CN110830907A - Coal mine underground UWB positioning base station coordinate positioning method - Google Patents
Coal mine underground UWB positioning base station coordinate positioning method Download PDFInfo
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- CN110830907A CN110830907A CN201911037672.9A CN201911037672A CN110830907A CN 110830907 A CN110830907 A CN 110830907A CN 201911037672 A CN201911037672 A CN 201911037672A CN 110830907 A CN110830907 A CN 110830907A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention provides a coordinate positioning method of a coal mine underground UWB positioning base station, which comprises the following steps: s1: judging whether the current underground coal mine UWB positioning base station is arranged completely, if so, entering step S3, and if not, entering step S2; s2: according to the current underground coal mine UWB positioning requirement, setting of a UWB positioning base station is arranged and completed; s3: carrying a positioning tag and inertial navigation equipment to enter the underground of the coal mine, and calibrating the coordinates of the inertial navigation positioning device and the current absolute mine coordinates at the current mine port; s4: the method comprises the steps of moving to a first UWB positioning base station, and determining the absolute coordinate of the position of the first UWB positioning base station by using an inertial navigation positioning device; s5: determining relative coordinates of various UWB positioning base stations in the underground coal mine; s6: and determining the coordinate positions of all UWB positioning base stations under the coal mine in the absolute coordinate system of the current mine according to the absolute coordinates and the relative coordinates of the first UWB positioning base station. The invention realizes the rapid and accurate positioning of the UWB positioning base station.
Description
Technical Field
The invention relates to the technical field of underground coal mine positioning, in particular to a coordinate positioning method of an underground coal mine UWB positioning base station.
Background
Due to the special underground geographical environment of the coal mine, once an accident occurs, rescue workers often have difficulty in knowing the actual underground situation and the accurate positions of trapped people, so that emergency rescue and relief work is extremely difficult. In order to know the position state of an underground worker or the position state of equipment in real time, the position of the underground worker or the position of the equipment needs to be located, but the traditional location technology, such as GPS (global positioning system) location, is difficult to be applied underground in a coal mine due to respective limitations, and the accurate ranging and location technology based on Ultra Wideband (UWB) wireless communication becomes a research focus of underground location due to the advantages of simple structure, low cost, small volume, low power consumption, high multipath resolution, strong noise resistance, strong anti-interference capability and the like. At present, the UWB positioning technology is not yet applied in a coal mine on a large scale, the research on the installation process of the positioning base station of the technology is very little, the existing UWB precise positioning system cannot determine the position of the base station in the absolute coordinates of the mine during installation, and only can provide the relative position of the positioning label and the base station during the operation of the system, the accurate position information of the positioning label in the absolute coordinate system cannot be provided, the positioning of workers or equipment carrying the positioning label is not facilitated, and the data guarantee cannot be provided for safety production and rescue work.
Therefore, a method for positioning a coal mine underground UWB positioning base station based on a coordinate position in a mine absolute coordinate system is needed.
Disclosure of Invention
In view of the above, the invention provides a coordinate positioning method for a coal mine underground UWB positioning base station.
The invention provides a coordinate positioning method of a coal mine underground UWB positioning base station, which is characterized by comprising the following steps: the method comprises the following steps:
s1: judging whether the current underground coal mine UWB positioning base station is arranged completely, if so, entering step S3, otherwise, entering step S2;
s2: according to the current underground coal mine UWB positioning requirement, setting of a UWB positioning base station is arranged and completed;
s3: carrying a positioning tag and inertial navigation equipment to enter the underground of the coal mine, and calibrating the coordinates of the inertial navigation positioning device and the current absolute mine coordinates at the current mine port;
s4: the method comprises the steps of moving to a first UWB positioning base station, and determining the absolute coordinate of the position of the first UWB positioning base station by using an inertial navigation positioning device;
s5: determining relative coordinates of various UWB positioning base stations in the underground coal mine;
s6: and determining the coordinate positions of all UWB positioning base stations under the coal mine in the absolute coordinate system of the current mine according to the absolute coordinates and the relative coordinates of the first UWB positioning base station.
Further, the mine absolute coordinates specifically include:
establishing mine absolute coordinates by taking the current center point of a mine port as an origin, longitude as an X coordinate axis, latitude as a Y coordinate axis and altitude as a Z coordinate axis; the mine absolute coordinate is a rectangular coordinate, the east is the positive direction of an X axis, the north is the positive direction of a Y axis, and the mining horizontal height is the positive direction of a Z axis.
