CN115474272A - A 3D Stereo Positioning System and Method for a Complex Power Plant Building - Google Patents

Abstract

The invention discloses a three-dimensional positioning system and a three-dimensional positioning method for a complex factory building of a 3D power plant, which comprises a sensing layer, a transmission layer and a 3D positioning layer, wherein complex positioning data is obtained through the sensing layer and is transmitted to the 3D positioning layer through the transmission layer, the 3D positioning layer is used for resolving, converting, filtering and mapping the positioning data, then the positioning coordinates are bound with virtual people and objects after calibration, track display in a three-dimensional scene is realized, the uninterrupted continuous positioning of complex linear positioning scenes such as a continuous hollow bridge type inspection channel and the like in the complex factory building of the power plant and complex two-dimensional plane positioning scenes such as a continuous factory building plane, a factory building plane and a protruding island-shaped operation plane and the like is realized, and the continuous and stable visual display in the three-dimensional scene is realized, so that the three-dimensional positioning is realized.

Description

A 3D Stereo Positioning System and Method for a Complex Power Plant Building

technical field

The invention relates to the technical field of indoor positioning, in particular to a stereo positioning system and method for complex 3D power plant buildings.

Background technique

The mainstream technologies of indoor positioning mainly include UWB, Bluetooth, RFID, ZigBee, WIFI and other technologies. Different industries choose different positioning technologies based on their own industry characteristics. For example, in the chemical industry, based on factors such as plant area, positioning accuracy requirements, pipeline complexity, and cost, Bluetooth positioning technology with a positioning accuracy of 1-5 meters is more preferred. Commercial supermarkets and underground garages mostly use WIFI positioning based on factors such as low-precision navigation guidance requirements, deployment convenience, and cost. In the power industry, whether in the power generation field or the power distribution field, based on the demands for high-risk control of production operations, UWB positioning technology with the highest positioning accuracy is mostly used. Of course, from the perspective of actual application, the mixed application of multiple positioning technologies is also widely used, such as GPS positioning in open spaces, and indoor personnel positioning technologies in confined spaces (such as UWB positioning, UWB+Bluetooth hybrid positioning, etc.).

It can be seen from the published information that in the field of smart factories, UWB positioning technology should have achieved a relatively common application. The patent with the application number [202110395994.1] discloses "a UWB-based personnel positioning system and positioning method", including a perception module, a transmission module, a service module, and an application module. The structure of the positioning system mentioned in this patent is actually The central convergence solution of the personnel positioning system is a relatively common implementation method, but the positioning system implementation technologies of different manufacturers are different. The patent with the application number [202111459748.4] discloses "a personnel safety management and control system for 3D personnel positioning", including LORA area positioning, GPS vehicle positioning, UWB positioning, 3D display, etc. The system mentioned in the patent is A typical implementation of the comprehensive application of multiple positioning technologies, among which 3D display also represents the gradually mainstream presentation of smart factories. More related patents are mostly proprietary systems or methods formed by combining personnel positioning applications with deep integration of specific scenarios, such as the "Ship Passenger Safety Guarantee System and Ship Passenger Safety Guarantee Method" disclosed in the patent application number [202111336819.1] That's it.

Overall, positioning applications based on UWB technology or a combination of multiple positioning technologies in the field of smart factories, especially in the field of smart power plants, have become a common way to ensure safe production, and 3D visualization as a display method has become increasingly mainstream. As we all know, the power plant production plant, including the main plant and boiler area, has an irregular structure, with interlayers, island-shaped raised platforms, hollow bridges, etc., and there are many metal equipment and obstacles. Therefore, it is very difficult to implement positioning coverage and achieve accurate positioning in the complex plant of the power plant, especially from the plant plane to the island-shaped raised platform, from the plant plane to the mezzanine, between different plant planes and between different hollow bridges. It is more difficult to accurately display in a 3D scene. Judging from the information disclosed so far, no proprietary solution has been proposed to the technical problems described in this paragraph.

