CN103954984A - Personnel and transport vehicle positioning method for grain depot - Google Patents
Personnel and transport vehicle positioning method for grain depot Download PDFInfo
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- CN103954984A CN103954984A CN201410068713.1A CN201410068713A CN103954984A CN 103954984 A CN103954984 A CN 103954984A CN 201410068713 A CN201410068713 A CN 201410068713A CN 103954984 A CN103954984 A CN 103954984A
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- grain depot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Abstract
The invention relates to a personnel and transport vehicle positioning method for a grain depot. The method includes the following steps: establishing a three-dimensional GIS electronic map of the grain depot and deploying the three-dimensional GIS electronic map to a network server; continuously obtaining position information of personnel and transport vehicles which need to be positioned, wherein the position information includes longitudes and latitudes and/or geographic coordinates of the personnel and transport vehicles which need to be positioned; through the position information, displaying positions of the personnel and transport vehicles on the three-dimensional GIS electronic map; and through a browser, logging in the network server and accessing the three-dimensional GIS electronic map which displays the positions of the personnel and transport vehicles which need to be positioned. The personnel and transport vehicle positioning method for the grain depot is capable of three-dimensional roaming on the whole grain depot area through the browser and carrying out positioning tracking on operating personnel so as to master operating conditions; and moreover, the method is capable of carrying out positioning tracking on vehicles which enter and exit the grain depot and related with grain transportation so as to realize safe storage of grain.
Description
Technical field
The present invention relates to a kind of localization method, particularly a kind of personnel for grain depot and haulage vehicle localization method.
Background technology
Location-based service (LBS, Location Based Services) claim again positioning service, it is a kind of mobile information service, utilize exactly the feature of mobile device, use various location technologies to obtain the geographic position data at the current place of user, and then to provide taking geographic position to user be the various information services on basis.Location-based service can be applied to a lot of aspects, such as safety management and the monitoring of grain depot, comprises personnel and the vehicle of the grain depot of coming in and going out are positioned to certain part of tracking, query and search grain depot or information of silo inside etc.And first the realization of location-based service in grain depot needs to design a set of personnel and haulage vehicle localization method based on grain depot electronic chart, thereby realize the various services relevant to position according to locating information.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of personnel for grain depot and haulage vehicle localization method, solved in prior art the technical matters that people to entering grain depot and haulage vehicle position fixing process complexity, positioning result are inaccurate and be difficult to check positioning result.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of personnel for grain depot and haulage vehicle localization method, comprise the following steps:
(1) set up the three-dimension GIS electronic chart of described grain depot, and described three-dimension GIS electronic chart is deployed on the webserver;
(2) obtain continuously and need the personnel of location and the positional information of haulage vehicle, described positional information comprises the personnel and the residing longitude and latitude of haulage vehicle and/or the geographic coordinate that need location;
(3), by described positional information, the personnel that need are located and the residing position display of haulage vehicle are on described three-dimension GIS electronic chart;
(4) log in the described webserver by browser and access described three-dimension GIS electronic chart, on described three-dimension GIS electronic chart, showing the described personnel of location and the position of haulage vehicle of needing.
On the basis of technique scheme, the present invention can also do following improvement.
Further, described three-dimension GIS electronic chart is embedded on the webserver with the pattern of browser/server.
Three-dimension GIS electronic chart is to utilize the technology such as virtual reality, computer graphics, WWW Geographic Information System (WEBGIS), and the geographical entity of real world is changed into three-dimensional model, makes viewer produce the ground diagram form of three-dimensional stereoscopic visual.The present invention has set up the three-dimension GIS electronic chart of grain depot and by corresponding the related data of described three-dimension GIS electronic chart and grain depot, then described three-dimension GIS electronic chart is deployed to the webserver, be addressable described three-dimension GIS electronic chart by the browser of the functional handheld terminal such as mobile phone, PDA, realize three-dimensional range and grain depot information inquiry to whole grain depot region.
