Design of a follower positioning system for confined spaces

The indoor positioning technology for confined spaces operation is widely used in the field of petroleum and petrochemical safety. Aiming at the problems of complex positioning systems and significant measurement error, a set of high-precision confined spaces follower positioning systems based on Ultra-wideband technology is designed to set up four fixed base stations and follower target sub-stations within the confined spaces, and the four-point localisation method of three-dimensional space is applied to improve the Chan algorithm and carry out the simulation and analysis, to determine the accuracy of the algorithm. The man-machine interface software is prepared, the improved Chan algorithm is used for a fast solution, the indoor positioning test is completed, and the three-dimensional positioning data of the follower substations are obtained. The accuracy of the positioning error is within 250mm, which can satisfy the design requirements. The scheme and algorithms of the system can provide references for the research on positioning in confined spaces.