CN103957595B - Underground operators high-accuracy position system and method - Google Patents
Underground operators high-accuracy position system and method Download PDFInfo
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- CN103957595B CN103957595B CN201410202988.XA CN201410202988A CN103957595B CN 103957595 B CN103957595 B CN 103957595B CN 201410202988 A CN201410202988 A CN 201410202988A CN 103957595 B CN103957595 B CN 103957595B
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Abstract
The invention discloses a kind of underground operators high-accuracy position system and method, this method comprises the following steps：It is to gather each mesh point N that underworkings inner space, which is divided into coffin grid and is numbered each mesh point,iDemarcation characteristic parameter set up location database；The positioning terminal that underground operators are worn sends the detectable signal of the ID containing the positioning terminal in real time；Each positioning AP substation will receive detectable signal and be transmitted to location-server respectively in underworkings；Location-server resolves the ID and real-time characteristic parameter for obtaining detectable signal；The demarcation characteristic parameter of each mesh point in real-time characteristic parameter and location database is subjected to contrast and obtains accurate location of the underground operators in underworkings.The present invention, shields electromagnetic wave head and brought error is extracted up to footpath, eliminate the influence of complex electromagnetic environment, improve the positioning precision of underground operators completely.
Description
Technical field
The positioning of underground operators of the present invention, and in particular to underground operators high-accuracy position system and method.
Background technology
The security incident of pit mining industry takes place frequently, therefore, the national safe pay attention to day by day to coal mine underground operators,
Supervision is constantly strengthened, and multinomial rule of management is put into effect in succession.Such as：《Safety regulations in coal mine》Article 10 requirement：Coal mining enterprise must
It must set up and check system into well detection system and the well personnel that come in and go out；《Coal mine downhole safety hedging " six big systems " is built and improves base
This requirement and Tentative Measures of inspecting for acceptance》Article 17 requirement：It is all enter well personnel must carry identification card；AQ6210-2007
And AQ1048-2007《Coal mine underground operators management system is used and management regulation》It is middle to require：Each personnel discrepancy well head
It should set and examine identification card whether normal and device that uniqueness is detected, and card personnel and related personnel are taken in prompting.It is led
Syllabus is：Miner's management is effectively carried out, contains overcrowding production, it is ensured that rescue and relief work, safety first-aid.
The basis effectively managed miner is being accurately positioned for underground operators.The localization method commonly used at present
Mainly there are three kinds：
(1) alignment system of REID (RFID, Radio Frequency IdenPificaPion) is based on, should
Alignment system is applied than wide, but there are following some problems：
Positioning precision is limited by read write line distribution density, can only realize zone location, does not accomplish the accurate fixed of dynamic realtime
Position, once mine disaster occurs, it is impossible to accurately position the particular location where mine disaster personnel；
Because RFID can only realize zone location, it is impossible to detect that a people carries the situation of many cards, be not easy to ore deposit leader to people
The work attendance and management of member；
By RFID read-write rate limitation, it is impossible to handle many people simultaneously quickly through the situation of card-reading system, skip easily occur.
(2) it is based on being based on the alignment system of cell ID (Cell ID) in cellular radio, the alignment system is utilized and treated
Serving BS where positioning object is the ID of cellular cell small in the position where object to be positioned, cellular network to estimate
Area ID is that the whole world is unique, and the position where object to be positioned is mainly determined by the ID and cell coverage area of cellular cell
's.Cell ID realization principles are simple, changed without positioning terminal, without the signal characteristic value that measurement is complicated, only need network side
Slight improvement is done, increases positioning flow, is simplest method in current wireless location technology, positioning time only needs 3
Second or so, but cell of the technology where by recognizing user positions the position of user, positioning precision is often in cell half
In the number of levels of footpath, about 200 to 300 meters or so scopes, positioning precision is very low.But it is due to the particular surroundings of underworkings,
Such as wireless signal multipath transmisstion, signal fadeout is big, it is difficult to line-of-sight propagation, therefore the technology is not suitable for underground coal mine accurately calmly
Position.