And along with people need to increase day by day to geodata, WWW Geographic Information System (WebGIS) technology of processing geographical spatial data under Internet environment has become the important development direction of GIS technology.WebGIS mainly comprises based on client/server (C/S) with based on two types of browser/servers (B/S).C/S structure is software system architecture, can make full use of the advantage of two ends hardware environment by it, task is reasonably allocated to Client end and Server brings in realization, reduce the communication-cost of system, thereby give full play to the processing power of client rs PC, fast response time.But C/S structure need to be set up special network and client software, use relative B/S structure comparatively inconvenient.The present invention has adopted B/S structure, it is Browser/Server pattern, this pattern has been unified client, the core that systemic-function is realized focuses on server, can operate anywhere and any special software need not be installed by browser, client zero dimension is protected, very easy to use.
Further, described step (1) is specially:
301 obtain the digital elevation model of described grain depot and the altitude information of described grain depot upper ground surface coverture by airborne laser radar technology;
302 obtain the texture maps of described grain depot by aerial images;
303 obtain the physical size of described grain depot by the building structure figure of grain depot;
304 according to the physical size of the digital elevation model, mulching material altitude information, grain depot texture maps and the grain depot that obtain, utilizes 3 d modeling software, sets up the three-dimensional model of the mulching material of described grain depot, and described three-dimensional model is converted to .X form; Described mulching material comprises building, plant, fence and/or the ornament on grain depot region;
305 couples of three-dimension GIS platform world wind simplify and revise, and the three-dimensional model of the .X form that step 304 is formed is loaded in described amended three-dimension GIS platform, form the three-dimension GIS electronic chart of grain depot;
306 are associated described three-dimension GIS electronic chart with the information database of described grain depot, and described three-dimension GIS electronic chart is embedded on the webserver with the pattern of browser/server, call the data message of described grain depot by described three-dimension GIS electronic chart.
Technical scheme of the present invention adopts the World Wind exploitation informationalized three-dimensional geographic information platforms of To enterprises (Geogra-phic Information System, GIS); Then grain depot district is carried out to three-dimensional modeling, model is imported in generalized information system, and grain depot three-dimension GIS is created as to B/S structure, directly be deployed on the webserver, the handheld terminal such as mobile phone, PDA that carries browser like this can directly pass through the GIS electronic chart of described browser access grain depot, thereby realizes the three-dimensional range to whole grain depot region on handheld terminal.In the time adopting World Wind to develop, first described World Wind is carried out to secondary development, World Wind carries out secondary development, World Wind system is simplified, delete unwanted function, retain the basic functions such as three-dimensional is browsed, map convergent-divergent, and write and add related service feature card, make it meet function needs.Described World Wind has adopted direct3d technology, just can be loaded in three-dimension GIS platform after therefore needing that described three-dimensional model is converted to .X form.WorldWind loads three-dimensional model parameter and stores with xml document form, and WorldWind program provides a three-dimensional model class modelfeature, the xml file loading in order to resolve relevant three-dimensional model, and be applied in described three-dimension GIS platform.
Further, described step 304 also comprises the three-dimensional model that the three-dimensional model of described .X form is converted to .XPL form, in described step 305, the three-dimensional model of .XPL form is loaded in described amended three-dimension GIS platform.
Adopt the beneficial effect of above-mentioned further scheme to be: .X file entirety is replaced with .XPL form by the technical scheme of this step, can improve three-dimensional model loading velocity, thus the map response time while reducing location and inquiry.
Further, in described step (2), positioning system is obtained via satellite needs the personnel of location and the positional information of haulage vehicle, and described global position system comprises signal receiving module, locating terminal, control center and satellite, and concrete steps are:
501 in grain depot region signalization receiver module, the coordinate of described signal receiving module in the three-dimension GIS electronic chart of described grain depot is known;
While needing the personnel of location and haulage vehicle to carry locating terminal and move in grain depot region described in 502, satellite calculates described personnel and the residing longitude and latitude of haulage vehicle that needs location, and described longitude and latitude data are sent to signal receiving module;
Described in 503, described longitude and latitude data are sent to control center by signal receiving module, the coordinate information that described control center is global position system by described longitude and latitude data solver, and taking described signal receiving module the coordinate in described three-dimension GIS electronic chart as reference, the coordinate information of global position system is corresponded in the coordinate system of described three-dimension GIS electronic chart, obtain the coordinate of the represented position of described longitude and latitude data in described three-dimension GIS electronic chart.
