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

Abstract

A method for 3D positioning in a subway construction site. The method includes: establishing a 3D coordinate system corresponding to a shaft area, and determining a coordinate of each UWB base station set in different layers of the shaft area; ranging a positioning label through each UWB base station; filtering and discarding error data from the ranging data; dividing the 3D coordinate system into a plurality of equal 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 cube grid in turn based on coordinates of the selected UWB base stations and corresponding ranging data, and the center point coordinate of each cube grid; and determining a conclusion coordinate of the positioning label by voting based on the position record of each cube grid.