CN113923597A - System and method for safely positioning personnel in area - Google Patents
System and method for safely positioning personnel in area Download PDFInfo
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- CN113923597A CN113923597A CN202010650440.7A CN202010650440A CN113923597A CN 113923597 A CN113923597 A CN 113923597A CN 202010650440 A CN202010650440 A CN 202010650440A CN 113923597 A CN113923597 A CN 113923597A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/20—Individual registration on entry or exit involving the use of a pass
- G07C9/22—Individual registration on entry or exit involving the use of a pass in combination with an identity check of the pass holder
- G07C9/25—Individual registration on entry or exit involving the use of a pass in combination with an identity check of the pass holder using biometric data, e.g. fingerprints, iris scans or voice recognition
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/20—Individual registration on entry or exit involving the use of a pass
- G07C9/27—Individual registration on entry or exit involving the use of a pass with central registration
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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Abstract
The invention discloses a system and a method for safely positioning personnel in an area, belonging to the technical field of personnel safety positioning, wherein the system comprises a fusion positioning system, a positioning system and a positioning system, wherein the fusion positioning system is used for accurately positioning personnel in a chemical plant area; and/or the access control system is used for identifying the identity of the personnel entering the access control entrance and exit of the chemical plant area; and/or the safety management system is used for comparing and processing the information transmitted by the fusion positioning system and the access control system, carrying out safety supervision on personnel in the chemical plant area, and realizing the optimal personnel safety positioning system in the chemical plant area by the fusion of the satellite positioning technology and the UWB positioning technology and the butt joint of the fusion positioning system and the access control system.
Description
Technical Field
The invention relates to a personnel safety positioning technology in a specific area, in particular to a system and a method for positioning personnel safety in the area based on a satellite positioning and UWB positioning fusion technology.
Background
In a certain area, accurate positioning of personnel is required, and the problems that a positioning system is simple and low in cost are always disturbing. Especially in the production process of chemical enterprises, the positioning requirement on workers is a major key and difficulty of safety management of the workers at present. The demands for positioning personnel in factory areas and multiple spaces of the whole enterprise are more and more. With the continuous improvement of the demand of less humanization and the safety requirement, the demand of carrying out real-time positioning, routing inspection record query and accurate positioning of personnel after an accident on site is urgent.
The UWB (Ultra-Wide-Band) positioning technology is a wireless communication mode for transmitting data by utilizing nanosecond-level non-sine wave narrow pulses, adopts a high-bandwidth and fast-pulse mode, realizes positioning based on ranging, has the advantages of high precision, low power consumption, easiness in deployment, strong interference resistance and the like, is used for high-precision positioning of personnel in a complex environment, and has wider applicability and higher precision compared with other positioning technologies adopting an RSSI (signal strength indicator) mode; the satellite positioning technology is a technology for performing point location measurement using an artificial earth satellite. Common GPS navigation, Beidou satellite navigation and the like are satellite navigation, and Beidou/GNSS satellite positioning navigation has the characteristics of supporting BDS/GPS/GLONASS multi-system combined positioning, having quicker positioning response speed and stronger anti-interference capability, but having poor positioning precision (5-10 meters) and being incapable of realizing high-precision positioning (the requirement of high-precision positioning is 10cm-50 cm).
In the prior art, the requirement of personnel positioning in the factory environment of a chemical enterprise can be met by independently establishing a UWB positioning technology and independently using a satellite positioning technology, but some defects exist: for example, the independent UWB positioning depends on the arrangement of multiple base stations, so that high base station arrangement cost is required, more chemical industry enterprise factories have explosion-proof requirements, and the UWB base stations also need to meet the explosion-proof requirements, thereby increasing the cost and difficulty of a large amount of subsequent maintenance work. In addition, the requirement of high positioning precision of the personnel in the plant area of the chemical industry enterprise can not be met by independently using the satellite positioning technology. Therefore, it is necessary to design a system and a method for safely positioning personnel in an area, and a problem to be solved is urgent.
Disclosure of Invention
The invention provides a system and a method for safely positioning personnel in an area, which are used for fusing the independence and universality of a satellite navigation system and the stability and high precision of UWB positioning to realize the safe positioning of the personnel in a chemical plant area.
In order to achieve the above object, according to one aspect of the present invention, there is provided an in-zone personnel safety positioning system, including a fusion positioning system for accurately positioning personnel in a chemical plant zone; and/or the access control system is used for identifying the identity of the personnel entering the access control entrance and exit of the chemical plant area; and/or the safety management system is used for comparing and processing the information transmitted by the fusion positioning system and the access control system and carrying out safety supervision on the personnel in the chemical plant area.