Further, described signal receiving module is gps signal receiver module or Big Dipper signal receiving module.
Further, described locating terminal is GPS locating terminal or Big Dipper locating terminal.
This is technical scheme further, adopts GPSGPS/ Big Dipper navigation positioning system to obtain the described positional information that needs location personnel and haulage vehicle.Geographic coordinate in three-dimension GIS electronic chart based on World Wind is to adopt longitude and latitude to represent, for the coordinate information that GPS/ Big Dipper navigation positioning system is calculated corresponds in the coordinate system in described three-dimension GIS electronic chart accurately, need to write a coordinate loading interface, the coordinate system of the coordinate system to GPS/ dipper system and three-dimension GIS electronic chart is revised, and the true origin of two coordinate systems is overlapped.The geography information that GPS/ Big Dipper positioning label obtains like this can reflect really and accurately in grain depot GIS platform.
Further, described signal receiving module adopts TD-LTE wireless communication mode that described longitude and latitude data are sent to control center.
Adopt the beneficial effect of above-mentioned further scheme to be: the technical program adopts TD-LTE wireless communication mode that described longitude and latitude data are sent to control center, and not only spectrum efficiency is high, can reach 5-10bps/Hz; And the dispatching of up-downgoing is flexible, can carry diversified high-bandwidth service (1.4-20MHz); The 3rd, message transmission rate is high, descending use OFDMA technology, and flank speed can reach 100Mbits/s, can meet most possibly high speed data transfer requirement; The 4th, TD-LTE flat structure, time delay is little, and networking cost is low, meets very much the requirement of the present invention to wireless transmission.
Further, in described step (2), obtained and needed the personnel of location and the positional information of haulage vehicle by RFID positioning system, described RFID positioning system comprises RFID signal-obtaining equipment, fixed labels, mobile tag and computing module, and concrete steps are:
901 fixed positions in described grain depot region arrange at least 4 RFID signal-obtaining equipment, near the place of each described RFID signal-obtaining equipment, fixed labels are set, and the distance of described fixed labels and described RFID signal-obtaining equipment is known; Described fixed labels is known at the coordinate of the three-dimension GIS electronic chart of described grain depot;
The signal designation intensity of the 902 described fixed labels that receive according to the distance of described fixed labels and described RFID signal-obtaining equipment and described signal-obtaining equipment, calibrate the transformation parameter of each described RFID signal-obtaining equipment, described transformation parameter comprises loss and path loss, and concrete formula is:
RSSI＝P(d)＝a-10nlog(d)-N(0,σ
2) (1)
Wherein, a is loss, and n is path loss, and d is the distance of described fixed labels and described signal-obtaining equipment, and RSSI is the signal designation intensity of the described fixed labels that receives of described RFID signal-obtaining equipment;
903 set up probability model, and described RSS probability model is for describing the relation of signal designation intensity of distance between mobile tag and described RFID signal-obtaining equipment and mobile tag, and described probability model is:
Wherein,
represent the RSSI value that j RFID signal-obtaining equipment detected in the t moment, n
jand a
jrepresent respectively path loss coefficient and the loss of j RFID signal-obtaining equipment, d
pHYrepresent the distance of mobile tag and RFID signal-obtaining equipment j;
904 are arranged on mobile tag on the personnel and haulage vehicle that need location, when the described personnel that need location and haulage vehicle are while moving in grain depot region, described mobile tag sends radiofrequency signal to described RFID signal-obtaining equipment, and obtains the signal designation intensity of described radiofrequency signal;
905 are brought into described signal designation intensity in described probability model, calculate under described signal designation intensity, when maximum probability described in distance between mobile tag and described RFID signal-obtaining equipment;
906 adopt Bayesian inference to determine the coordinate of described mobile tag at described three-dimension GIS electronic chart.
