by properly increasing the height difference from the terminal to the base station. The multiple base stations are positioned on the basis of the two-dimensional positioning of the single base station, the large-scale networking of all the positioning base stations is carried out, the heading angles of the multiple base stations are jointly calculated, and the full coverage of high-precision positioning in a wider range is realized.
And S6, carrying out distance measurement and positioning on the staff at the railway construction site through the positioning tag 6, wherein the positioning tag 6 is worn by the staff at the railway construction site.
Referring to fig. 5 and fig. 6, fig. 5 is a flowchart of the operation of step S5 of the high-precision fusion positioning method according to an embodiment of the present disclosure. Fig. 6 is a flowchart of the operation of step S5 of the high-precision fusion positioning method according to yet another embodiment of the present application. Outputting the transmission signal to the positioning tag 6 through the positioning base station 4 in step S5, and receiving the reflection signal reflected by the positioning tag 6 includes:
step S51, outputting the transmission signal a (t) to the positioning tag 6 through the positioning base station 4.
Step S52, calculating a reflected signal channel impulse response h (T), h (T) = a (D) δ (T-T (D)), where a (D) is a reflected signal amplitude function and δ (T-T (D)) is an impulse function.
Step S53, according to the reflected signal channel impulse response h (t), calculating a reflected signal b (t), b (t) = h (t) × a (t) + c (t) reflected by the positioning tag 6, where h (t) is the reflected signal channel impulse response, a (t) is the transmission signal, and c (t) is the reflected signal thermal noise.
The step S5 of measuring the angle information of the positioning tag 6 and the time when the reflected signal reflected by the positioning tag 6 reaches the positioning base station 4 includes:
step S511, measuring the azimuth of the positioning tag 6:
wherein (x, y, z) represents the position coordinates of the positioning tag 6, (x) i ，y i ，z i ) To locate the coordinates of the base station 4.
Step S512, measuring the pitch angle of the positioning tag 6:
step S513 calculates the time t when the reflected signal reflected by the positioning tag 6 reaches the positioning base station 4,
the calculation of the position information according to time in step S5 includes:
s514, calculating the time t from the transmission of the reflection signal to the reception of the response signal of the positioning label 6 of the substation in the positioning base station 4 according to the time t from the reflection signal reflected by the positioning label 6 to the positioning base station 4Time T of number A ：T A ＝t(1+P A ) Wherein P is A To locate the clock offset of the outstations in the base station 4.
S515, calculating the delay time T from the receiving of the reflected signal to the sending of the response signal of the positioning tag 6 B I.e. the time T used for processing the signal of the positioning tag 6 B ＝t(1+P B ) Wherein, P B To locate the clock offset of the tag 6.
S516, distance information between the positioning label 6 and the substation in the positioning base station 4 is calculated
Where c is the signal transmission speed.
Referring to fig. 7, fig. 7 is a schematic structural block diagram of an electronic device according to an embodiment of the present disclosure. The invention further provides an electronic device, which includes a processor 10 and a memory 20, where the memory 20 stores program instructions, and the processor 10 runs the program instructions to implement the high-precision fusion positioning method. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component; the Memory 20 may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory. The Memory 20 may also be an internal Memory of Random Access Memory (RAM) type, and the processor 10 and the Memory 20 may be integrated into one or more independent circuits or hardware, such as: application Specific Integrated Circuit (ASIC). It should be noted that the computer program in the memory 20 may be implemented in the form of software functional units and stored in a computer readable storage medium when the computer program is sold or used as a stand-alone product. 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, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention.
Referring to fig. 8, fig. 8 is a schematic block diagram illustrating a structure of a computer-readable storage medium according to an embodiment of the present disclosure. The present invention further provides a computer-readable storage medium 30, where the computer-readable storage medium 30 stores computer instructions 40, and the computer instructions 40 are used for causing the computer to execute the above-mentioned high-precision fusion positioning method. The computer readable storage medium 30 may be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system or propagation medium. The computer-readable storage medium 30 may also include a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a Random Access Memory (RAM), a read-only memory (ROM), a rigid magnetic disk and an optical disk. Optical disks may include compact disk-read only memory (CD-ROM), compact disk-read/write (CD-RW), and DVD.
In conclusion, the high-precision fusion positioning system comprises a server, a management terminal, a core switch, a positioning base station, a switch module and a positioning tag, can realize the real-time sub-meter-level high-precision position data positioning of all workers in a railway construction site, realize the management and control of a high-risk area and a risk area of dangerous equipment in the railway construction site, and remind the workers of rapidly withdrawing the area if the workers break into the risk area without permission and under unknown conditions to generate danger alarm. Can realize that accessible management terminal sends the SOS warning when the staff takes place dangerous accident, causes the casualties, management, first-aid staff can receive the warning rapidly and fix a position this personnel position data and accomplish quick rescue simultaneously, improve staff's personal safety.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A high accuracy fusion positioning system, comprising:
the core switch (3) is used for carrying out data switching on all devices accessed to the Ethernet, and the core switch (3) is used as the core switching device of the Ethernet;
the management terminal (2) is used for monitoring the working personnel on the railway construction site in real time and acquiring positioning information, geographic information and personnel information through the access server (1);
the server (1) is used for providing positioning information, geographic information and personnel information for the management terminal (2) and storing the positioning information, the geographic information and the personnel information;
the switch module (5) is used for accessing a positioning substation of a railway construction site;
the positioning base station (4) is used for outputting a transmitting signal to the positioning label (6), receiving a reflected signal reflected by the positioning label (6), measuring angle information of the positioning label (6) and time of the reflected signal reflected by the positioning label (6) reaching the positioning base station (4), and calculating position information according to the time, wherein the positioning base station (4) is installed in a railway construction site at intervals, and the positioning base station (4) is in communication connection with the switch module (5);
and the positioning tag (6) is used for ranging and positioning staff on a railway construction site.