Contents of the invention

The purpose of the present invention is to provide a 3D complex power plant stereo positioning system and method to overcome the problems in the prior art that it is very difficult to implement positioning coverage in the complex power plant building and to achieve accurate positioning, and it is more difficult to accurately display in the three-dimensional scene. Realize uninterrupted and continuous positioning of complex linear positioning scenes such as continuous hollow bridge-type inspection channels in complex power plant buildings, and complex two-dimensional plane positioning scenes such as continuous plant planes, plant planes and raised island-like operation planes, and can perform uninterrupted and continuous positioning in 3D scenes. Continuous and stable visual display, thus realizing stereo positioning, can continuously and uninterruptedly obtain the location information of people entering the room, which helps to improve the space management accuracy of power plant safety production, increase the dimension of safety production management and enhance the level of safety production management.

To achieve the above object, the present invention provides the following technical solutions:

A 3D three-dimensional positioning system for complex power plant buildings, including a sensing layer, a transmission layer and a 3D positioning layer;

The sensing layer includes a continuous one-dimensional positioning module and a continuous two-dimensional positioning module, positioning tags with unique identification information within the coverage of the one-dimensional positioning module and the two-dimensional positioning module, and the one-dimensional positioning module and the two-dimensional positioning module acquire The positioning data of the positioning tag, together with the management information of the 1D positioning module and the 2D positioning module itself, is transmitted upwards to the 3D positioning layer through the transport layer, and the management information transmitted downwards from the 3D positioning layer can be transmitted downwards to the 1D positioning layer through the transport layer. Positioning module and two-dimensional positioning module;

The transport layer is used to provide a link for the sensing layer to transmit to the 3D positioning layer;

The 3D positioning layer obtains the positioning data and management information of the positioning tags of the sensing layer through the transmission layer, and the 3D positioning layer performs calculation, conversion, filtering and mapping processing on the positioning data, and then performs calibration and compares the positioning coordinates with the virtual human Binding with objects to realize the trajectory display in the 3D scene.

Preferably, the continuous one-dimensional positioning module includes a one-dimensional positioning unit, a one-dimensional relay unit and a one-dimensional positioning tag unit, and the quantity relationship between the one-dimensional positioning unit and the one-dimensional relay unit is N and N-1, wherein N is greater than A positive integer equal to 1, the one-dimensional positioning tag unit is used to provide the position identification of the positioning object, the one-dimensional positioning unit is used for positioning the one-dimensional positioning tag unit, and the one-dimensional relay unit is used to connect two one-dimensional Dimensional positioning unit.

Preferably, the one-dimensional positioning unit includes at least two positioning base stations, and each positioning base station is deployed on the same horizontal plane.

Preferably, the one-dimensional positioning unit further includes a calibration anchor point, and the calibration anchor point emits a unique wireless signal identifying its own position information.

Preferably, the calibration anchor is an RFID anchor.

Preferably, the continuous two-dimensional positioning module includes a two-dimensional positioning unit, a two-dimensional relay unit and a two-dimensional positioning label unit, and the quantity relationship between the two-dimensional positioning unit and the two-dimensional relay unit is N and N-1, wherein N is greater than A positive integer of 1, the two-dimensional positioning tag unit is used to provide the position identification of the positioning object, the two-dimensional positioning unit is used for positioning the two-dimensional positioning tag unit, and the two-dimensional relay unit is used to connect two two-dimensional positioning unit. .

Preferably, the two-dimensional positioning unit includes at least four positioning base stations, and each positioning base station is deployed on the same horizontal plane.

Preferably, the 3D positioning layer includes:

Two-dimensional personnel positioning engine unit: used to receive the positioning data from the sensor layer positioning tag and the management information of the one-dimensional positioning module and the two-dimensional positioning module itself through the transmission layer, and combine the received positioning data with the position information of the positioning base station to resolve Calculated as the coordinate data of the positioning label, the two-dimensional positioning engine unit transmits the management information of the one-dimensional positioning module and the two-dimensional positioning module itself to the three-dimensional visualization engine unit;

System management unit: used for configuration and management of the entire system;

Three-dimensional visualization engine unit: used to receive the positioning data of the sensor layer positioning tag and the management information of the positioning module itself transmitted from the two-dimensional personnel positioning engine unit, and then transmit the positioning data to the coordinate conversion unit, and transmit the management information data to the system management unit;

