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.

Abstract: A power decentralized electric locomotive apparatus includes an electric locomotive and a plurality of muck trucks. The electric locomotive and the plurality of muck trucks are connected in sequence, and a mater drive motor is fixedly mounted on the electric locomotive. A slave drive motor is fixedly mounted on at least one of the muck trucks; a torque of the slave drive motor is smaller than a torque of the mater drive motor; and the slave drive motor cooperates with the mater drive motor, to enable the muck truck to travel on rails and reduce drive power and self-weight of the electric locomotive.

Abstract: A power decentralized electric locomotive apparatus includes an electric locomotive and a plurality of muck trucks. The electric locomotive and the plurality of muck trucks are connected in sequence, and a mater drive motor is fixedly mounted on the electric locomotive. A slave drive motor is fixedly mounted on at least one of the muck trucks; a torque of the slave drive motor is smaller than a torque of the mater drive motor; and the slave drive motor cooperates with the mater drive motor, to enable the muck truck to travel on rails and reduce drive power and self-weight of the electric locomotive.