According to the system of the above aspect of the present invention, the converged positioning system includes a converged locator, a UWB base station, a relay base station, a first converged switch, and a positioning system server, and the UWB base station and the relay base station are connected to the positioning system server through the first converged switch, respectively.
According to the system of the above aspect of the present invention, the converged locator includes a UWB positioning module and a satellite positioning module, the UWB positioning module is wirelessly connected to the UWB base station, and the satellite positioning module is wirelessly connected to the relay base station.
According to the system of the above aspect of the invention, the fusion locator further comprises an acousto-optic alarm system, wherein the acousto-optic alarm system comprises a falling alarm module, an SOS alarm module, a long-time stay alarm module and an abnormal off-line alarm module, and is used for being matched with the fusion locator system to be used and triggered during alarm.
According to the system of the above aspect of the invention, the access control system comprises an access control, a camera, a second aggregation switch and an access control system server, wherein the access control and the camera are respectively connected with the access control system server through the second aggregation switch.
According to the system of the above aspect of the present invention, the security management system includes a security management system server, and the security management server is respectively connected to the access control system server and the positioning system server by wires.
According to another aspect of the invention, a method for safely positioning personnel in an area is provided, which comprises the following steps:
step S1: the UWB base station and the UWB positioning module perform ranging on the chemical plant area, ranging data are acquired and then transmitted back to the positioning system server through the UWB base station, and UWB position information of the chemical plant area is calculated in the positioning system server;
step S2: the satellite positioning module obtains satellite positioning data of a chemical plant area through a satellite navigation system, namely longitude and latitude, the longitude and latitude are transmitted back to a positioning system server through a relay base station, affine transformation is carried out on the positioning system server, and the longitude and latitude coordinate value is converted into a UWB coordinate value;
step S3: the fusion positioning system judges the reliability of data according to the UWB signals received on site and the UWB positioning data, then processes the data, and outputs position coordinate information according to the number of UWB base stations and the number of satellite signals searched by the satellite positioning module.
According to the method of the above another aspect of the present invention, in the step S3, the following three cases are classified:
s31: when the number of the UWB base stations is more than 4 and the satellite positioning module does not search enough satellite signals, the data reliability is high, and UWB position data is used as real position data;
s32: when the number of the UWB base stations is 3-4 and the satellite positioning module can search 4-10 satellite signals, fusion processing is carried out on positioning data, the satellite positioning data is taken as a main part, the UWB positioning data is taken as an auxiliary part, the satellite positioning data and the UWB positioning data are synthesized, and smoothing and fitting processing are carried out;
s33: when the number of UWB base stations is less than 3 and the number of satellite signals searched by the satellite positioning module is more than 10, the satellite positioning data is used as real position data.
According to still another aspect of the present invention, the method of the security management system includes the steps of:
step A: setting a positioning chip to set a judgment area at an entrance/exit of an entrance guard in the fusion positioning system, and recording information of entering personnel through the positioning chip when the personnel enter;
and B: setting a camera identification rule and a personnel identity information list stored in a chemical plant area in an access control system, and identifying the identity information of personnel when the personnel triggers the access control system;
and C: and the fusion positioning system and the access control system respectively report the respectively identified identity information to the safety management system, and the safety management system performs comparison processing according to the comparison result.
According to another aspect of the present invention, the security management system in step C compares the following conditions according to the comparison result:
c1: the camera of the fusion positioning system and the camera of the access control system can identify the identity of the personnel, and if the identity information of the personnel is consistent with the identity information of the personnel, the access control system is opened to permit the access;
c2: the fusion positioning system can identify the identity of a person, but a camera of the access control system identifies that the person is not in an access list and is not allowed to enter, and meanwhile, an illegal person alarm is sent;
c3: the camera of the access control system recognizes the identity information of the personnel, but the fusion positioning system does not detect the positioning information of the personnel, does not allow the personnel to enter, and simultaneously sends an alarm that the personnel are not provided with a card;
c4: the camera that fuses positioning system and access control system can both discern personnel's identity information, but both identity information contrast inconsistent, do not admit into, send the inconsistent warning of people's card simultaneously.
After the technical scheme is adopted, the invention has the following advantages: 1. through the combined use of the satellite positioning module and the UWB positioning module of the fusion locator, the satellite positioning can extend the positioning range, and in a wide area, the satellite positioning can be used in a better area with a better visual field, and UWB positioning is used in key areas and indoor areas of a chemical plant, so that under the condition of high-precision positioning requirement, the construction of a UWB base station can be effectively reduced, and the investment of the base station arrangement cost is reduced by 50%.