3D model unit: used to store the 3D model of the power plant and transmit it to the 3D visualization engine unit;

Coordinate conversion unit: used to convert the positioning data of the positioning label into 3D engine positioning coordinate data;

Original positioning data storage unit: for storing the 3D engine positioning coordinate data transferred from the coordinate conversion unit, and storing and forming the 3D engine positioning historical coordinate data in chronological order;

Real-time positioning data correction unit: used to correct the 3D engine positioning coordinate data received from the coordinate conversion unit using an algorithm, and transmit the corrected 3D engine positioning coordinate data to the real-time positioning display unit;

Real-time positioning display unit: used to receive and display the 3D engine positioning coordinate data transmitted by the real-time positioning data correction unit;

Historical positioning data correction unit: used to correct the historical data of 3D engine positioning coordinates read from the original positioning data storage unit by using an algorithm, and transmit the corrected coordinate data to the historical positioning track display unit;

Historical positioning trajectory display unit: used to receive the corrected 3D engine positioning coordinate data from the historical positioning data correction unit and display the trajectory;

Three-dimensional positioning algorithm support module: used to provide algorithm support for the real-time positioning data correction unit and the historical positioning data correction unit.

Preferably, the real-time positioning display unit does not limit the upper limit of the display of the 3D engine positioning coordinate data, and adopts a display method in which the positions of virtual people and objects in the 3D scene are synchronized with the corresponding positioning coordinate data.

A 3D power plant complex plant stereotaxic positioning method, based on the above-mentioned 3D power plant complex plant stereotaxic positioning system, characterized in that it includes the following steps:

S1: The positioning tag enters the coverage area of the continuous one-dimensional positioning module and the continuous two-dimensional positioning module of the sensing layer;

S2: The positioning tag periodically sends wireless positioning data with its own unique identification information;

S3: The continuous one-dimensional positioning module and the continuous two-dimensional positioning module receive the periodic positioning data transmitted by the positioning tag and transmit it to the 3D positioning layer through the transmission layer;

S4: The 3D positioning layer calculates the positioning data, obtains the original positioning coordinates of the positioning label, converts them into 3D engine positioning coordinates, and filters the 3D engine positioning coordinates;

S5: Perform area and device positioning mapping processing on the filtered 3D engine positioning coordinates, and further calibrate the position accuracy through the movement trend calculation and speed compensation calculation of the processed 3D engine positioning coordinates;

S6: Bind the 3D engine positioning coordinates after position accuracy calibration to virtual people and objects to realize trajectory display in the 3D scene.

Compared with the prior art, the present invention has the following beneficial effects: the present invention provides a stereotaxic positioning system for complex 3D power plants, including a sensing layer, a transmission layer, and a 3D positioning layer, through which complex positioning data is obtained through the sensing layer, After the transmission layer is passed to the 3D positioning layer, the 3D positioning layer performs calculation, conversion, filtering and mapping processing on the positioning data, and then calibrates and binds the positioning coordinates with virtual people and objects to realize the trajectory display in the 3D scene. Realize uninterrupted and continuous positioning of complex linear positioning scenes such as continuous hollow bridge-type inspection channels in complex power plant buildings, and complex two-dimensional plane positioning scenes such as continuous plant planes, plant planes and raised island-like operation planes, and can perform uninterrupted and continuous positioning in 3D scenes. Continuous and stable visual display, thus realizing stereotaxic positioning;

At the same time, the present invention provides a three-dimensional positioning method for complex 3D power plant buildings, which can continuously and uninterruptedly obtain the location information of people entering the room, which helps to improve the space management accuracy of power plant safety production, increase the dimension of safety production management and enhance the level of safety production management .

Description of drawings

Fig. 1 is a structural diagram of a stereotaxic positioning system for a complex plant of a 3D power plant of the present invention;

Fig. 2 is a structural diagram of the continuous one-dimensional positioning module of the sensing layer of the present invention;

Fig. 3 is a structural diagram of the continuous two-dimensional positioning module of the sensing layer of the present invention;

Fig. 4 is a flow chart of a 3D stereotaxic positioning method for complex power plant buildings according to an embodiment of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

Example:

As shown in Figures 1-4, the present invention provides a stereotaxic positioning system and method for a complex 3D power plant building;

The present invention provides a three-dimensional positioning system for a complex 3D power plant building with a layered structure, including a sensing layer, a transmission layer and a 3D positioning layer, as shown in FIG. 1 .