(3) it is based on the positioning system of received signal strength (RSSI, Received Signal SPrengPh IndicaPion)
System, is the main localization method that current Zigbee and WiFi network are used, and it calculates according to the propagation loss type of wireless signal and moved
Distance between dynamic node and transmission substation.The signal intensity that mobile node is received is with the distance change of Distance Transmission substation
Change, i.e. mobile node and transmission substation distance are nearer, and the signal intensity received is stronger, conversely, mobile node is away from transmission point
Stand more remote, the signal intensity received is weaker, RSSI localization methods are to utilize this characteristic, and the signal intensity measured is changed
For that apart from discreet value, then will be compared with signal intensity map apart from discreet value, then determine finally to determine after filtering
Position result.RSSI localization methods are simply easily implemented.But the propagation loss model of wireless signal is affected by environment very big, so one
As RSSI alignment systems often must by increase transmission substation density, and controlled by global optimization approach in one direction
Position error, but subsurface environment multidimensional tunnel composition wire environment, it is impossible to obtain the field strength number in other directions in plane
According to so when there is the factor of such as larger metal shelter influence transmission of wireless signals in tunnel, position error is larger.
In addition, the roadway road of mine is the communication port of long and narrow closure, and due to originals such as dust, humidity, electromagnetic interferences
The presence of cause, communication condition is more severe, is mainly manifested in these points：First, multipath effect is serious.Multipath transmisstion can cause
Delay spread, signal phase skew and frequency expansion；Secondly, obstructed path is propagated influences very big for signal intensity.Work as shifting
After dynamic air line distance between platform and receiver is blocked, only refraction and reflection path reach receiving terminal, then receiving area is obtained
Signal intensity RSSI can be weakened, further increase the error of measured value, reduce the positioning precision of system.
The content of the invention
The problem of technical problems to be solved by the invention are how to improve the positioning precision of underground operators.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is to provide a kind of high-precision mine and determined in real time
Position method, comprises the following steps：
Underworkings inner space is divided into coffin grid and by each mesh point (Xi、Yi、Zi) numbering be
Ni, gather each mesh point NiDemarcation Characteristic parameter BiSet up location database；The demarcation Characteristic parameter BiUsing as follows
Mode is obtained：In each mesh point NiUpper numbering N of the transmitting containing the mesh pointiWireless calibration signal, should in underworkings
Multiple positioning AP substations in wireless launcher range of receiving receive the wireless calibration signal and are sent to positioning service respectively
Device, the location-server resolves each positioning AP substation SkThe wireless calibration signal received, and each is received into signal
RkiAmplitude, angle of arrival, Signal to Interference plus Noise Ratio and interference strength as the mesh point demarcation Characteristic parameter Bi, wherein：(Xi、Yi、
Zi) it is mesh point NiCoordinate, i=1~n, n be mesh point quantity, k=1~m, m be wireless launcher range of receiving in
Position the quantity of AP substations；
The positioning terminal that underground operators are worn sends the detectable signal of the ID containing the positioning terminal, underground lane in real time
Each positioning AP substation in road in the positioning terminal range of receiving will receive detectable signal and be transmitted to location-server respectively；
Location-server is resolved to each detectable signal for receiving of positioning AP substations, obtain the ID of positioning terminal with
And real-time characteristic parameter P, the real-time characteristic parameter P position the amplitude for the detectable signal that AP substations are received including each, arrived
Up to angle, Signal to Interference plus Noise Ratio and interference strength；
By the demarcation Characteristic parameter B of each mesh point in real-time characteristic parameter P and location databaseiContrasted, with
Accurate location of the position of the immediate mesh point of numerical value as underground operators in underworkings.
In the above-mentioned methods, with the movement of underground development machine, real-time update location database, the specific practice is as follows：
Support is set on the development machine of underground, and the support is provided with what is matched with lane space mesh point longitudinal cross-section
One extended wireless transmitter module is installed on node, each node；
Each described extended wireless transmitter module is with face synchronizing moving, in driving position transmitting extension letter accordingly
Number, the ID and coordinate of respective extension wireless transmitter module are included in the extension signal；
The extension feature parameter for extending signal is sent to the location-server simultaneously by the positioning AP substations in range of receiving
It is added to and new mesh point is created in location database, the extension feature parameter includes the width of received extension signal
Degree, angle of arrival, signal to noise ratio and interference strength, the coordinate of new mesh point is by tunneling position and extended wireless transmitter module
Position determine.
In the above-mentioned methods, when there is network failure, the real-time characteristic parameter of detectable signal is stored in AP points of positioning
In memory on standing, when network failure is repaired, AP substations are positioned by each the real-time characteristic parameter preserved in memory
Location-server is sent to be resolved respectively.