Further, in the step S4, the inertial navigation positioning device after calibration is carried to move to the position of the first UWB positioning base station, and the coordinate position of the first UWB positioning base station in the absolute coordinate system is marked by using the coordinate measured by the inertial navigation positioning device.
Further, in step S5, in a coverage area of the UWB positioning base station, the UWB positioning tag is carried, and the UWB positioning software obtains a relative coordinate of the UWB positioning base station in the coal mine, where the relative coordinate is a coordinate between every two UWB positioning base stations.
Further, the relative coordinates are either coordinates of the remaining UWB positioning base stations other than the first UWB positioning base station relative to the first UWB positioning base station.
Further, in the step S6, the sum of the absolute coordinates of the first positioning base station and the relative coordinates of the UWB positioning base station is calculated one by one, that is, the coordinate position of the current UWB positioning base station in the mine absolute coordinate system, so as to determine the coordinate positions of all UWB positioning base stations in the mine absolute coordinate system.
Further, the step S6 is either,
calculating the absolute coordinates of a UWB positioning base station of a class including the first UWB positioning base station in a relative coordinate system, wherein the absolute coordinates of the UWB positioning base station of the class are equal to the sum of the absolute coordinates of the first UWB positioning base station and the relative coordinates of the UWB positioning base station;
calculating absolute coordinates of a second type UWB positioning base station containing a first type UWB positioning base station in a relative coordinate system, wherein the absolute coordinates of the second type UWB positioning base station are equal to the sum of the absolute coordinates of the first type UWB positioning base station and the relative coordinates of the second type UWB positioning base station;
and (4) calculating class by class, and determining the coordinate positions of all the UWB positioning base stations in the mine absolute coordinate system.
The invention has the beneficial technical effects that: the coordinate position of the UWB positioning base station is marked in the absolute coordinates of the mine through the inertial navigation positioning device, so that the coordinate position of the UWB positioning base station in the absolute coordinate system of the mine is quickly positioned, the field installation of the UWB accurate positioning system base station is guided, and the technical support is provided for safe production and rescue work.
Detailed Description
The invention is further illustrated below:
the invention provides a coordinate positioning method of a coal mine underground UWB positioning base station, which is characterized in that: the method comprises the following steps:
s1: judging whether the current underground coal mine UWB positioning base station is arranged completely, if so, entering step S3, otherwise, entering step S2;
s2: according to the current underground coal mine UWB positioning requirement, setting of a UWB positioning base station is arranged and completed; the UWB positioning requirements at least comprise a UWB positioning range and UWB positioning precision, the English Ultra Wide Band in UWB is abbreviated as an Ultra Wide Band, Chinese means an Ultra Wide Band technology, and a wireless carrier communication technology does not adopt sine carriers, but utilizes nanosecond-level non-sine wave narrow pulses to transmit data, so that the occupied frequency spectrum range is Wide. The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in indoor and other dense multipath places.
S3: carry positioning tag and inertiaThe navigation equipment enters the underground of the coal mine and is arranged at the current mine port, and the coordinates of the inertial navigation positioning device and the current mine absolute coordinates are calibrated; the UWB positioning system comprises a UWB positioning base station, a UWB positioning tag and UWB positioning software, after the UWB positioning tag is carried to enter a signal coverage area of the UWB positioning base station, the positioning base station can sense signals at any time and any position, and the signals are uploaded to a server where the UWB positioning software is located, so that managers can conveniently know the position information of workers carrying the UWB positioning tag at any time. In this embodiment, due to the requirement of the UWB positioning accuracy and the accumulated error of the inertial navigation device, after the UWB positioning base station is determined, a suitable inertial navigation device is selected, and if the error of the UWB positioning base station needs to be controlled within the preset threshold range, the error of the inertial navigation device needs to meet the requirementWherein Z isαRepresenting errors of inertial navigation equipment, ZUMBIndicating UWB positioning base station error threshold, SUMBIndicating the distance of the first UWB positioning base station from the mine shaft, SαRepresenting inertial navigation in producing ZαThe distance of error walking; if the positioning error of the UWB base station needs to be controlled to be 0.3 meter, and the position of the first UWB positioning base station from the mine port is about 100 meters, the inertial navigation positioning error is controlled to be within 3 meters per 1000 meters of walking, and a person skilled in the art can select and purchase proper inertial navigation equipment according to the actual precision requirement;
s4: the method comprises the steps of moving to a first UWB positioning base station, and determining the absolute coordinate of the position of the first UWB positioning base station by using an inertial navigation positioning device; the first UWB positioning base station is the UWB positioning base station closest to the mine opening;
s5: determining relative coordinates of various UWB positioning base stations in the underground coal mine;
s6: and determining the coordinate positions of all UWB positioning base stations under the coal mine in the absolute coordinate system of the current mine according to the absolute coordinates and the relative coordinates of the first UWB positioning base station.
