CN106842116A - A kind of tunnel personnel location system and method based on CSS technologies - Google Patents
A kind of tunnel personnel location system and method based on CSS technologies Download PDFInfo
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- CN106842116A CN106842116A CN201710051010.1A CN201710051010A CN106842116A CN 106842116 A CN106842116 A CN 106842116A CN 201710051010 A CN201710051010 A CN 201710051010A CN 106842116 A CN106842116 A CN 106842116A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 3
- 238000012360 testing method Methods 0.000 claims abstract description 3
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 238000012216 screening Methods 0.000 claims description 5
- 238000009472 formulation Methods 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims description 3
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 238000010276 construction Methods 0.000 description 6
- 230000002146 bilateral effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of tunnel personnel location system and method based on CSS technologies, alignment system includes reference mode of the arranged for interval in tunnel both sides, and reference mode includes microprocessor module, data transmit-receive module, Anneta module and the power module for being powered to microprocessor module and data transmit-receive module；Microprocessor module connects wireless bridge, and wireless bridge transmits to remote service end ranging data through wireless network communication module；Every four of reference mode is divided into one group, and every group includes a main reference mode and three reference modes, and main reference mode is had serial communication modular, the connection of microprocessor module and wireless bridge is realized by serial communication modular.Tunnel personnel carry and can be referenced the mobile tag that nodal test is arrived, and all reference modes are to its cycle detection.The present invention is capable of determining that quantity, position and the distributed intelligence of workmen, and implementation cost is low, uses reliable convenience.
Description
Technical field
The present invention relates to safety for tunnel engineering field, and in particular to a kind of tunnel personnel location system based on CSS technologies
And method.
Background technology
Constructing tunnel is frequently encountered in the land transportation infrastructure construction such as railway, highway is carried out, particularly west
The further implementation of the strategy such as portion's great development, Rise of Central Region, Invigoration of Northeast China, it will build more highways, railway.But China
It is the country on mountain more than, many regional high and steep mountains, mountain area area accounts for the 69% of area, and this means that China tunnel
Construction will enter a brand-new climax stage.As China's Tunnel Engineering gradually increases, its engineering particularity causes construction
During human safety issues gradually highlight.At present, what the personnel location system application of China tunnel was wider is ZigBee positioning skills
Art or RFID location technologies, both shortcomings are that penetrability and antijamming capability are poor, and finding range is shorter, in the mistake implemented
Need to arrange substantial amounts of reference mode in journey, it is time-consuming to take a lot of work.In order in constructing tunnel, be positioned to personnel, construction is ensured
Safety, spy is when there is accident, to determine distress personnel quantity, position and distributed intelligence, and rescue work, Jin Erti are carried out in time
Rescue efficiency high, while the arrangement for reducing existing positioning system reference number of nodes is determined, it is necessary to develop a kind of novel tunnel personnel
Position system.
The content of the invention
It is an object of the invention to be directed to above-mentioned the problems of the prior art, there is provided a kind of tunnel people based on CSS technologies
Member's alignment system and method, can realize that personnel are accurately positioned in real time, ensure construction safety, reduce the deployment number of reference mode
Amount.
To achieve these goals, the tunnel personnel location system technical scheme that uses of the present invention based on CSS technologies for：
Including arranged for interval tunnel both sides reference mode, described reference mode includes microprocessor module, data
Transceiver module, Anneta module and the power module for being powered to microprocessor module and data transmit-receive module；It is described
Microprocessor module connection wireless bridge, wireless bridge transmits to remote service ranging data through wireless network communication module
End；Tunnel personnel carry and can be referenced the mobile tag that nodal test is arrived, and all reference modes are to its cycle detection.
Described reference mode interval 60m is deployed in tunnel both sides, each reference mode terrain clearance 2m.
Every four of described reference mode is divided into one group, and every group includes a main reference mode and three reference nodes
Point, main reference mode has serial communication modular, and the company of microprocessor module and wireless bridge is realized by serial communication modular
Connect.
All of main reference mode is arranged in the side in tunnel, and wireless bridge interval 120m is deployed on main reference mode
Side.
Described remote service end includes remote monitoring computer, remote server and mobile phone terminal.
The external display module that ranging data can be shown of described wireless bridge.
Described microprocessor module selects Atmega128L chips, data transmit-receive module to select nanoPAN5375 modules；
Described Anneta module includes BOJU2.4G antennas and power amplifier；Wireless network communication module is logical from GPRS wireless networks
Letter module, GPRS wireless network communication modules connect remote service end according to by ODBC interfaces.