In the above-mentioned methods, ground is provided with Surveillance center, and the positioning terminal that underground operators are worn, which is provided with, to be used for
The alarm key of alarm signal is sent, positioning AP substations, which are received, sends the Surveillance center to after alarm signal.
In the above-mentioned methods, the Surveillance center is according to the quantity and the comparative result of specified quantity of terminal in some region
Produce overcrowding alarm.
In the above-mentioned methods, the Surveillance center is according to the comparative result of the distance between two neighboring terminal and setting value
A people is produced with many card alarms.
Present invention also offers a kind of underground operators high-accuracy position system, including positioning clothes on the ground are set
Business device and the detection device being arranged in underworkings.
The location-server is provided with location database and comparison module, and the detection device includes multiple positioning AP points
Stand, the positioning AP substations are connected to the location-server by explosion-proof optical switch；Protected in advance in the location database
There is the demarcation characteristic parameter of each mesh point on underworkings coffin grid, the demarcation characteristic parameter is advance
Wireless transmission mould received by positioning AP substations in the range of receiving for the wireless launcher being arranged in respective grid points
Amplitude, angle of arrival, Signal to Interference plus Noise Ratio and the interference strength for the demarcation signal that block is sent.
Wireless receiving module and measurement module are equipped with each positioning AP substations, what underground operators were worn
Positioning terminal is provided with wireless transmitter module, and positioning terminal is sent containing the positioning terminal in real time by the wireless transmitter module
ID detectable signal, the positioning AP substations in range of receiving are received after detectable signal, and the measurement module passed through thereon obtains institute
The real-time characteristic parameter of the detectable signal received is simultaneously sent to location-server, and the real-time characteristic parameter is fixed including each
Amplitude, angle of arrival, Signal to Interference plus Noise Ratio and the interference strength for the detectable signal that position AP substations are received.
Comparison module on location-server is according to real-time characteristic parameter and the mark of each mesh point in location database
Determine the comparison result of characteristic parameter, obtain accurate location of the positioning terminal in underworkings.
In said system, all positioning AP substations are divided into multigroup, and multiple positioning AP substations in every group pass through net respectively
Line is connected on the network interface of an optical-electrical converter, and the light output mouthful of the optical-electrical converter is exchanged by the anti-exposure
Machine is connected on the location-server.
In said system, in addition to location data real-time extension device, the location data real-time extension device includes
Follow the synchronization-moving support of underground development machine.The support is provided with the section matched with lane space mesh point longitudinal cross-section
Point.An extended wireless transmitter module is installed on each node.Each described extended wireless transmitter module is same with face
Moved further, and in driving position transmitting extension signal accordingly.Include respective extension wireless transmitter module in the extension signal
ID, the extension feature parameter for extending signal is sent to the location-server and added by the positioning AP substations in range of receiving
New mesh point is created into location database.The extension feature parameter includes the amplitude of received extension signal, arrived
Up to angle, signal to noise ratio and interference strength, the coordinate of new mesh point is by tunneling the position of position and extended wireless transmitter module
Put determination.
In said system, in addition to Surveillance center on the ground is set, the Surveillance center is according in some region
The quantity of terminal and the comparative result of specified quantity produce overcrowding alarm；The Surveillance center is according between two neighboring terminal
The comparative result of distance and setting value produces a people and alarmed with many cards.
The present invention, location-server is provided with location database, location database and has pre-saved underworkings space
The demarcation characteristic parameter of each mesh point on grid.The detectable signal that positioning AP substation receptions positioning terminal is sent obtains it
Real-time characteristic parameter is simultaneously sent to location-server, and location-server is according to each in real-time characteristic parameter and location database
The comparison result of the demarcation characteristic parameter of mesh point, obtains accurate location of the positioning terminal in underworkings.Shield completely
Electromagnetic wave head extracts brought error up to footpath, eliminates the influence of underworkings complex electromagnetic environment, substantially increases underground
The positioning precision of operating personnel.
Brief description of the drawings
Fig. 1 is underground operators high-precision locating method flow chart in the present invention；
Fig. 2 is the structural representation of underground operators high-accuracy position system in the present invention.
Embodiment
The invention provides a kind of underground operators high-accuracy position system and method, by carrying out net to underworkings
Format space mark sets up location database, it is near and using each positioning AP substations real-time reception in tunnel to positioning terminal send
Detectable signal and location database comparative result, realize being accurately positioned for underground operators.Electromagnetic wave is shielded completely
Head extracts brought error up to footpath, eliminates the influence of underworkings complex electromagnetic environment, substantially increases underground work people
The positioning precision of member.The present invention is described in detail with reference to specification drawings and specific embodiments.