The sensing layer includes a continuous one-dimensional positioning module and a continuous two-dimensional positioning module. There are wearable positioning tags with unique identification information within the coverage of the positioning module. The transport layer passes up to the 3D localization layer. Conversely, the management information transmitted downward by the 3D positioning layer can also be transmitted downward to the positioning module through the transport layer.

The transport layer is used to provide a link for the sensing layer to transmit to the 3D positioning layer. As a preferred technical solution, a wired Ethernet network is used.

The 3D positioning layer obtains the positioning data and management information of the positioning tags of the sensing layer through the transmission layer, and realizes positioning data correction and three-dimensional display through coordinate conversion and three-dimensional positioning algorithms.

The continuous one-dimensional positioning module of the sensing layer includes a one-dimensional positioning unit, a one-dimensional relay unit, and a one-dimensional positioning tag unit. The quantity relationship between the one-dimensional positioning unit and the one-dimensional relay unit is N and N-1, where N is a positive integer greater than or equal to 1. The one-dimensional relay unit is at the junction of two one-dimensional positioning units. Typical application scenarios are hollow bridge-type inspection areas on different layers of the outer wall of the boiler, the circular inspection channel corresponds to the deployment structure of one-dimensional positioning units, and the steel frame stairs between the circular inspection channels correspond to the deployment structure of one-dimensional relay units.

The one-dimensional positioning unit realizes one-dimensional linear positioning, and includes at least two positioning base stations, and each positioning base station is deployed on a straight line on the same horizontal plane. As a preferred implementation, the positioning base station is a UWB base station, and transmits data with the sensing layer using a wired Ethernet network.

As an optional implementation, the one-dimensional positioning unit also includes a calibration anchor point, which transmits a unique wireless signal identifying its own position information, which is received by the mobile tag and finally transmitted to the 3D positioning layer, so as to It is used for the 3D positioning layer to filter and calibrate when signals are disturbed between one-dimensional linear positioning units. As a preferred implementation manner, the calibration anchor point is an RFID anchor point.

The one-dimensional relay unit is composed of a relay base station and an optional calibration anchor point, which plays a role of connecting two one-dimensional positioning units and ensures the continuity of the one-dimensional positioning area. As a preferred implementation manner, the relay base station adopts a UWB base station in a ranging working mode, and the calibration anchor point is an RFID anchor point.

The one-dimensional positioning tag unit can be worn on a person or fixed on a device, has the ability to identify and calibrate anchor point identification information, and has the ability to transmit positioning data, management information, and anchor point identification information with the positioning base station and relay base station . As a preferred implementation manner, the positioning tag is a UWB tag.

The continuous two-dimensional positioning module of the sensing layer includes a two-dimensional positioning unit, a two-dimensional relay unit, and a two-dimensional positioning tag unit. The quantity relationship between the two-dimensional positioning unit and the two-dimensional relay unit is N and N-1, wherein N is a positive integer greater than 1. The two-dimensional relay unit is at the junction of two two-dimensional positioning units. A typical application scenario is the continuous positioning application of different plane layers of a turbine room in a power plant, such as the 0-meter floor, 7.8-meter floor, and 15-meter floor. Different plane layers correspond to the deployment structure of two-dimensional positioning units. The type staircase corresponds to the deployment structure of the two-dimensional relay unit.

The two-dimensional positioning unit realizes two-dimensional linear positioning, and includes at least four positioning base stations, and each positioning base station is deployed on the edge of the area where two-dimensional plane positioning needs to be realized. As a preferred implementation manner, the positioning base station is a UWB base station.

The two-dimensional relay unit is the same as the one-dimensional relay unit in the one-dimensional positioning module.

The two-dimensional positioning label unit is the same as the one-dimensional positioning label in the one-dimensional positioning module.

The 3D positioning layer includes a two-dimensional personnel positioning engine unit, a three-dimensional visualization engine unit, a system management unit, a three-dimensional model unit, a coordinate conversion unit, an original positioning data storage unit, a real-time positioning data correction unit, a real-time positioning display unit, and a historical positioning data unit. Correction unit, historical positioning trajectory display unit and three-dimensional positioning algorithm support module.