Tunnel personnel positioning method of the present invention based on CSS technologies, comprises the following steps：
Step one, the relative distance S between mobile tag and reference mode is calculated by formula (1)：
Wherein, T1、T3For the propagation delay time that reference mode and electronic tag are found range；T2、T4For both process range finding
Delay time, V is spread speed of the signal in air dielectric.
Step 2, reference mode send measurement data, and the position of mobile tag is calculated according to formula (1)；
The screening of step 3, reference mode；
Step 4, preferably four reference modes, label rough calculation, four reference nodes are moved according to trilateration
The coordinate of point is (xi,yi), the distance of reference mode to mobile tag is di, i=1,2,3,4；Mobile tag coordinate is (m, n)；
It is as follows according to known conditions formulation (2)：
Step 5, coordinate is carried out averagely with formula (3) to the mobile tag rough position by formula (2) primary Calculation
Reason, as the position of mobile tag, is designated as (x, y), and computing formula is as follows：
The step 3 reference mode casts out reference mode of the distance less than 3m and mobile tag between in screening.
Compared with prior art, tunnel personnel location system of the present invention has following beneficial effect：When mobile tag enters
Enter in the wireless network positioning system of reference mode composition, according to number in tunnel, selection needs the number of range finding to system every time, so
Afterwards by batch circulation range finding.Measurement data is passed to wireless bridge by reference mode, and wireless bridge passes at project management department data all the way
Shown after reason, another road is delivered to remote service end for remote monitoring by wireless network communication module.Energy of the present invention
It is enough to realize accurately automatic work attendance, the careless omission that craft work attendance in the past occurs is solved, system record is the real-time of personnel
Attendance information, greatly improved the degree of accuracy and reliability, be minimized the influence of human factor, while being capable of determining that construction
The quantity of personnel, position and distributed intelligence, once there is accident, the position of workmen are determined according to field data, are opened in time
Exhibition rescue work, improves rescue efficiency.Functional reliability of the invention is high, and CSS compares and is now widely used for people from tunnel
ZigBee and RFID penetrability, the strong antijamming capability of member's alignment system, signal interrupt bit seldom due to obstacle.It is of the invention
Cost of implementation is relatively low, long service life, install, it is easy to operate.It is of the invention practical, can be with tunnel video monitoring system
Combine, the violation operation and dangerous play of workmen are found and prevent, correct in time, by personal casualty loss, economic loss
It is reduced to minimum.The system can save substantial amounts of human and material resources, improve the level of scientific management, be that constructing tunnel offers convenience.
Compared with prior art, localization method of the present invention based on tunnel personnel location system has following beneficial effect
Really：Using symmetrical two-way bilateral telemetry (SDS-TWR), when measuring the bilateral signal propagation between reference mode and mobile tag
Between, distance of the reference mode relative to mobile tag is then drawn according to speed, time, range formula, finally calculated using positioning
Method calculate the position of mobile tag.This distance-finding method both without the clock synchronization between reference mode and mobile tag,
Without the clock synchronization between reference mode, implement and be easier, be capable of determining that the quantity of workmen, position and
Distributed intelligence.
Brief description of the drawings
Fig. 1 arrangement schematic diagrames in job site of the present invention；
The overall structure diagram of Fig. 2 present systems；
The principle schematic diagram. of Fig. 3 present systems；
In accompanying drawing：1- microprocessor modules；2- data transmit-receive modules；3- Anneta modules；4- power modules；5- wireless networks
Bridge；6- wireless network communication modules；7- remote services end；8- display modules.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Referring to Fig. 1, a CSS reference mode, two meters or so, every four of terrain clearance are disposed every 60m in tunnel both sides
Reference mode is divided into one group, a main reference mode defined in every group, and remaining is time reference mode, and difference is main reference mode
There is serial communication modular, ranging data can be transmitted to wireless bridge 5.All main reference modes are distributed in the side in tunnel,
This side sets up a pair of wireless bridges 5 every 120m, is arranged in the top of corresponding main reference mode, and particular location can be adjusted suitably
It is whole, for the transmission of whole system measurement data.The data spread out of from tunnel have been connected to project management department all the way, for local management；
Another road passes to remote service end 7 and facilitates remote monitoring through wireless network communication module 6.Because nanoPAN5375 modules are supported
External antenna and peripheral power amplifier, therefore can suitably carry out power amplification as the case may be in specific implementation process
And exterior antenna is installed, so as to further reduce the arrangement of reference mode, reduces cost.