As shown in figure 1, the underground operators high-precision locating method that the present invention is provided comprises the following steps；
Step 10：Underworkings inner space is divided into the space lattice that is made up of rectangle and by each mesh point
(Xi、Yi、Zi) numbering be Ni, gather each mesh point NiDemarcation Characteristic parameter BiSet up location database.
Wherein, the method for setting up location database is as follows：
(1) in each mesh point NiUpper numbering N of the transmitting containing the mesh pointiWireless calibration signal；
(2) multiple positioning AP substations in underworkings in the wireless launcher range of receiving receive the wireless mark respectively
Determine signal and be sent to location-server；
(3) location-server resolves each positioning AP substation SkThe wireless calibration signal received, and each is received
Signal RkiThe correlation measure such as amplitude (RSSI), angle of arrival (AOA), Signal to Interference plus Noise Ratio and interference strength be used as the mesh point
Demarcate Characteristic parameter Bi, (Xi、Yi、Zi) it is mesh point NiCoordinate, i=1~n, n be mesh point quantity, k=1~m, m is nothing
The quantity of positioning AP substations in the range of line transmitter receipt.
(4) the demarcation characteristic parameter of each mesh point is stored in location database.In order to avoid error, to each
Space lattice point carries out multiple repairing weld, and carries out filtering process.
Step 20：The positioning terminal that underground operators are worn sends the detection letter of the ID containing the positioning terminal in real time
Number, it is given that each positioning AP substation in underworkings in the positioning terminal range of receiving will receive detectable signal forwarding respectively
Position server.
Step 30：The detectable signal that location-server is received to each positioning AP substation is resolved, and obtains positioning eventually
The ID and real-time characteristic parameter P at end, real-time characteristic parameter P include the width for the detectable signal that each positioning AP substation is received
Degree, angle of arrival, Signal to Interference plus Noise Ratio and interference strength.
Step 40：By the demarcation Characteristic parameter B of each mesh point in real-time characteristic parameter P and location databaseiCarry out
Contrast, with the position (X of the immediate mesh point of numerical valuei、Yi、Zi) accurate position as underground operators in underworkings
Put.
In step 40, the calculated value of real-time characteristic parameter and demarcation characteristic parameter is calculated respectively first；Then will be real
When characteristic parameter the calculated value of calculated value and the demarcation characteristic parameter of each mesh point be compared, it is immediate with numerical value
Accurate location of the position of mesh point as underground operators in underworkings.
As shown in Fig. 2 the underground operators high-accuracy position system that the present invention is provided includes：Determining on the ground is set
Position server 10, Surveillance center 40 and the detection device being arranged in underworkings.
Location-server 10 is provided with location database 11 and comparison module 12.Detection device includes multiple positioning AP substations
21, location-server 10 is connected to by explosion-proof optical switch 22.
Wherein, detailed description has been made in setting up in the method that mode is introduced above for location database, herein not
Repeat introduction.
In the present embodiment, all positioning AP substations in underworkings are divided into multigroup, multiple positioning AP in every group
Substation is connected on the network interface of an optical-electrical converter 23 by netting twine respectively first, then the light of optical-electrical converter 23 is defeated
Outlet is connected on location-server 10 by explosion-proof optical switch 22.This arrangement, can effectively reduce downhole transmitted line
Quantity, reduce underground wiring, effectively reduce because the failure that causes of line broken circuit, improve personnel in the pit's operating efficiency.
Wireless receiving module (WiFi receiving modules) and measurement module, underground work people are equipped with each positioning AP substations
The positioning terminal 30 that member is worn is provided with wireless transmitter module (WiFi transmitter modules), and positioning terminal 30 sends detection letter in real time
Positioning AP substations in ID containing the positioning terminal in number Sounding, detectable signal, range of receiving are received after detectable signal,
The real-time characteristic parameter of detectable signal is obtained by measurement module respectively, real-time characteristic parameter includes the amplitude of detectable signal
(RSSI), angle of arrival (AOA) and Signal to Interference plus Noise Ratio (SINR), and be sent to location-server 10.
Comparison module 12 on location-server 10 is by each mesh point in real-time characteristic parameter and location database 11
Demarcation characteristic parameter be compared, wherein real-time characteristic parameter and the numerical value immediate grid node of demarcation characteristic parameter
Coordinate value is the accurate location in positioning terminal underworkings.
