基于坐标标定的北斗RTK和UWB变电站联合定位方法

Joint positioning method of Beidou RTK and UWB in transformer substation based on coordinate calibration

变电站复杂环境对定位提出了较高的要求。提出一种联合定位方法,结合室外区域北斗RTK高精度定位和室内UWB超宽带定位各自的优势,设计一种联合定位方法,并通过标定参考点,求解出室内UWB基站的绝对坐标,使得室内定位和室外定位统一到同一个坐标体系下,在过渡区域采用越区切换准则实现两种系统的平滑过渡。通过在变电站实地测试,表明提出的定位方法能够在室内外复杂环境下实现稳定定位,且定位精度良好,满足变电站日常工作的定位要求。

The complex environment of transformer substation puts forward higher requirements for positioning.In this paper,a joint positioning method is proposed.Combined with the advantages of high-precision positioning of Beidou RTK in the outdoor area and UWB in the indoor area,the absolute coordinates of the indoor UWB base station are solved by calibrating the reference points,so that the indoor positioning and outdoor positioning are unified into the same coordinate system,and the handover criterion is adopted in the transition area to realize the smooth transition of the two systems.Through the field test in the substation,it shows that the proposed positioning method can achieve stable positioning in the indoor and outdoor complex environment,and the positioning accuracy is good,which can meet the positioning requirements of the daily work of the substation.