Referring to Fig. 2, alignment system of the present invention has generally included power module 4, Anneta module 3, data transmit-receive module 2, micro-
Processor module 1, wireless bridge 5, display module 8, wireless network communication module 6, remote service end 7, wherein remote service end 7
Including remote monitoring computer, remote server, mobile phone terminal.Reference mode is by power module 4, Anneta module 3, data transmit-receive
The compositions such as module 2, microprocessor module 1, with same design, difference is that a day line options can for mobile tag and reference mode
With difference, reference mode primary concern is that communication issue, can select the Anneta module of slightly larger volume, and mobile node is main
Consideration is portability and low-power, so the Anneta module of small volume must be selected.
Referring to Fig. 3, alignment system of the present invention specifically includes power module 4, BOJU2.4G antennas, nanoPAN5375 is wireless
Radio-frequency module, Atmega128L chip modules, wireless bridge 5, LED display module, GPRS wireless network communication modules, long-range clothes
Business device, remote monitoring computer, mobile phone terminal.Wherein, BOJU2.4G antennas are by the external of nanoPAN5375 wireless radio frequency modules
Antennal interface is coupled, increases communication distance.NanoPAN5375 modules are by SPI communication interfaces and Atmega128L chips
Module is connected, and source module is powered for it.By BOJU2.4G antennas, nanoPAN5375 less radio-frequencies, Atmega128L chips and
Power module configuration node.RS232 or USB is passed through by main reference mode after reference mode has surveyed the positional information of mobile tag
Turn netting twine mouthful connecting line to be connected with wireless bridge, wireless bridge spreads out of outside tunnel ranging information, and project management department is passed to all the way, through calculating
It is displayed in LED display module after method treatment, for local management；Another road is passed to remotely through GPRS wireless network communication modules
Service end.
The GPRS wireless network communication modules at remote service end access remote server, and long-range prison is connected on remote server
Control computer and mobile phone terminal, for being received to data, being stored.Remote server connects with GPRS wireless network communication modules
Connect, the SQL data during the data received from GPRS wireless network communication modules are stored in into remote server by ODBC interfaces
Storehouse, the service platform of remote monitoring computer is communicated by ODBC interfaces with the SQL database of remote server, realizes tunnel personnel
In real time be accurately positioned, ensure construction safety.User can anywhere by connecting the computer or hand of Internet simultaneously
Using the user cipher game server website for authorizing, inquiry tunnel personnel position machine terminal in real time, carries out remote management.
Operation principle of the invention and process are：
In mobile tag enters the wireless network positioning system that reference mode is constituted, system is according to number in tunnel, selection
The number of range finding is needed every time, then a collection of circulation range finding.Reference mode main first is found range to mobile tag and notifies secondary
Reference mode is found range, and after secondary reference mode completes range finding, main reference mode is given by data back.Then main reference mode leads to
Cross RS232 or USB switching netting twine mouthful connecting lines and measurement data is passed into wireless bridge 5, data are passed to item by wireless bridge 5 all the way
Shown in LED screen after the treatment of mesh portion, pass to remote server for remote monitoring by GPRS wireless communication modules all the way.
Tunnel personnel positioning method of the present invention based on CSS technologies, comprises the following steps：
Step one, is found range using based on symmetrical two-way bilateral telemetry (SDS-TWR), mobile tag and reference mode
Between relative distance S can be drawn by formula 1,
Wherein, T1、T3For the propagation delay time that reference mode and electronic tag are found range；T2、T4For both process range finding
Delay time, V be spread speed of the signal in air dielectric.
Measurement data is transmitted to processing server by step 2, main reference mode, and processing server is calculated according to formula (1) and moved
The position of dynamic label；
Step 3, the screening of reference mode belongs to the wireless distance finding technology of medium-long range due to linear frequency modulation spread spectrum technology, closely
Distance ranging application condition is big, 1~3m, measures relative error 29.0%~42.1%, drastically smaller more than error after 3m, therefore
Before being calculated using location algorithm, cast out reference mode of the distance less than 3m and mobile tag between；
Step 4, preferably four reference modes move the rough unknown calculating of label according to trilateration, it is assumed that
Four coordinates of reference mode are (xi,yi), the distance of reference mode to mobile tag is di, i=1,2,3,4；Mobile tag is sat
It is designated as (m, n), then according to known conditions formulation (2)；
Due to having four reference coordinates, and trilateration three different coordinates of needs, therefore formula (2) can be counted
Calculate four rough positions of mobile tag.