In this programme, the precision of positioning is determined by the size of space networks lattice point, therefore, it can by initial stage to space lattice
The setting of point size improves positioning precision, for example：The spacing of space networks lattice point is set to 4 meters × 4 meters × 4 meters, then will can be positioned
Precision controlling is below 4 meters.Of course, it is possible to be adjusted according to cost to the spacing of mesh point, to meet different positioning precisions
The need for.
In addition, also including location data real-time extension device in the system that the present invention is provided, the device includes following underground
The synchronization-moving support of development machine, support is provided with the node matched with lane space mesh point longitudinal cross-section, each node
On an extended wireless transmitter module is installed, each extended wireless transmitter module is with face synchronizing moving, and corresponding
Driving position transmitting extension signal (identical with detectable signal), include respective extension wireless transmitter module in the extension signal
ID, the extension feature parameter for extending signal is sent to location-server by the AP substations in range of receiving, and location-server will
Extension feature parameter, which is added to, creates new mesh point in location database.Extension feature parameter includes received extension and believed
Number the measurement of correlation amount such as amplitude, angle of arrival, Signal to Interference plus Noise Ratio, interference strength, the coordinate of new mesh point is by tunneling position
And the position of extended wireless transmitter module is determined.Network monitoring module and memory are additionally provided with positioning AP substations, works as network
During communication failure, the characteristic parameter for the detectable signal that positioning AP substations are received is preserved in memory, treats that network is extensive
All characteristic parameters in memory can be uploaded to location-server immediately after answering normally, location-server carries out silver-colored calculation respectively
And accordingly generate history location information.
The underground operators high-accuracy position system that the present invention is provided, except the high-precision of underground operators can be realized
Beyond degree positioning, following function is also equipped with：
(1) attendance management and illegally enter well alarm；
(2) personnel in the pit arrives at overtime alarm；
(3) personnel in the pit's status monitoring, including when the direction of travel of personnel in the pit, the speed of travel, region, work
Between, area monitoring, historical track playback etc.；
(4) one people are with many card alarms；
(5) the overcrowding alarm in region；
(6) network failure is alarmed；
(7) dual-host backup and switching；
(8) emergency alarm and informing function.
The implementation to above-mentioned functions is introduced separately below.
(1) attendance management.
When carrying when entering well personnel into well head work attendance AP substation coverage areas of positioning terminal, work attendance AP substations are read
The information such as the ID card numbers and order of classes or grades at school of positioning terminal, work post, affiliated unit, positioning terminal state are taken, and in well head LED giant-screens
Upper display；
The situation that one people carries many cards being checked whether there is by professional testing staff, gate, people are controlled if opened without if
Member enters well from gate；
The status information reported according to positioning terminal can effectively judge whether positioning terminal is damaged, or not enough power supply,
And it is recorded into the discrepancy well time of well personnel；
Well head work attendance AP substations are connected with location database, the in/out well time of Query Location terminal and can go out at any time/
Enter well number of times, be easy to mining management；
Processing time matrix can be realized according to the information that well head work attendance AP substations are recorded, operating personnel are in work attendance substation software
Time statistics (such as one week, one month or a season) certain man-hour summation for entering well personnel within certain time is inputted/stopped, is
System offer is checked accordingly, printing function.
Well head work attendance AP substations are a kind of special positioning AP substations, and concrete structure is：Positioning AP substations are placed on one
In individual box, the signal that the positioning terminal that decayed by the penetration loss of box is sent, while a signal strength threshold is set,
Only when the signal intensity that positioning AP substations are received is more than threshold value, system just carries out work attendance registration.The face of box five is gold
Belong to shell, using paster or stainless steel iron plate, another side is heavy sheet glass, because metal being capable of electromagnetic wave absorption channel so that signal
The signal carried out from metal piercing is almost 0, or extremely weak, so, and the signal that positioning terminal is sent can only be from glass direction
Penetrate into, and to ensure positioning terminal in the letter received by scanning range (being set at present at 1 meter of AP substations)
Number intensity level, which is more than, to be set threshold value (for example threshold value could be arranged to -50dBm, because 2.4GHz electromagnetic wave is to 12mm thick glass
The penetration loss empirical value of glass is 10dBm).
In attendance management, the positioning that card personnel are taken in underground in certain time period can be limited according to conditions such as different order of classes or grades at school
The ID scopes of terminal, will recognise that the card when illegally taking card personnel into well head work attendance AP substations and send alarm.