2. Fuse positioning system and access control system and combine together, the personnel's identity information that face identification identity information through access control system's camera and fusion positioning system can discern are compared, people's card separation when personnel pass in and out the entrance guard through safety management system solution chemical plant, the inconsistent problem of people's card, a plurality of personnel position coordinates are synchronous display on the map simultaneously, it can discern to fall to report an emergency and ask for help or increased vigilance to report an emergency in the locator, the SOS reports an emergency and asks for help or increased vigilance, long-time stop reports an emergency and asks for help or increased vigilance, can improve work efficiency and security, solve the safety control of factory danger area personnel.
3. The safety positioning system can realize the combined positioning inside and outside the chemical plant area, seamless positioning switching outside the chemical plant area and inside the chemical plant area, and particularly can perform deviation rectification optimization processing on the satellite positioning deviation under the condition outside the complicated factory area so as to achieve the effect of high-precision positioning.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
FIG. 1 is a diagram of a system for integrating satellite positioning with UWB positioning technology in accordance with the present invention;
FIG. 2 is a flowchart of the operation of the fusion positioning system of the present invention;
fig. 3 is a flow chart of the security management system operation of the present invention.
Detailed Description
The technical scheme of the invention is specifically explained in the following with the accompanying drawings of the specification.
The detailed features and advantages of the present invention are described in detail in the detailed description which follows, and will be sufficient for anyone skilled in the art to understand the technical content of the present invention and to implement the present invention, and the related objects and advantages of the present invention will be easily understood by those skilled in the art from the description, claims and drawings disclosed in the present specification.
First embodiment
As shown in fig. 1, a system for locating the safety of people in an area includes a fusion location system, an access control system and a safety management system.
Wherein: the fusion positioning system is used for accurately positioning personnel in the area of the chemical plant; the access control system is used for identifying the identity of the personnel entering the access control entrance and exit of the chemical plant area; and the safety management system is used for comparing and processing the information transmitted by the fusion positioning system and the access control system and carrying out safety supervision on the personnel in the chemical plant area.
The fusion positioning system comprises a fusion positioner 1, a UWB base station 2, a relay base station 3, a first aggregation switch 4 and a positioning system server 5, wherein the UWB base station 2 and the relay base station 3 are in communication connection with the positioning system server 5 through the first aggregation switch 4 respectively. Wherein: the fusion locator 1, the UWB base station 2 and the relay base station 3 are all field devices, the positioning system server 5 is an application layer device, the fusion locator comprises a UWB positioning module 6 and a satellite positioning module 7, the UWB positioning module 6 is connected with the UWB base station 2 through wireless communication, the UWB positioning module 6 transmits a positioning signal, the UWB base station 2 receives the positioning signal, the UWB positioning module 6 and the UWB base station 2 perform ranging, and the ranging is transmitted back to the positioning system server 5 through the UWB base station 2, and position calculation is performed in the positioning system server 5; the relay base station 3 is responsible for returning the satellite positioning data, the satellite navigation mainly supports a Chinese Beidou satellite navigation system (BDS), a U.S. Global Positioning System (GPS), a Russian glonass satellite navigation system (GNSS) and a Galileo Satellite Navigation System (GSNS) developed by the European Union, the satellite positioning module is also in wireless communication connection with the relay base station, and the satellite positioning module 7 calculates longitude and latitude information and transmits the longitude and latitude information back to the positioning system server 5 through the relay base station 3. The positioning system server 5 is responsible for processing UWB positioning data and calculating UWB position data; the system is responsible for processing satellite positioning data and converting the satellite positioning data into plane position data; and simultaneously fusing the two groups of position data.
The access control system comprises an access control 8, a camera 9, a second aggregation switch 10 and an access control system server 11, wherein the access control 8 and the camera 9 are respectively connected with the access control system server 11 through the second aggregation switch 10. Wherein: the access control 8 and the camera 9 are field layer devices, and the access control system server 11 is an application layer device.
The safety management system comprises a safety management system server 12, and the safety management server 12 is respectively connected with the access control system server 11 and the positioning system server 5 through a wired network.