Step 5, coordinate is carried out averagely to the mobile tag rough position by formula (2) primary Calculation with formula (3)
Reason, as the position of mobile tag, is designated as (x, y)；
Patent of the present invention using symmetrical two-way bilateral telemetry (SDS-TWR), survey be reference mode and mobile tag it
Between the bilateral signal propagation time, then according to speed, time, range formula draw reference mode relative to mobile tag away from
From, finally using location algorithm carry out calculate mobile tag position.This distance-finding method is both without reference mode and mobile mark
Clock synchronization between label, without the clock synchronization between reference mode, implements and is easier.
Claims (9)
1. a kind of tunnel personnel location system based on CSS technologies, it is characterised in that：Including arranged for interval tunnel both sides ginseng
Node is examined, described reference mode includes microprocessor module (1), data transmit-receive module (2), Anneta module (3) and is used for
To the power module (4) that microprocessor module (1) and data transmit-receive module (2) are powered；Described microprocessor module (1)
Connection wireless bridge (5), wireless bridge (5) transmits to remote service end ranging data through wireless network communication module (6)
(7)；Tunnel personnel carry and can be referenced the mobile tag that nodal test is arrived, and all reference modes are to its cycle detection.
2. the tunnel personnel location system of CSS technologies is based on according to claim 1, it is characterised in that：Described reference node
Point interval 60m is deployed in tunnel both sides, each reference mode terrain clearance 2m.
3. the tunnel personnel location system of CSS technologies is based on according to claim 2, it is characterised in that：Described reference node
Every four of point is divided into one group, and every group includes a main reference mode and three reference modes, and main reference mode has serial ports
Communication module, the connection of microprocessor module (1) and wireless bridge (5) is realized by serial communication modular.
4. the tunnel personnel location system of CSS technologies is based on according to claim 3, it is characterised in that：All of main reference
Inserting knot is deployed in main reference mode top in the side in tunnel, wireless bridge (5) interval 120m.
5. the tunnel personnel location system of CSS technologies is based on according to claim 1, it is characterised in that：Described long-range clothes
Business end (7) includes remote monitoring computer, remote server and mobile phone terminal.
6. the tunnel personnel location system of CSS technologies is based on according to claim 1, it is characterised in that：Described wireless network
The external display module (8) that ranging data can be shown of bridge (5).
7. the tunnel personnel location system of CSS technologies is based on according to claim 1, it is characterised in that：Described microprocessor
Device module (1) selects Atmega128L chips, data transmit-receive module (2) to select nanoPAN5375 modules；Described Anneta module
(3) including BOJU2.4G antennas and power amplifier；Wireless network communication module (6) selects GPRS wireless network communication modules,
GPRS wireless network communication modules connect remote service end (7) according to by ODBC interfaces.
8. it is a kind of to use the tunnel personnel positioning system based on CSS technologies as described in any one claim in claim 1-7
The localization method of system, it is characterised in that comprise the following steps：
Step one, the relative distance S between mobile tag and reference mode is calculated by formula (1)：
Wherein, T1、T3For the propagation delay time that reference mode and electronic tag are found range；T2、T4The time delay of range finding is processed for both
Time, V is spread speed of the signal in air dielectric.
Step 2, reference mode send measurement data, and the position of mobile tag is calculated according to formula (1)；
The screening of step 3, reference mode；
Step 4, preferably four reference modes, label rough calculation is moved according to trilateration, four reference modes
Coordinate is (xi,yi), the distance of reference mode to mobile tag is di, i=1,2,3,4；Mobile tag coordinate is (m, n)；
It is as follows according to known conditions formulation (2)：
Step 5, coordinate average treatment is carried out with formula (3) to the mobile tag rough position by formula (2) primary Calculation, made
It is the position of mobile tag, is designated as (x, y), computing formula is as follows：
9. localization method according to claim 8, it is characterised in that：The step 3 reference mode screening when cast out and
Reference mode of the distance less than 3m between mobile tag.
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| CN108828567A (en) * | 2018-04-23 | 2018-11-16 | 河北大学 | A kind of improved two-way bilateral distance measuring method |
| CN108877296A (en) * | 2018-08-01 | 2018-11-23 | 江苏省送变电有限公司 | A kind of collision avoidance system based on Internet of Things |
| CN110646762A (en) * | 2018-06-26 | 2020-01-03 | 苏州触达信息技术有限公司 | System, method and computer readable storage medium for monitoring position of person in tunnel |
| CN113791383A (en) * | 2021-10-15 | 2021-12-14 | 郑州轻工业大学 | Combined double-anchor-point positioning method based on ultra-wideband ranging |
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| Publication number | Publication date |
|---|---|
| CN106842116B (en) | 2024-04-02 |
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