(2) personnel in the pit arrives at overtime alarm.
According to the position of positioning terminal and arrival time, by the way that defined arrival time and well head work attendance AP substations are detected
To the card personnel that take make comparisons the arrival time, so as to identify the overtime personnel that arrive at, and warning message is fed back into Surveillance center.
(3) personnel in the pit's status monitoring.
Analyzed by the location information to personnel in the pit, can obtain the direction of travel of personnel in the pit, the speed of travel,
Situations such as region, working time, and historical track playback can be carried out, to facilitate the job management of personnel in the pit.
(4) one people are with many card alarms.
Based on the positional information for monitoring obtained personnel in the pit in real time, every two positioning terminal is counted in the general of position
Rate, so that the situation that many cards are carried to a people carries out alarm, prevents occurring personnel Dai Ban situation in colliery, is easy to personnel
Management.Specific method is：
Step 31：Location-server calculates the positional information of positioning terminal；
Step 32：The positional information of positioning terminal is stored in caching cache, and according to time-sequencing；
Step 33：Divide period win_count and time maximum max_time；
Step 34：Circulated according to period win_count, and judge whether to reach maximum time value max_time, if
It is not reaching to, then performs step 35, otherwise perform step 39；
Step 35：Extract the positioning terminal positional information at Ti (i=1,2 ..., max_time) moment；
Step 36：There are the positioning AP substations of Distance positioning terminal recently in the positional information of positioning terminal, with the positioning
Positioning AP substation identical positioning terminals recently are found out on the basis of AP substations, if nearest positioning AP substations are identical, are performed
Step 37, it is on the contrary to continue cycling through；
Step 37：Calculate the distance between two positioning terminals and compared with distance threshold value；
Step 38：If less than distance threshold value, then it is assumed that the two positioning terminals record this fixed two-by-two a position
The MAC Address of position terminal；
Step 39：The probability of two positioning terminals together in period win_count is calculated, if probability is more than necessarily
Thresholding, then it is assumed that two positioning terminals are problematic, it may be possible to which a people carries many cards, carries out alarm, and be output to txt texts
In part.
(5) the overcrowding alarm in region.
Underworkings is divided into multiple regions, and maximum personnel amount is set to each region, when counting certain region
Overcrowding alarm can be sent when taking card total number of persons more than maximum limit person, and warning message is fed back into Surveillance center.
(6) network failure alarm and data buffer storage.
After positioning AP substations are connected with location-server foundation, positioning AP substations can actively send heartbeat request letter every 5s
Number；
Location-server returns to heartbeat response signal after receiving AP heartbeat signal every time；
If positioning AP substations do not receive message response continuous 3 times, it is considered as and location-server disconnects；
Position AP substations and preserve location data；
The positioning continuous repeated attempt of AP substations is connected with location-server, once re-establishing connection, then positions AP substations
Can by the data of caching and it is current when the data that scan all be sent to location-server；
Location-server carries out positioning calculation.
(7) dual-host backup and switching, include Two-channel switching and the backup of location database of location-server.
Two location-servers are set in the system：One is master server, and another is backup server.Master server
With backup server principal and subordinate each other, bi-directional synchronization data, when the operation such as there are additions and deletions to change of the data on a server, Ling Yitai
The database of mysql synchronizations on server also has same operation.Concrete operation step is：
Master and slave location-server open shop simultaneously, service routine reads configuration parameter to determine the role of itself.Such as：It is fixed
Position server A is as master server, and location-server B is as backup server, location-server A IP address
192.168.0.86, location-server B IP address is 192.168.0.10, and the IP of server itself is used for realizing dual-host backup
Used during intercommunication.
Master server creates virtual IP address 192.168.0.87 (this IP is the external service IP address of location-server), and
Start corresponding socket services.
The service routine of standby server (backup server) listens only to the heartbeat message of master server, other service modules
Wouldn't load operating.
When master server breaks down, location-server B (backup server) can not receive heartbeat message, then standby
Part server takes over service-creation virtual IP address, starts corresponding socket services, continues to complete location data processing, run role
It is changed into master server.
(8) emergency alarm and informing function.