The coordinate position of the UWB positioning base station is marked in the absolute coordinates of the mine through the inertial navigation positioning device, so that the coordinate position of the UWB positioning base station in the absolute coordinate system of the mine is quickly positioned, the field installation of the UWB accurate positioning system base station is guided, and the technical support is provided for safe production and rescue work.
In the embodiment, a mine absolute coordinate is established by taking a current mine port midpoint as an origin, longitude as an X coordinate axis, latitude as a Y coordinate axis and altitude as a Z coordinate axis; the mine absolute coordinate is a rectangular coordinate, the east is the positive direction of an X axis, the north is the positive direction of a Y axis, and the mining horizontal height is the positive direction of a Z axis. By establishing a mine absolute coordinate system, the coordinate information under the coal mine is marked in the mine absolute coordinate system, and data support is provided for follow-up rescue or border-crossing mining inspection.
In this embodiment, the calibrated inertial navigation positioning device travels to the position of the first UWB positioning base station, and the coordinate position of the first UWB positioning base station in the absolute coordinate system is marked by using the coordinate measured by the inertial navigation positioning device. After the inertial navigation positioning device is positioned at a mine port, the inertial navigation positioning device is carried to go to a first UWB positioning base station, and after the inertial navigation positioning device reaches the first UWB positioning base station, the coordinate information of the inertial navigation positioning device is the coordinate position of the first UWB positioning base station in an absolute coordinate system.
In this embodiment, in step S5, specifically, within the coverage area of the UWB positioning base station, the UWB positioning tag is used to obtain the relative coordinates of the UWB positioning base stations in the coal mine through the UWB positioning software, where the relative coordinates are the coordinates between every two UWB positioning base stations. If 200 UWB positioning base stations are totally arranged and combined under the coal mine, the UWB positioning base stations can be formedRelative coordinates of the seeds;
the relative coordinates are the coordinates of the rest UWB positioning base stations except the first UWB positioning base station relative to the first UWB positioning base station. If 200 UWB positioning base stations are arranged under the coal mine, 199 relative coordinates can be formed;
specifically, in the step S6, the sum of the absolute coordinates of the first UWB positioning base station and the relative coordinates of the UWB positioning base station is the coordinate position of the current UWB positioning base station in the mine absolute coordinate system, and so on, the coordinate positions of all UWB positioning base stations in the mine absolute coordinate system are determined. If the first UWB positioning base station has the coordinate Af(xf,yf,zf) Wherein A isfRepresenting the coordinate position of the first UWB positioning base station in the absolute coordinates of the mine, for example, the relative coordinate of a certain UWB positioning base station and the first UWB positioning base station is Ax(xx,yx,zx) And the absolute coordinate of the first UWB positioning base station is Ai(xx+xf,yx+yf,zx+zf) And repeating the steps until the rest UWB positioning base stations mark the coordinate positions in the mine absolute coordinate system. Therefore, the coordinate of the UWB positioning base station under the coal mine is quickly calibrated.
In this embodiment, the step S6 can also be,
calculating the absolute coordinates of a UWB positioning base station of a class including the first UWB positioning base station in a relative coordinate system, wherein the absolute coordinates of the UWB positioning base station of the class are equal to the sum of the absolute coordinates of the first UWB positioning base station and the relative coordinates of the UWB positioning base station; the UWB positioning base stations of one type represent a set of UWB positioning base stations forming relative coordinates with the first positioning base station;
calculating absolute coordinates of a second type UWB positioning base station containing a first type UWB positioning base station in a relative coordinate system, wherein the absolute coordinates of the second type UWB positioning base station are equal to the sum of the absolute coordinates of the first type UWB positioning base station and the relative coordinates of the second type UWB positioning base station; the second type of UWB positioning base station represents a set of UWB positioning base stations forming relative coordinates with the first type of UWB positioning base station;
and determining the coordinate positions of all the UWB positioning base stations in the mine absolute coordinate system by analogy.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (7)
1. A coordinate positioning method of a coal mine underground UWB positioning base station is characterized in that: the method comprises the following steps:
s1: judging whether the current underground coal mine UWB positioning base station is arranged completely, if so, entering step S3, otherwise, entering step S2;
s2: according to the current underground coal mine UWB positioning requirement, setting of a UWB positioning base station is arranged and completed;
s3: carrying a positioning tag and inertial navigation equipment to enter the underground of the coal mine, and calibrating the coordinates of the inertial navigation positioning device and the current absolute mine coordinates at the current mine port;
s4: the method comprises the steps of moving to a first UWB positioning base station, and determining the absolute coordinate of the position of the first UWB positioning base station by using an inertial navigation positioning device;
s5: determining relative coordinates of various UWB positioning base stations in the underground coal mine;
s6: and determining the coordinate positions of all UWB positioning base stations under the coal mine in the absolute coordinate system of the current mine according to the absolute coordinates and the relative coordinates of the first UWB positioning base station.