Second embodiment
As shown in fig. 2, the second embodiment of the present invention is similar to the first embodiment except for the following design changes. The embodiment provides a method for fusing a positioning system, which comprises the following steps:
step S1: the UWB base station 2 and the UWB positioning module 6 are used for ranging the chemical plant area, ranging data are obtained and then transmitted back to the positioning system server 5 through the UWB base station, and UWB position information of the chemical plant area is calculated in the positioning system server 5;
step S2: the satellite positioning module 7 obtains satellite positioning data of a chemical plant area through a satellite navigation system, namely longitude and latitude, transmits the longitude and latitude back to the positioning system server 5 through a relay base station, performs affine transformation on the positioning system server 5, and converts the longitude and latitude coordinate value into a UWB coordinate value;
step S3: the fusion positioning system judges the reliability of the data according to the UWB signals received on site and the UWB positioning data, then processes the data, and outputs position coordinate information according to the number of the UWB base stations 2 and the number of the satellite signals searched by the satellite positioning module 7.
Wherein: in step S3, the following three cases are classified:
s31: when the number of the UWB base stations is more than 4 and the satellite positioning module does not search enough satellite signals, the data reliability is high, and UWB position data is used as real position data;
s32: when the number of the UWB base stations is 3-4 and the satellite positioning module can search 4-10 satellite signals, fusion processing is carried out on positioning data, the satellite positioning data is taken as a main part, the UWB positioning data is taken as an auxiliary part, the satellite positioning data and the UWB positioning data are synthesized, and smoothing and fitting processing are carried out;
s33: when the number of UWB base stations is less than 3 and the number of satellite signals searched by the satellite positioning module is more than 10, the satellite positioning data is used as real position data.
Third embodiment
As shown in fig. 3, a third embodiment of the present invention is similar to the second embodiment except for the following design changes. The embodiment provides a method for a security management system, which comprises the following steps:
step A: a positioning chip is arranged at an entrance and an exit of an entrance guard 8 in the fusion positioning system to set a judgment area, and when a person enters, the information of the entering person is recorded through the positioning chip;
and B: setting a camera 9 identification rule and a personnel identity information list stored in a chemical plant area in an access control system 8, and identifying the identity information of personnel when the personnel triggers the access control system;
and C: and the fusion positioning system and the access control system respectively report the respectively identified identity information to the safety management system, and the safety management system performs comparison processing according to the comparison result.
Wherein: the safety management system in the step C carries out comparison treatment according to the comparison result and is divided into the following conditions:
c1: the camera 9 of the fusion positioning system and the access control system can identify the identity of the personnel, and if the identity information of the personnel is consistent with the identity information of the personnel, the access control system is opened to permit the access;
c2: the fusion positioning system can identify the identity of a person, but a camera 9 of the access control system identifies that the person is not in an access list, does not allow the person to enter, and sends an illegal person alarm;
c3: the camera 9 of the access control system recognizes the identity information of the personnel, but the fusion positioning system does not detect the positioning information of the personnel, does not allow the personnel to enter, and simultaneously sends an alarm that the personnel is not provided with a card;
c4: the camera that fuses positioning system and access control system can both discern personnel's identity information, but both identity information contrast inconsistent, do not admit into, send the inconsistent warning of people's card simultaneously.
In addition, the fusion locator also comprises an acousto-optic warning system, wherein the acousto-optic warning system comprises a falling warning module, an SOS warning module, a long-time stay warning module and an abnormal off-line warning module, and is used for being matched with the fusion locator to be used and triggered during warning. The monitoring cameras are deployed in the monitoring area in the chemical plant and linked with the alarm, and when the alarm occurs, the monitoring images are quickly called so that workers can timely and effectively handle the alarm. Meanwhile, personnel are positioned in a dangerous area of a chemical plant in real time through a UWB technology, the safety supervision of the personnel is carried out by counting the motion state of a positioned object, and the falling alarm, the SOS alarm, the long-time stay alarm and the abnormal off-line alarm of the positioned personnel are completed.
Finally, it should be noted that while the present invention has been described with reference to the specific embodiments thereof, it should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention, and various equivalent changes and substitutions may be made therein without departing from the spirit of the present invention, and therefore, it is intended that all changes and modifications to the above embodiments within the spirit and scope of the present invention be covered by the appended claims.
Claims (10)
1. A system for safely locating personnel in an area, comprising:
the fusion positioning system is used for accurately positioning personnel in the area of the chemical plant; and/or
The access control system is used for identifying the identity of the personnel entering the access control entrance and exit of the chemical plant area; and/or
And the safety management system is used for comparing and processing the information transmitted by the fusion positioning system and the access control system and carrying out safety supervision on the personnel in the chemical plant area.
2. The system as claimed in claim 1, wherein said converged positioning system comprises a converged locator, a UWB base station, a relay base station, a first converged switch, and a positioning system server, said UWB base station and said relay base station being connected to said positioning system server through said first converged switch, respectively.