Adopt the beneficial effect of above-mentioned further scheme to be: this further scheme adopts RFID wireless location technology to position grain depot personnel and haulage vehicle, first by reference label, its corresponding RFID signal-obtaining equipment is carried out to parameter correction, and utilize a probability model to describe distance between reference label and RFID signal-obtaining equipment and the relation of signal designation intensity, finally determine locating area and the coordinate of target by Bayesian inference, positioning precision is higher, is highly suitable in the present invention grain depot personnel and haulage vehicle are positioned.
Further, in step (4), be arranged on intelligent hand-held terminal for the described browser of game server.
The invention has the beneficial effects as follows: technical scheme of the present invention provides a kind of personnel for grain depot and haulage vehicle localization method, has huge location navigation function, can be as the basis that location-based service is provided for grain depot foodstuffs storage related service.Localization method of the present invention, not only can carry out three-dimensional range to whole grain depot region by browser, and can position tracking to special operating personnel, understand in real time operation situation, in addition, consider from the angle of silo safety, can be to the transporting relevant vehicle with grain and position tracking of the grain depot of coming in and going out, to ensure the storage safety of grain.Three-dimension GIS electronic chart based on described grain depot, method of the present invention can provide vivid graphic interface, shows grain depot layout information with isolabeling not, realizes and amplify arbitrarily, dwindle and roam functions of browse such as (in storehouses outside storehouse); Three-dimension GIS electronic chart is associated with the information of grain depot simultaneously, when follow the tracks of the location of personnel and vehicle in to grain depot, can also carry out inquiry, analysis and the retrieval of grain depot geographical entity key element.
Brief description of the drawings
Fig. 1 is the process flow diagram of localization method of the present invention;
Fig. 2 is the process flow diagram that the present invention sets up grain depot three-dimension GIS electronic chart;
Fig. 3 is that the present invention adopts global position system to obtain to need the process flow diagram of the positional information of anchored object;
Fig. 4 the present invention adopts RFID positioning system to obtain the process flow diagram of the positional information that needs anchored object.
Embodiment
Below in conjunction with accompanying drawing, principle of the present invention and feature are described, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, be the process flow diagram of a kind of personnel for grain depot of the present invention and haulage vehicle localization method, comprise the following steps:
101 set up the three-dimension GIS electronic chart of grain depot, and adopt the pattern of browser/server that described three-dimension GIS electronic chart is deployed on the webserver; This pattern has been unified client, and the core that systemic-function is realized focuses on server, can be operated anywhere and any special software need not be installed by browser, and client zero dimension is protected, very easy to use.
The step of specifically setting up the three-dimension GIS electronic chart of grain depot sees below step 301～306.
102 obtain the personnel of need location and the positional information of haulage vehicle continuously, and described positional information comprises the personnel and the residing longitude and latitude of haulage vehicle and/or the geographic coordinate that need location; The technical scheme of the present embodiment adopts GPS/ big-dipper satellite positioning system to obtain and needs the personnel of location and the positional information of haulage vehicle, and concrete steps are shown in 501～503.In other embodiments, can also adopt RFID positioning system to obtain and need the personnel of location and the positional information of haulage vehicle, specifically see step 901～906.
103 by described positional information, and the personnel that need are located and the residing position display of haulage vehicle are on described three-dimension GIS electronic chart;
104 are logged in the described webserver and are accessed described three-dimension GIS electronic chart by browser, show the described personnel of location and the position of haulage vehicle of needing on described three-dimension GIS electronic chart.In this enforcement, described browser is arranged on intelligent hand-held terminal, conveniently at any time grain depot personnel and ration truck is positioned to tracing management.
As shown in Figure 2, for setting up the process flow diagram of three-dimension GIS electronic chart in step S102, specifically comprise the following steps:
301 obtain the digital elevation model of described grain depot and the altitude information of described grain depot upper ground surface coverture by airborne laser radar technology;
302 obtain the texture maps of described grain depot by aerial images;
303 obtain the physical size of described grain depot by the building structure figure of grain depot;
304 according to the physical size of the digital elevation model, mulching material altitude information, grain depot texture maps and the grain depot that obtain, utilizes 3 d modeling software, sets up the three-dimensional model of the mulching material of described grain depot, and described three-dimensional model is converted to .X form; Described mulching material comprises building, plant, fence and/or the ornament on grain depot region; In other embodiments, the three-dimensional model of .X form can also be converted to the three-dimensional model of .XPL form, can improve the loading velocity of three-dimensional model;
305 couples of three-dimension GIS platform world wind simplify and revise, and the three-dimensional model of the .X form that step 304 is formed or .XPL is loaded in described amended three-dimension GIS platform, form the three-dimension GIS electronic chart of grain depot;
306 are associated described three-dimension GIS electronic chart with the information database of described grain depot, and described three-dimension GIS electronic chart is embedded on the webserver with the pattern of browser/server, call the data message of described grain depot by described three-dimension GIS electronic chart.
