Method and system for three dimensional positioning in subway construction site, and medium

A system for three-dimensional (3D) positioning in a subway construction site, comprising:

• a processor;
• and
• a memory configured to store computer instructions executable by the processor;
• wherein when the computer instructions are executed by the processor, the processor is configured to:
• establish a 3D coordinate system corresponding to a shaft area of the subway construction site, set a number of ultra wideband (UWB) base stations in different layers of the shaft area, and determine coordinates of each of the UWB base stations;
• obtain ranging data by performing ranging on a positioning label through each of the UWB base stations, send the ranging data to a master base station;
• filter and discard error data from the ranging data;
• divide the 3D coordinate system into a plurality of equal cube grids, determine a center point coordinate of each of the cube grids, selecting a preset number of UWB base stations from the set UWB base stations based on the filtered result, and determine a position record of the positioning label in each of the cube grids in turn based on coordinates of the selected UWB base stations and, ranging data corresponding to the selected UWB base stations, and the center point coordinate of each of the cube grids;
• and
• determine a conclusion coordinate of the positioning label by voting based on the position record of each of the cube grids.

A non-transitory computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to cause a computer to execute a method for three-dimensional (3D) positioning in a subway construction site, the method comprising:

• establishing a 3D coordinate system corresponding to a shaft area of the subway construction site, setting a number of ultra wideband (UWB) base stations in different layers of the shaft area, and determining coordinates of each of the UWB base stations;
• obtaining ranging data by performing ranging on a positioning label through each of the UWB base stations, sending the ranging data to a master base station;
• filtering and discarding error data from the ranging data;
• dividing the 3D coordinate system into a plurality of equal cube grids, determining a center point coordinate of each of the cube grids, selecting a preset number of UWB base stations from the set UWB base stations based on the filtered result, and determining a position record of the positioning label in each of the cube grids in turn based on coordinates of the selected UWB base stations and ranging data corresponding to the selected UWB base stations, and the center point coordinate of each of the cube grids;
• and
• determining a conclusion coordinate of the positioning label by voting based on the position record of each of the cube grids.