In view of the regionality of personnel in the complexity and danger, and mine of coal mine environment, the spy such as work mobility
Point, present system has following functions：(1) independent control function, such as individually plays to some miner and notifies, individually to some
Region miner, which plays, to be notified, or carries out full ore deposit broadcast；(2) organically blended with security monitoring, complex automatic system, share peace
Full monitoring, the relevant data of complex automatic system.For example：When occurring the feelings such as gas exceeding limit, blower fan cisco unity malfunction in mine
During condition, system sends safety warning in specific region automatically, and commander related personnel takes necessary measure；(3) combine emergent pre-
Case, carries out automatic or emergency management and rescue：When system detectio to safety monitoring system alert, can when serious accident occurs in underground
According to the program that is previously set, to transfer related emergency preplan, commander Field Force withdraws, and can also manually call emergency preplan language
Sound, plays to designated area, and the direct commander relevant personnel withdraw.The course of work is as follows：
Step 81：Ground monitoring center finds that underground exception occurs, has documentary whip, has unauthorized person to enter the feelings such as forbidden zone
Condition triggers alarm event and notification event.
Step 82：Location-server is received after alarm event and notification event, and appropriate positioning AP is selected as needed
Different user, different zones or full mine that substation is notified.
Step 83：Positioning AP substations are instructed according to the alarm event and notification event being connected to, and are issued a notice to coverage
Interior positioning terminal.Area people, the signaling format of some specific personnel are sent to using the MAC Address of positioning terminal as mark.
Selection mode is the positional information according to positioning terminal, the nearest AP substations of Distance positioning terminal is found, then announcement information
This AP is sent to, if notifying that all is multiple positioning terminals, is related to multiple AP substations.
Step 84：Positioning terminal is instructed according to the alarm event and notification event received, carries out text importing, indicator lamp
It has been shown that, vibration prompting or voice message, inform that the miner for carrying positioning terminal carries out emergent management.
In order to economize on electricity, a switch is set in positioning terminal, controls whether to need to receive alarm event and notification event.
In addition, positioning terminal is provided with the alarm key for being used for sending alarm signal, card personnel are taken by pressing positioning eventually
Alarm button alert on end, positioning AP substations, which are received, sends Surveillance center to after warning message, Surveillance center's root
Alert locations are understood according to the positional information of positioning terminal, to arrange corresponding processing.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knot made under the enlightenment of the present invention
Structure changes, and the technical schemes that are same or similar to the present invention are each fallen within protection scope of the present invention.
Claims (7)
1. underground operators high-precision locating method, it is characterised in that comprise the following steps：
Underworkings inner space is divided into coffin grid and by each mesh point (Xi、Yi、Zi) numbering be Ni, collection
Each mesh point NiDemarcation Characteristic parameter BiSet up location database；The demarcation Characteristic parameter BiObtain in the following way
：In each mesh point NiUpper numbering N of the transmitting containing the mesh pointiWireless calibration signal, wireless transmission in underworkings
Multiple positioning AP substations in device range of receiving receive the wireless calibration signal and are sent to location-server respectively, described fixed
Position server resolves each positioning AP substation SkThe wireless calibration signal received, and each is received into signal RkiAmplitude,
Angle of arrival, Signal to Interference plus Noise Ratio and interference strength as the mesh point demarcation Characteristic parameter Bi, wherein：(Xi、Yi、Zi) it is grid
Point NiCoordinate, i=1~n, n is the quantity of mesh point, and k=1~m, m is positioning AP points in wireless launcher range of receiving
The quantity stood；
The positioning terminal that underground operators are worn is sent in the detectable signal of the ID containing the positioning terminal, underworkings in real time
Each positioning AP substation in the positioning terminal range of receiving will receive detectable signal and be transmitted to location-server respectively；
The detectable signal that location-server is received to each positioning AP substation is resolved, and obtains the ID and reality of positioning terminal
When characteristic parameter P, the real-time characteristic parameter P includes amplitude, the angle of arrival for the detectable signal that each positioning AP substation is received
Degree, Signal to Interference plus Noise Ratio and interference strength；
By the demarcation Characteristic parameter B of each mesh point in real-time characteristic parameter P and location databaseiContrasted, with numerical value most
Accurate location of the position of close mesh point as underground operators in underworkings；
With the movement of underground development machine, real-time update location database, the specific practice is as follows：
Support is set on the development machine of underground, and the support is provided with the section matched with lane space mesh point longitudinal cross-section
One extended wireless transmitter module is installed on point, each node；
Each described extended wireless transmitter module is with face synchronizing moving, in driving position transmitting extension signal accordingly,
Include the ID and coordinate of respective extension wireless transmitter module in the extension signal；
The extension feature parameter for extending signal is sent to the location-server and added by the positioning AP substations in range of receiving
New mesh point is created into location database, the extension feature parameter includes the amplitude of received extension signal, arrived
Up to angle, signal to noise ratio and interference strength, the coordinate of new mesh point is by tunneling the position of position and extended wireless transmitter module
Put determination；
Wherein：All positioning AP substations in underworkings are divided into multigroup, and multiple positioning AP substations in every group lead to respectively first
Cross netting twine to be connected on the network interface of an optical-electrical converter, then the light output mouthful of optical-electrical converter is exchanged by anti-exposure
Machine is connected on location-server.