As shown in Figure 3, need the process flow diagram of the personnel of location and the positional information of haulage vehicle for adopting GPS/ big-dipper satellite positioning system to obtain in the present embodiment, described GPS/ big-dipper satellite positioning system comprises signal receiving module, locating terminal, control center and satellite, and concrete steps are:
501 in grain depot region signalization receiver module, the coordinate of described signal receiving module in the three-dimension GIS electronic chart of described grain depot is known;
While needing the personnel of location and haulage vehicle to carry locating terminal and move in grain depot region described in 502, satellite calculates described personnel and the residing longitude and latitude of haulage vehicle that needs location, and described longitude and latitude data are sent to signal receiving module;
Described in 503, described longitude and latitude data are sent to control center by signal receiving module, the coordinate information that described control center is global position system by described longitude and latitude data solver, and taking described signal receiving module the coordinate in described three-dimension GIS electronic chart as reference, the coordinate information of global position system is corresponded in the coordinate system of described three-dimension GIS electronic chart, obtain the coordinate of the represented position of described longitude and latitude data in described three-dimension GIS electronic chart.
In the present embodiment, described signal receiving module adopts TD-LTE wireless communication mode that described longitude and latitude data are sent to control center, and not only spectrum efficiency is high, can reach 5-10bps/Hz; And the dispatching of up-downgoing is flexible, can carry diversified high-bandwidth service (1.4-20MHz); The 3rd, message transmission rate is high, descending use OFDMA technology, and flank speed can reach 100Mbits/s, can meet most possibly high speed data transfer requirement; The 4th, TD-LTE flat structure, time delay is little, and networking cost is low, can meet the requirement of the present invention to wireless transmission.
As shown in Figure 4, need the process flow diagram of the personnel of location and the positional information of haulage vehicle for adopting RFID positioning system to obtain in the present embodiment, described RFID positioning system comprises RFID signal-obtaining equipment, fixed labels, mobile tag and computing module, specifically comprises the following steps:
901 fixed positions in described grain depot region arrange at least 4 RFID signal-obtaining equipment, near the place of each described RFID signal-obtaining equipment, fixed labels are set, and the distance of described fixed labels and described RFID signal-obtaining equipment is known; Described fixed labels is known at the coordinate of the three-dimension GIS electronic chart of described grain depot;
The signal designation intensity of the 902 described fixed labels that receive according to the distance of described fixed labels and described RFID signal-obtaining equipment and described signal-obtaining equipment, calibrate the transformation parameter of each described RFID signal-obtaining equipment, described transformation parameter comprises loss and path loss, and concrete formula is:
RSSI＝P(d)＝a-10nlog(d)-N(0,σ
2) (1)
Wherein, a is loss, and n is path loss, and d is the distance of described fixed labels and described signal-obtaining equipment, and RSSI is the signal designation intensity of the described fixed labels that receives of described RFID signal-obtaining equipment;
903 set up probability model, and described RSS probability model is for describing the relation of signal designation intensity of distance between mobile tag and described RFID signal-obtaining equipment and mobile tag, and described probability model is:
Wherein,
represent the RSSI value that j RFID signal-obtaining equipment detected in the t moment, n
jand a
jrepresent respectively path loss coefficient and the loss of j RFID signal-obtaining equipment, d
pHYrepresent the distance of mobile tag and RFID signal-obtaining equipment j;
904 are arranged on mobile tag on the personnel and haulage vehicle that need location, when the described personnel that need location and haulage vehicle are while moving in grain depot region, described mobile tag sends radiofrequency signal to described RFID signal-obtaining equipment, and obtains the signal designation intensity of described radiofrequency signal;
905 are brought into described signal designation intensity in described probability model, calculate under described signal designation intensity, when maximum probability described in distance between mobile tag and described RFID signal-obtaining equipment;
906 adopt Bayesian inference to determine the coordinate of described mobile tag at described three-dimension GIS electronic chart.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. for personnel and the haulage vehicle localization method of grain depot, comprise the following steps:
(1) set up the three-dimension GIS electronic chart of described grain depot, and described three-dimension GIS electronic chart is deployed on the webserver;
(2) obtain continuously and need the personnel of location and the positional information of haulage vehicle, described positional information comprises the personnel and the residing longitude and latitude of haulage vehicle and/or the geographic coordinate that need location;
(3), by described positional information, the personnel that need are located and the residing position display of haulage vehicle are on described three-dimension GIS electronic chart;
(4) log in the described webserver by browser and access described three-dimension GIS electronic chart, on described three-dimension GIS electronic chart, showing the described personnel of location and the position of haulage vehicle of needing.