The two-dimensional positioning engine unit receives the positioning data from the sensor layer positioning tag and the management information of the positioning module itself from the positioning tag of the sensing layer through the transmission layer, and further combines the received positioning data with the positioning base station The location information is calculated as the coordinate data of the positioning tag, and is transmitted to the 3D visualization engine unit together with the management information of the positioning module itself.

The 3D visualization engine unit is connected to the 2D personnel positioning engine, and also connected to the system management unit, 3D model unit, and coordinate conversion unit. After the three-dimensional visualization engine unit receives the positioning coordinate data of the positioning label of the sensing layer and the management information of the positioning module itself transmitted from the two-dimensional personnel positioning engine unit, the positioning coordinate data is transmitted to the coordinate conversion unit, and the management information data and the system Snap-in interaction. The 3D visualization engine unit can also receive the 3D model from the 3D model unit and implement 3D visualization driving.

The three-dimensional model unit stores a three-dimensional model of the power plant. As a preferred implementable manner, the three-dimensional model is in FBX format.

The system management unit implements the configuration and management of the entire system, including rights management, area management, personnel management, alarm management, report management and other content.

The coordinate conversion unit realizes the function of converting the positioning coordinate data of the sensing layer positioning tag received from the 3D visualization engine unit into 3D engine positioning coordinate data. The coordinate conversion unit is connected with the original positioning data storage unit, and stores the positioning coordinate data of the three-dimensional engine. The coordinate conversion unit is also connected with the real-time positioning data correction unit, and transmits the positioning coordinate data of the three-dimensional engine to the unit.

The original positioning data storage unit is connected to the coordinate conversion unit, stores the 3D engine positioning coordinate data transmitted from the coordinate conversion unit, and stores and forms 3D engine positioning historical coordinate data in time order.

The real-time positioning data correction unit corrects the 3D engine positioning coordinate data received from the coordinate conversion unit, and transmits the corrected 3D engine positioning coordinate data to the real-time positioning display unit. The real-time positioning data correction unit is also connected with the three-dimensional positioning algorithm support module.

The historical positioning data correction unit corrects the historical positioning coordinate data of the 3D engine read from the original positioning data storage unit, and transmits the corrected coordinate data to the historical positioning track display unit. The historical positioning data correction unit is also connected with the three-dimensional positioning algorithm support module.

The three-dimensional positioning algorithm support module provides algorithm support for the real-time positioning data correction unit and the historical positioning data correction unit, as an implementable mode, including a data filtering unit, an area and equipment positioning mapping unit, and a movement trend calculation and compensation unit . Specifically, the data filtering unit can solve the problem of signal interference and drift between the positioning modules of the sensing layer; the area and device positioning mapping unit can solve the problem of using a virtual person to synchronize the position of the person wearing the positioning tag of the sensing layer in the three-dimensional scene The problem of not crossing the equipment from time to time; the movement trend calculation and compensation unit can combine historical data, and judge the location of the point where the evaluation coordinate value jitter should be displayed in the 3D scene through analysis, which can solve the problem of short-term 2D positioning data due to obstacles, close to metal However, the signal jitter caused by wireless signal self-excitation or other reasons, or the avatar moves incoherently in the 3D scene when leaving the positioning area for a short time.

The real-time positioning display unit receives the corrected 3D engine positioning coordinate data from the real-time positioning data correction unit for display. As a preferred implementation, the real-time positioning display unit display does not limit the upper limit of the number of positioning tags of the sensing layer that generates positioning coordinate data, and uses virtual people and objects in a three-dimensional scene to display synchronously with the corresponding positioning coordinate data positions Way.

The historical positioning trajectory unit receives the corrected 3D engine positioning coordinate data from the historical positioning data correction unit to display the trajectory. As a preferred implementation, the historical positioning trajectory display unit displays the upper limit number of positioning tags and the length of the time period of the sensor layer that limit the generation of positioning coordinate data, using virtual people and objects in the three-dimensional scene and the corresponding positioning coordinate data How location synchronization is displayed.