2. underground operators high-precision locating method as claimed in claim 1, it is characterised in that when there is network failure
When, the real-time characteristic parameter of detectable signal is stored in the memory on positioning AP substations, when network failure is repaired, positioning
Each the real-time characteristic parameter preserved in memory is sent to location-server and resolved respectively by AP substations.
3. underground operators high-precision locating method as claimed in claim 1, it is characterised in that ground is provided with monitoring
The heart, the positioning terminal that underground operators are worn is provided with the alarm key for being used for sending alarm signal, and positioning AP substations are received
Send the Surveillance center after alarm signal to.
4. underground operators high-precision locating method as claimed in claim 3, it is characterised in that the Surveillance center according to
The comparative result of the quantity of terminal and specified quantity produces overcrowding alarm in some region.
5. underground operators high-precision locating method as claimed in claim 3, it is characterised in that the Surveillance center according to
The comparative result of the distance between two neighboring terminal and setting value produces a people and alarmed with many cards.
6. underground operators high-accuracy position system, including location-server on the ground is set and underworkings is arranged on
Interior detection device, it is characterised in that：
The location-server is provided with location database and comparison module, and the detection device includes multiple positioning AP substations,
The positioning AP substations are connected to the location-server by explosion-proof optical switch；Pre-saved in the location database
The demarcation characteristic parameter of each mesh point on underworkings coffin grid, the demarcation characteristic parameter is to pre-set
The wireless transmitter module received by positioning AP substations in the range of receiving of wireless launcher in respective grid points is sent
Demarcation signal amplitude, angle of arrival, Signal to Interference plus Noise Ratio and interference strength；
Wireless receiving module and measurement module, the positioning that underground operators are worn are equipped with each positioning AP substations
Terminal is provided with wireless transmitter module, and positioning terminal sends the ID containing the positioning terminal in real time by the wireless transmitter module
Detectable signal, the positioning AP substations in range of receiving receive after detectable signal, are obtained and received by measurement module thereon
To detectable signal real-time characteristic parameter and be sent to location-server, the real-time characteristic parameter include each positioning AP
Amplitude, angle of arrival, Signal to Interference plus Noise Ratio and the interference strength for the detectable signal that substation is received；
Comparison module on location-server is special according to the demarcation of each mesh point in real-time characteristic parameter and location database
The comparison result of parameter is levied, accurate location of the positioning terminal in underworkings is obtained；
Also include location data real-time extension device, the location data real-time extension device includes following underground development machine synchronous
Mobile support, the support is provided with the node matched with lane space mesh point longitudinal cross-section, each node and installed
There is an extended wireless transmitter module, each described extended wireless transmitter module is with face synchronizing moving, and corresponding
Tunnel in the ID for including respective extension wireless transmitter module in position transmitting extension signal, the extension signal, range of receiving
The extension feature parameter for extending signal is sent to the location-server and is added in location database and created by positioning AP substations
New mesh point is built, the extension feature parameter includes the received amplitude for extending signal, angle of arrival, signal to noise ratio and done
Intensity is disturbed, the coordinate of new mesh point is determined by tunneling the position of position and extended wireless transmitter module；
Wherein：All positioning AP substations are divided into multigroup, and multiple positioning AP substations in every group are connected to one by netting twine respectively
On the network interface of optical-electrical converter, the light output of the optical-electrical converter mouthful is connected to described by the explosion-proof optical switch
On location-server.
7. underground operators high-accuracy position system as claimed in claim 6, it is characterised in that also including being arranged on ground
On Surveillance center, the Surveillance center produces overcrowding according to the comparative result of the quantity of terminal in some region and specified quantity
Alarm；The Surveillance center produces a people according to the comparative result of the distance between two neighboring terminal and setting value and reported with many cards
It is alert.
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