2. The underground coal mine UWB positioning base station coordinate positioning method according to claim 1, characterized in that: the mine absolute coordinates specifically include:
establishing mine absolute coordinates by taking the current central point of a mine port as an origin, longitude as an X coordinate axis, latitude as a Y coordinate axis and altitude as a Z coordinate axis; the mine absolute coordinate is a rectangular coordinate, the east is the positive direction of an X axis, the north is the positive direction of a Y axis, and the mining horizontal height is the positive direction of a Z axis.
3. The underground coal mine UWB positioning base station coordinate positioning method according to claim 1, characterized in that: the step S4 is specifically to move the inertial navigation positioning device with calibration to the position of the first UWB positioning base station, and mark the coordinate position of the first UWB positioning base station in the absolute coordinate system with the coordinate measured by the inertial navigation positioning device.
4. The underground coal mine UWB positioning base station coordinate positioning method according to claim 1, characterized in that: specifically, in the step S5, in the coverage area of the UWB positioning base station, the UWB positioning tag is carried, and the UWB positioning software obtains the relative coordinates of the UWB positioning base stations in the coal mine, where the relative coordinates are the coordinates between every two UWB positioning base stations.
5. The underground coal mine UWB positioning base station coordinate positioning method according to claim 4, characterized in that: the relative coordinates are the coordinates of the rest UWB positioning base stations except the first UWB positioning base station relative to the first UWB positioning base station.
6. The underground coal mine UWB positioning base station coordinate positioning method according to any one of claims 1 or 5, characterized in that: the step S6 is specifically that the sum of the absolute coordinates of the first positioning base station and the relative coordinates of the UWB positioning base station is the coordinate position of the current UWB positioning base station in the mine absolute coordinate system, and the sum is calculated one by one to determine the coordinate positions of all UWB positioning base stations in the mine absolute coordinate system.
7. The underground coal mine UWB positioning base station coordinate positioning method according to any one of claims 1 or 4, characterized in that: the step S6 is either that,
calculating the absolute coordinates of a UWB positioning base station of a class including the first UWB positioning base station in a relative coordinate system, wherein the absolute coordinates of the UWB positioning base station of the class are equal to the sum of the absolute coordinates of the first UWB positioning base station and the relative coordinates of the UWB positioning base station;
calculating absolute coordinates of a second type UWB positioning base station containing a first type UWB positioning base station in a relative coordinate system, wherein the absolute coordinates of the second type UWB positioning base station are equal to the sum of the absolute coordinates of the first type UWB positioning base station and the relative coordinates of the second type UWB positioning base station;
and (4) calculating class by class, and determining the coordinate positions of all the UWB positioning base stations in the mine absolute coordinate system.
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| CN114466450A (en) * | 2022-02-28 | 2022-05-10 | 广州爱浦路网络技术有限公司 | TRP positioning method, system, device and storage medium based on 5G |
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| CN111988737A (en) * | 2020-07-28 | 2020-11-24 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Railway operator absolute position determination method and device and electronic equipment |
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| CN114466450A (en) * | 2022-02-28 | 2022-05-10 | 广州爱浦路网络技术有限公司 | TRP positioning method, system, device and storage medium based on 5G |
| CN114466450B (en) * | 2022-02-28 | 2022-09-13 | 广州爱浦路网络技术有限公司 | TRP positioning method, system, device and storage medium based on 5G |
| CN115209428A (en) * | 2022-09-16 | 2022-10-18 | 长沙迪迈数码科技股份有限公司 | Underground UWB positioning base station arrangement method, device, equipment and storage medium |
| CN117098142A (en) * | 2023-10-18 | 2023-11-21 | 济南华科电气设备有限公司 | Underground coal mine personnel positioning method and system based on UWB technology |
| CN117098142B (en) * | 2023-10-18 | 2023-12-26 | 济南华科电气设备有限公司 | Underground coal mine personnel positioning method and system based on UWB technology |
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Application publication date: 20200221 |