The present invention also provides a 3D power plant complex plant stereo positioning method, comprising the following steps:

Step 1: The positioning label enters the coverage area of the continuous one-dimensional positioning module and the continuous two-dimensional positioning module of the sensing layer;

Step 2: The positioning tag periodically sends wireless positioning data with its own unique identification information and the identified identification information of the calibration anchor point;

Step 3: The positioning base station of the continuous one-dimensional positioning module and the continuous two-dimensional positioning module receives the periodic positioning data transmitted by the positioning tag and transmits it to the two-dimensional personnel positioning engine unit of the 3D positioning layer through the transmission layer;

Step 4: The two-dimensional personnel positioning engine calculates according to the positioning data of the positioning tag, obtains the original positioning coordinates of the positioning tag of the sensing layer, and transfers them to the 3D engine and converts them into the positioning coordinates of the 3D engine;

Step 5: Filter the 3D engine positioning coordinates through tampering judgment, drift judgment, anchor point auxiliary correction, etc.;

Step 6: Perform area and equipment positioning mapping on the coordinates filtered in step 5. After the plane coordinates are corrected, they will not fall into the equipment 3D model. After the height coordinates are matched, they can be associated with the correct layer of the plant 3D model;

Step 7: For the coordinates processed in step 6, further calibrate the position accuracy of the coordinates through moving trend calculation and speed compensation calculation;

Step 8: Bind the coordinates processed in step 7 with virtual people and objects to realize trajectory display in the 3D scene.

Although the embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative, instructive, and not restrictive . Under the enlightenment of the description, those skilled in the art can also make many forms without departing from the protection scope of the claims of the present invention, and these all belong to the protection of the present invention.

Claims (10)