2. A high accuracy converged positioning system according to claim 1, wherein said positioning base station (4) comprises:
an MCU control module (41) as a controller of the positioning base station (4);
the Bluetooth module (42) is in communication connection with the MCU control module (41);
a plurality of radio frequency transceivers (43) which are connected with the MCU control module (41) and the array antenna (44) in a communication way;
a duplexer (45) having signal inputs connected to signal outputs of the plurality of radio frequency transceivers (43);
a signal input end of the radio frequency receiver (46) is connected with a signal output end of the duplexer (45), and a signal output end of the radio frequency receiver (46) is connected with a signal input end of the MCU control module (41);
and the signal input end of the first memory (47) is connected with the signal output end of the MCU control module (41).
3. A high precision fusion positioning system according to claim 1, characterized in that: the switch module (5) comprises a plurality of switches, and a plurality of switches form a ring-shaped Ethernet.
4. A high accuracy fusion positioning system according to claim 2, characterized in that the positioning tag (6) comprises:
an antenna terminal (63) communicatively coupled to the array antenna (44);
a processor (61) communicatively coupled to the antenna terminal (63);
a positioning chip (65) for positioning the positioning tag (6), wherein the positioning chip (65) is in bidirectional communication connection with the processor (61);
a second memory (62) in bidirectional communication with the processor (61);
a clock (64) having a signal output connected to a signal input of the processor (61).
5. A high precision fusion positioning system according to claim 4, characterized in that: the positioning tag (6) is worn by staff in a railway construction site.
6. A high-precision fusion positioning method is characterized by comprising the following steps:
s1, performing data exchange on all equipment accessed to the Ethernet through a core switch (3), wherein the core switch (3) is used as core switching equipment of the Ethernet;
s2, monitoring the staff in the railway construction site in real time through the management terminal (2), and acquiring positioning information, geographic information and staff information through the access server (1);
s3, providing positioning information, geographic information and personnel information for the management terminal (2) through the server (1), and storing the positioning information, the geographic information and the personnel information;
s4, accessing a positioning substation of a railway construction site through the switch module (5);
s5, outputting a transmitting signal to a positioning label (6) through a positioning base station (4), receiving a reflected signal reflected by the positioning label (6), measuring angle information of the positioning label (6) and time of the reflected signal reflected by the positioning label (6) reaching the positioning base station (4), calculating position information according to the time, wherein the positioning base station (4) is installed in a railway construction site at intervals, and the positioning base station (4) is in communication connection with the switch module (5);
and S6, carrying out distance measurement and positioning on the staff of the railway construction site through the positioning tag (6).
7. A high-precision fusion positioning method as claimed in claim 6, wherein the step S5 of outputting the transmission signal to the positioning tag (6) through the positioning base station (4), and receiving the reflection signal reflected by the positioning tag (6) comprises:
s51, outputting a transmitting signal a (t) to a positioning tag (6) through a positioning base station (4);
s52, calculating the impulse response h (t) of the reflected signal channel,
wherein A (D) is a function of the amplitude of the reflected signal,
is an impulse function;
and S53, calculating a reflected signal b (t) reflected by the positioning label (6) according to the reflected signal channel impulse response h (t), wherein b (t) = h (t) a (t) + c (t), h (t) is the reflected signal channel impulse response, a (t) is a transmission signal, and c (t) is the reflected signal thermal noise.
8. A high-precision fusion positioning method as claimed in claim 7, wherein the step S5 of measuring the angle information of the positioning tag (6) and the time of arrival of the reflected signal reflected by the positioning tag (6) at the positioning base station (4) comprises:
s511, measuring the azimuth angle of the positioning tag (6):
wherein (x, y, z) represents the position coordinates of the positioning label (6), and (x) i ，y i ，z i ) Coordinates for positioning the base station (4);
s512, measuring the pitch angle of the positioning label (6):
s513, calculating the time t of the reflected signal reflected by the positioning label (6) reaching the positioning base station (4),
9. the method according to claim 8, wherein the calculating the position information according to the time in step S5 includes:
s514, according to the time T of the reflected signal reflected by the positioning label (6) reaching the positioning base station (4), calculating the time T from the transmission of the reflected signal to the reception of the response signal of the positioning label (6) by the substation in the positioning base station (4) A ：T A ＝t(1+P A ) Wherein P is A To locate the clock frequency offset of a outstation in a base station (4);
s515, calculating the delay time T from the receiving of the reflected signal to the sending of the response signal of the positioning tag (6) B Namely the time T used for processing the signal of the positioning label (6) B ＝t(1+P B ) Wherein P is B To locate the clock offset of the tag (6);
s516, calculating distance information between the positioning label (6) and the substation in the positioning base station (4)
Where c is the signal transmission speed.
10. An electronic device comprising a processor and a memory, the memory storing program instructions, characterized in that: the processor executes program instructions to realize the high-precision fusion positioning method according to any one of claims 6 to 9.
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