2. localization method according to claim 1, is characterized in that: described three-dimension GIS electronic chart is embedded on the webserver with the pattern of browser/server.
3. localization method according to claim 1 and 2, is characterized in that: described step (1) is specially:
301 obtain the digital elevation model of described grain depot and the altitude information of described grain depot upper ground surface coverture by airborne laser radar technology;
302 obtain the texture maps of described grain depot by aerial images;
303 obtain the physical size of described grain depot by the building structure figure of grain depot;
304 according to the physical size of the digital elevation model, mulching material altitude information, grain depot texture maps and the grain depot that obtain, utilizes 3 d modeling software, sets up the three-dimensional model of the mulching material of described grain depot, and described three-dimensional model is converted to .X form; Described mulching material comprises building, plant, fence and/or the ornament on grain depot region;
305 couples of three-dimension GIS platform world wind simplify and revise, and the three-dimensional model of the .X form that step 304 is formed is loaded in described amended three-dimension GIS platform, form the three-dimension GIS electronic chart of grain depot;
306 are associated described three-dimension GIS electronic chart with the information database of described grain depot, and described three-dimension GIS electronic chart is embedded on the webserver with the pattern of browser/server, call the data message of described grain depot by described three-dimension GIS electronic chart.
4. localization method according to claim 3, it is characterized in that: described step 304 also comprises the three-dimensional model that the three-dimensional model of described .X form is converted to .XPL form, in described step 305, the three-dimensional model of .XPL form is loaded in described amended three-dimension GIS platform.
5. localization method according to claim 3, it is characterized in that: in described step (2), positioning system is obtained via satellite needs the personnel of location and the positional information of haulage vehicle, described global position system comprises signal receiving module, locating terminal, control center and satellite, and concrete steps are:
501 in grain depot region signalization receiver module, the coordinate of described signal receiving module in the three-dimension GIS electronic chart of described grain depot is known;
While needing the personnel of location and haulage vehicle to carry locating terminal and move in grain depot region described in 502, satellite calculates described personnel and the residing longitude and latitude of haulage vehicle that needs location, and described longitude and latitude data are sent to signal receiving module;
Described in 503, described longitude and latitude data are sent to control center by signal receiving module, the coordinate information that described control center is global position system by described longitude and latitude data solver, and taking described signal receiving module the coordinate in described three-dimension GIS electronic chart as reference, the coordinate information of global position system is corresponded in the coordinate system of described three-dimension GIS electronic chart, obtain the coordinate of the represented position of described longitude and latitude data in described three-dimension GIS electronic chart.
6. localization method according to claim 4, is characterized in that: described signal receiving module is gps signal receiver module or Big Dipper signal receiving module.
7. localization method according to claim 4, is characterized in that: described locating terminal is GPS locating terminal or Big Dipper locating terminal.
8. localization method according to claim 5, is characterized in that: described signal receiving module adopts TD-LTE wireless communication mode that described longitude and latitude data are sent to control center.