1. A 3D power plant complex plant stereotaxic system, is characterized in that, comprises sensing layer, transmission layer and 3D positioning layer; The sensing layer includes a continuous one-dimensional positioning module and a continuous two-dimensional positioning module, positioning tags with unique identification information within the coverage of the one-dimensional positioning module and the two-dimensional positioning module, and the one-dimensional positioning module and the two-dimensional positioning module acquire The positioning data of the positioning tag, together with the management information of the 1D positioning module and the 2D positioning module itself, is transmitted upwards to the 3D positioning layer through the transport layer, and the management information transmitted downwards from the 3D positioning layer can be transmitted downwards to the 1D positioning layer through the transport layer. Positioning module and two-dimensional positioning module; The transport layer is used to provide a link for the sensing layer to transmit to the 3D positioning layer; The 3D positioning layer obtains the positioning data and management information of the positioning tags of the sensing layer through the transmission layer, and the 3D positioning layer performs calculation, conversion, filtering and mapping processing on the positioning data, and then performs calibration and compares the positioning coordinates with the virtual human Binding with objects to realize the trajectory display in the 3D scene. 2. A kind of 3D stereotaxic positioning system for a complex factory building of a 3D power plant according to claim 1, wherein the continuous one-dimensional positioning module comprises a one-dimensional positioning unit, a one-dimensional relay unit and a one-dimensional positioning tag unit, and a one-dimensional The quantitative relationship between the positioning unit and the one-dimensional relay unit is N and N-1, wherein N is a positive integer greater than or equal to 1, and the one-dimensional positioning tag unit is used to provide the position identification of the positioning object, and the one-dimensional positioning unit uses For the positioning of the one-dimensional positioning tag unit, the one-dimensional relay unit is used to connect two one-dimensional positioning units. 3. A 3D stereotaxic positioning system for a complex plant of a power plant according to claim 2, wherein the one-dimensional positioning unit includes at least two positioning base stations, and each positioning base station is deployed on the same horizontal plane. 4. The stereotaxic positioning system for a complex 3D power plant building according to claim 3, wherein the one-dimensional positioning unit also includes a calibration anchor point, and the calibration anchor point emits a unique wireless signal identifying its own position information . 5. The stereotaxic system for a complex 3D power plant building according to claim 4, wherein the calibration anchor points are RFID anchor points. 6. The stereotaxic system for a complex building of a 3D power plant according to claim 1, wherein the continuous two-dimensional positioning module includes a two-dimensional positioning unit, a two-dimensional relay unit and a two-dimensional positioning tag unit, and the two-dimensional The quantitative relationship between the positioning unit and the two-dimensional relay unit is N and N-1, wherein N is a positive integer greater than 1, and the two-dimensional positioning label unit is used to provide the position identification of the positioning object, and the two-dimensional positioning unit is used for For the positioning of the two-dimensional positioning tag unit, the two-dimensional relay unit is used to connect two two-dimensional positioning units. 7. A 3D stereotaxic positioning system for complex power plant buildings according to claim 6, wherein the two-dimensional positioning unit includes at least four positioning base stations, and each positioning base station is deployed on the same horizontal plane. 8. A kind of 3D power plant complex workshop stereotaxic system according to claim 1, is characterized in that, described 3D positioning layer comprises: Two-dimensional personnel positioning engine unit: used to receive the positioning data from the sensor layer positioning tag and the management information of the one-dimensional positioning module and the two-dimensional positioning module itself through the transmission layer, and combine the received positioning data with the position information of the positioning base station to resolve Calculated as the coordinate data of the positioning label, the two-dimensional positioning engine unit transmits the management information of the one-dimensional positioning module and the two-dimensional positioning module itself to the three-dimensional visualization engine unit; System management unit: used for configuration and management of the entire system; Three-dimensional visualization engine unit: used to receive the positioning data of the sensor layer positioning tag and the management information of the positioning module itself transmitted from the two-dimensional personnel positioning engine unit, and then transmit the positioning data to the coordinate conversion unit, and transmit the management information data to the system management unit; 3D model unit: used to store the 3D model of the power plant and transmit it to the 3D visualization engine unit; Coordinate conversion unit: used to convert the positioning data of the positioning label into 3D engine positioning coordinate data; Original positioning data storage unit: for storing the 3D engine positioning coordinate data transferred from the coordinate conversion unit, and storing and forming the 3D engine positioning historical coordinate data in chronological order; Real-time positioning data correction unit: used to correct the 3D engine positioning coordinate data received from the coordinate conversion unit using an algorithm, and transmit the corrected 3D engine positioning coordinate data to the real-time positioning display unit; Real-time positioning display unit: used to receive and display the 3D engine positioning coordinate data transmitted by the real-time positioning data correction unit; Historical positioning data correction unit: used to correct the historical data of 3D engine positioning coordinates read from the original positioning data storage unit by using an algorithm, and transmit the corrected coordinate data to the historical positioning track display unit; Historical positioning trajectory display unit: used to receive the corrected 3D engine positioning coordinate data from the historical positioning data correction unit and display the trajectory; Three-dimensional positioning algorithm support module: used to provide algorithm support for the real-time positioning data correction unit and the historical positioning data correction unit. 9. The stereotaxic positioning system for a complex 3D power plant building according to claim 8, wherein the real-time positioning display unit does not limit the upper limit to the display of the three-dimensional engine positioning coordinate data, and uses virtual people and objects in three-dimensional The display method of synchronizing the position of the scene with the corresponding positioning coordinate data. 10. A method for stereotaxic positioning of a complex 3D power plant building, based on the stereotaxic positioning system for a complex 3D power plant building according to any one of claims 1-9, characterized in that it comprises the following steps: S1: The positioning tag enters the coverage area of the continuous one-dimensional positioning module and the continuous two-dimensional positioning module of the sensing layer; S2: The positioning tag periodically sends wireless positioning data with its own unique identification information; S3: The continuous one-dimensional positioning module and the continuous two-dimensional positioning module receive the periodic positioning data transmitted by the positioning tag and transmit it to the 3D positioning layer through the transmission layer; S4: The 3D positioning layer calculates the positioning data, obtains the original positioning coordinates of the positioning label, converts them into 3D engine positioning coordinates, and filters the 3D engine positioning coordinates; S5: Perform area and device positioning mapping processing on the filtered 3D engine positioning coordinates, and further calibrate the position accuracy through the movement trend calculation and speed compensation calculation of the processed 3D engine positioning coordinates; S6: Bind the 3D engine positioning coordinates after position accuracy calibration to virtual people and objects to realize trajectory display in the 3D scene.

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