A SLAM-based Approach For People Tracking And Location In Petrochemical Construction Sites Under Signal-Blind Area

Petrochemical industry is one of the primary industries for the national economy,and it is also regarded as one of the most high-risk industries.With the narrow construction space,a large number of cross-cutting operations and highly densely population,safety accidents frequently occurred during the construction process.Real-time tracking and location of people has proven to be an effective way for safety management in petrochemical sites.Currently,researches mainly focus on Outsdie-in positioning technology(eg.,RFID and UWB)for realtime location management of people.However,this type of positioning technology completely relys on the strength and coverage of the positioning signal,which cannot be affordable in complex petrochemical sites.Serious siginal occlusion and signal interference caused by the number of metal components,tanks,and other components makes a seriers of signal-blind areas in this scenario and cannot output sustainable positioning data,which lead to the issue of robustness and stability.Therefore,how to achieve efficient tracking of workers in the petrochemical site under the signal blind zone becomes an urgent problem.In order to trackle this problem,a SLAM-based positioning method was introduced in this paper.Firstly,this paper combines the characteristics of the construction site of petrochemical engineering and the current research status of the positioning system,analyzes the shortcomings of the existing personnel positioning system,and proposes a comparison of construction personnel positioning technology under the signal blind zone.Then,based on the fundamental model and possible factors,an ORB-SLAM on-site worker positioning model is established,and its positioning robustness is not strong through experimental analysis.Moreover,in order to further improve the robustness of SLAM and fully utilize the functional IMU,a new method integrated ORB-SLAM with IMU is proposed.This proposed method considers the problem of positioning data loss due to instantaneous SLAM motion.The results show that the fusion method can make up the tracking lost in SLAM mode.It could completely record the whole trajectory and accuracy can be limited in 1-2%.Finally,the effectiveness and practical values of the proposded method are verified in an actual petrochemical project of Wuhan.The fusion positioning method can successfully realize the real-time tracking of people in signal-blind areas of the petrochemical field.We suggest that the method can be used for site managers to effectively reduce the probability of safety accidents in the construction of petrochemical projects and ensure site safety.