Based On UWB Indoor Three-dimensional Positioning System For Substation

With the development of informatization and intelligent technology,the requirements of the substation for the power inspection system have been transformed from the human system that has been used in the past to a more information-based robot system.During its operation,the positioning system is an important basis for intelligent supervision.Compared with various indoor positioning technologies,ultra-bandwidth positioning technology has the highest positioning accuracy,strong anti-multipath performance,and low power consumption.At present,in the substation environment,the UWB two-dimensional positioning technology is relatively mature,but because the conventional threedimensional positioning requires more than four base stations to be arranged threedimensionally,and the middle part of the substation is a metal power distribution cabinet,the inspection robot has extremely high risks in the process of traveling.Severe signal blocking is not applicable.Therefore,this paper focuses on the internal working conditions of the substation,and obtains a three-dimensional positioning system based on UWB technology.The specific work of the full text is as follows:First of all,in order to solve the shielding of UWB signals by the metal cabinet in the substation,based on the new L-shaped three base station configuration model,the positioning base stations are all arranged on the top of the substation by taking advantage of the characteristics of three-dimensional positioning on a single horizontal plane,which effectively avoids the need for metal The shielding of the signal by the cabinet.The positioning algorithm selects the TOA ranging method using the DS-TWR algorithm.Preliminary experiments are carried out in an ideal environment,and the multi-faceted positioning algorithm of the three base stations is successfully proved to be effective.However,in the actual test environment,the dynamic positioning accuracy of the L-shaped base station arrangement is lower than that of the conventional algorithm,especially the problem of the obvious drop in the height positioning accuracy.Kalman filtering is performed on the collected results,the positioning trajectory is obviously smoother than before,and the positioning error is reduced.The label matrix algorithm was tested,and the experiment found that the accuracy of the method decreased significantly with the increase of the label movement speed,and was not suitable for inspection robots.On the previous basis,the combination of IMU inertial measurement and UWB positioning algorithm,relying on the inertial positioning method,can fuse and solve the UWB positioning information at a high frequency,and the ranging effect is still stable in the case of short-term signal occlusion.Based on the obtained experimental results,this method makes up for the disadvantage of UWB positioning in the substation environment,which has poor resistance to non-line-of-sight effects,and the positioning accuracy and stability are significantly improved.Robot motion control.According to the designed positioning scheme,a system test environment is built in the laboratory for experimental verification.Experiments have shown that this solution breaks through the limitations of a large number of power distribution cabinets in substations on UWB signals,and realizes high-precision threedimensional positioning of inspection robots in substations.The accuracy error of the positioning system can be stabilized within 10 cm,and the accuracy has reached the UWB positioning industry.The highest level of practical application.Compared with other positioning methods in substations,the positioning accuracy and stability are significantly improved.