3. The system as claimed in claim 2, wherein said converged locator includes a UWB location module and a satellite location module, said UWB location module being wirelessly connected to said UWB base station, said satellite location module being wirelessly connected to said relay base station.
4. The system as claimed in claim 3, wherein the fusion locator further comprises an acousto-optic alarm system, the acousto-optic alarm system comprises a fall alarm module, an SOS alarm module, a long stay alarm module and an abnormal off-line alarm module, and is used in cooperation with the fusion locator system to trigger alarm.
5. The system of claim 4, wherein the access control system comprises an access control, a camera, a second aggregation switch and an access control system server, and the access control and the camera are respectively connected with the access control system server through the second aggregation switch.
6. The system of claim 5, wherein the security management system comprises a security management system server, and the security management server is respectively connected to the access control system server and the positioning system server by wires.
7. A method for safely positioning personnel in an area is characterized by comprising the following steps:
step S1, the UWB base station and the UWB positioning module perform distance measurement on the chemical plant area, the distance measurement data is obtained and then transmitted back to the positioning system server through the UWB base station, and UWB position information of the chemical plant area is calculated in the positioning system server;
step S2, the satellite positioning module obtains satellite positioning data of the chemical plant area through a satellite navigation system, namely longitude and latitude, the longitude and latitude are transmitted back to a positioning system server through a relay base station, affine transformation is carried out on the positioning system server, and the longitude and latitude coordinate value is converted into a UWB coordinate value;
and step S3, the fusion positioning system judges the credibility of the data according to the UWB signals and UWB positioning data received on site, then processes the data, and outputs position coordinate information according to the number of UWB base stations and the number of satellite signals searched by the satellite positioning module.
8. The method for safely locating personnel in an area according to claim 7, wherein the step S3 further comprises the steps of:
s31: when the number of the UWB base stations is more than 4 and the satellite positioning module does not search enough satellite signals, the data reliability is high, and UWB position data is used as real position data;
s32: when the number of the UWB base stations is 3-4 and the satellite positioning module can search 4-10 satellite signals, fusion processing is carried out on positioning data, the satellite positioning data is taken as a main part, the UWB positioning data is taken as an auxiliary part, the satellite positioning data and the UWB positioning data are synthesized, and smoothing and fitting processing are carried out;
s33: when the number of UWB base stations is less than 3 and the number of satellite signals searched by the satellite positioning module is more than 10, the satellite positioning data is used as real position data.
9. A method for safely positioning personnel in an area is characterized by comprising the following steps:
step A: setting a positioning chip to set a judgment area at an entrance and an exit of an entrance guard in the fusion positioning system, and recording information of entering personnel through the positioning chip when the personnel enter;
and B: setting a camera identification rule and a personnel identity information list stored in a chemical plant area in an access control system, and identifying the identity information of personnel when the personnel triggers the access control system;
and C: and the fusion positioning system and the access control system respectively report the respectively identified identity information to the safety management system, and the safety management system performs comparison processing according to the comparison result.
10. The method for safely positioning personnel in the area according to claim 9, wherein the safety management system in the step C compares the following conditions according to the comparison result:
c1: the camera of the fusion positioning system and the camera of the access control system can identify the identity of the personnel, and if the identity information of the personnel is consistent with the identity information of the personnel, the access control system is opened to permit the access;
c2: the fusion positioning system can identify the identity of a person, but a camera of the access control system identifies that the person is not in an access list and is not allowed to enter, and meanwhile, an illegal person alarm is sent;
c3: the camera of the access control system recognizes the identity information of the personnel, but the fusion positioning system does not detect the positioning information of the personnel, does not allow the personnel to enter, and simultaneously sends an alarm that the personnel are not provided with a card;
c4: the camera that fuses positioning system and access control system can both discern personnel's identity information, but both identity information contrast inconsistent, do not admit into, send the inconsistent warning of people's card simultaneously.
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| CN202010650440.7A CN113923597A (en) | 2020-07-08 | 2020-07-08 | System and method for safely positioning personnel in area |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115766847A (en) * | 2022-10-20 | 2023-03-07 | 上海金艺检测技术有限公司 | Personnel identification and positioning system and method based on UWB positioning technology |
| CN118131292A (en) * | 2024-05-07 | 2024-06-04 | 江苏北斗信创科技发展有限公司 | Positioning system adopting 5G and Beidou signal fusion |
| GB2626564A (en) * | 2023-01-26 | 2024-07-31 | Balfour Beatty Plc | Virtual fencing system and method |
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