Personnel Positioning System in Signal Interference Environment of Substation

A solution is proposed to solve the problem of satellite signal failure and drift for personnel positioning in substations under semi-shaded environment. The scheme uses IMU (Inertial Measurement Unit) as the positioning compensation module of RTK, and adopts RTK/PDR (real-time dynamic/step Angle rate) joint positioning method to improve the positioning accuracy. In this way, we can effectively deal with the complex signal interference environment in the substation and ensure the accurate positioning of personnel. During the PDR positioning process, the heading angle has the property of scattering. Then, we used the gyroscope, accelerometer and magnetometer sensor output the output of the data fusion, building a complementary filter to enhance the precision of the step length of substation operation. We expect to use extended Kalman filters for RTK/PDR data fusion to achieve high-precision positioning of the whole scene of the substation. To verify the effectiveness of the algorithm, we carried out physical experiments based on the constructed precision positioning device. The results show that the proposed method can effectively achieve accurate positioning in the semi-sheltered space of the substation, achieving a positioning accuracy of 0.02 m.