9. localization method according to claim 3, it is characterized in that: in described step (2), obtain and need the personnel of location and the positional information of haulage vehicle by RFID positioning system, described RFID positioning system comprises RFID signal-obtaining equipment, fixed labels, mobile tag and computing module, and concrete steps are:
901 fixed positions in described grain depot region arrange at least 4 RFID signal-obtaining equipment, near the place of each described RFID signal-obtaining equipment, fixed labels are set, and the distance of described fixed labels and described RFID signal-obtaining equipment is known; Described fixed labels is known at the coordinate of the three-dimension GIS electronic chart of described grain depot;
The signal designation intensity of the 902 described fixed labels that receive according to the distance of described fixed labels and described RFID signal-obtaining equipment and described signal-obtaining equipment, calibrate the transformation parameter of each described RFID signal-obtaining equipment, described transformation parameter comprises loss and path loss, and concrete formula is:
RSSI＝P(d)＝a-10nlog(d)-N(0,σ
2) (1)
Wherein, a is loss, and n is path loss, and d is the distance of described fixed labels and described signal-obtaining equipment, and RSSI is the signal designation intensity of the described fixed labels that receives of described RFID signal-obtaining equipment;
903 set up probability model, and described RSS probability model is for describing the relation of signal designation intensity of distance between mobile tag and described RFID signal-obtaining equipment and mobile tag, and described probability model is:
Wherein,
represent the RSSI value that j RFID signal-obtaining equipment detected in the t moment, n
jand a
jrepresent respectively path loss coefficient and the loss of j RFID signal-obtaining equipment, d
pHYrepresent the distance of mobile tag and RFID signal-obtaining equipment j;
904 are arranged on mobile tag on the personnel and haulage vehicle that need location, when the described personnel that need location and haulage vehicle are while moving in grain depot region, described mobile tag sends radiofrequency signal to described RFID signal-obtaining equipment, and obtains the signal designation intensity of described radiofrequency signal;
905 are brought into described signal designation intensity in described probability model, calculate under described signal designation intensity, when maximum probability described in distance between mobile tag and described RFID signal-obtaining equipment;
906 adopt Bayesian inference to determine the coordinate of described mobile tag at described three-dimension GIS electronic chart.
10. according to the arbitrary described localization method of claim 3～9, it is characterized in that: the described browser for game server in step (4) is arranged on intelligent hand-held terminal.
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| CN104376285A (en) * | 2014-11-24 | 2015-02-25 | 苏州立瓷电子技术有限公司 | Forklift location monitoring method based on RFID |
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| WO2017012409A1 (en) * | 2015-07-23 | 2017-01-26 | 中兴通讯股份有限公司 | Method and apparatus for locating rfid label |
| CN106528554A (en) * | 2015-09-10 | 2017-03-22 | 中国科学院上海高等研究院 | System for quickly determining initial position of personnel and construction parameters |
| CN105547305A (en) * | 2015-12-04 | 2016-05-04 | 北京布科思科技有限公司 | Pose solving method based on wireless positioning and laser map matching |
| CN105547305B (en) * | 2015-12-04 | 2018-03-16 | 北京布科思科技有限公司 | A kind of pose calculation method based on wireless location and laser map match |
| CN108847044A (en) * | 2018-06-22 | 2018-11-20 | 安徽尼古拉电子科技有限公司 | A kind of vehicle management system based on Beidou satellite alignment system |
| CN109507693A (en) * | 2018-10-12 | 2019-03-22 | 成都北科维拓科技有限公司 | A kind of method of special population positioning |
| CN111432342A (en) * | 2020-03-23 | 2020-07-17 | 国网江苏省电力有限公司镇江供电分公司 | Personnel management method for indoor positioning and virtual reality of mixed building information model |
| CN113176600A (en) * | 2021-04-30 | 2021-07-27 | 深圳中科天巡信息技术有限公司 | Port vehicle positioning device and method integrating Beidou, RFID and video identification modes |
| CN113176600B (en) * | 2021-04-30 | 2024-03-22 | 深圳中科天巡信息技术有限公司 | Port vehicle positioning device integrating Beidou, RFID and video identification modes |
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