CN202735506U - Coal mine downhole one-dimensional positioning system based on wireless sensor network - Google Patents
Coal mine downhole one-dimensional positioning system based on wireless sensor network Download PDFInfo
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Abstract
Provided is a coal mine downhole one-dimensional positioning system based on a wireless sensor network. The positioning system includes a plurality of wireless sensor sub-networks deployed in a roadway, as well as a center switch and a safety monitoring and information management network deployed on the ground. The positioning method of the system comprises the following steps that: the roadway is divided into a plurality of continuous and non-overlapping rectangle positioning units with identical long edges; reference nodes are deployed unsymmetrically; the information of each rectangle unit is recorded; reference nodes adopt the periodic broadcast signals of other adjacent reference nodes to update corresponding parameters in reference node data packages; a mobile node filters and sorts the reference node data packages and records IDs of adjacent mobile nodes; and the positioning of the mobile node can be realized by utilizing the reference node data packages, recorded IDs of adjacent mobile nodes and information in databases through computation, sorting and comparison. The coal mine downhole one-dimensional positioning system of the utility model has the advantages of high positioning accuracy, low cost, simple system structure, low power consumption and capability of meeting specific under-coal mine usage environment and safety requirements.
Description
Technical field
The utility model relates to a kind of positioning system, concretely, relates to a kind of based on one dimension positioning system under the coal mine of wireless sensor network (Wirelesssensor network).
Background technology
Coal is the main energy sources of China, accounts for 70% of primary energy, is the down-hole man-made recovery in the colliery of China more than 95%.Owing to reasons such as complex geologic conditions, lower, the mismanagements of exploitation scientific and technological level, cause the China's coal-mine security incident to take place frequently, the lives and properties that cause and social influence are difficult to the appraisal, seriously restricting the sound development of coal in China industry, therefore be necessary to study the personnel location system that is suitable for the down-hole, this in time rescues after for the safety of enhancing productivity, ensure the personnel in the pit, calamity and has great importance.
The China's coal-mine down-hole is a special constrained environment, and it is comprised of various tunnels crisscross, that shape is different, different in size, and its length can reach tens to kilometers up to a hundred.And the mine laneway narrow space, wireless signal exists a large amount of reflections, diffraction, scattering and projection phenomenon in the tunnel, and plant capacity need satisfy the requirement of downhole anti-explosion; Owing to the tunnel relative closure, can not come to locate under the slab hole by the existing satnav in the ground such as GPS simultaneously.This shows that the localization method of ground maturation and system can't directly be used in the down-hole.
The existing Mine Personnel Positioning System of China is the positioning system that adopts based on RFID (Radio Frequency Identification) REID mostly.Chinese patent application 01122258.1 discloses a kind of intelligent location and safety management system for underground workers, and it is made of electronic identification card, tunnel inquiry receiving trap and management and dispatching center.The underground work personnel wear electronic identification card, identification card writes employee's Electronic Numbering, powered by mine lamp accumulator, receive the interrogating signal of tunnel inquiry receiving trap when identification card after, reply the numbering signal of staff under the silo, tunnel inquiry receiving trap receives that the signal that should reach sends the management and dispatching center to, the time of this signal of management and dispatching central record and generation.Receive and to carry out track and localization to the underground work personnel by multipoint positioning, but this invention can only determine that underground work personnel's position is in the range of receiving of inquiry unit, and general underground radio communication distance all is tens meters the order of magnitude, so the bearing accuracy of this positioning system also is tens meters the order of magnitude, bearing accuracy is very low.On the other hand, recognition capability is not strong simultaneously for multiple goal, is prone to the phase mutual interference between card yet.Therefore existing positioning system can't satisfy the requirement that the down-hole personnel position situation is accurately grasped in real time.
Wireless sensor network is by the wireless sensor node joint management that has in a large number the functions such as radio communication, data acquisition and processing (DAP), cooperative cooperating, by a multi-hop, the ad hoc network system of communication formation.Compare with traditional network, wireless sensor network has following characteristics: (1) dynamic: topology of networks may change because of the change of several factors, such as the adding of environmental factor, new node with leave or existing node failure etc.; (2) self-organization: the dynamic at wireless senser networking, require sensor node need to have the ability of self-organization, can dispose voluntarily and manage, by Topology Control Mechanisms and the automatic formation of procotol can forwarding data the multi-hop wireless sensor network system; (3) reliability: node safeguard that possibility is very little, communication privacy and safety very important, sensor network has robustness and fault-tolerance; (4) data-centered: in wireless sensor network, node adopts number-mark, the whether unique design of depending on network communication protocol of the whole network of node serial number, when the user uses the wireless sensor network query event, directly with the event notification be concerned about to network, rather than announce the node of determining numbering to certain, network is reported to the user after the information that obtains allocate event.Therefore, be highly suitable under the coal mine based on the location technology of wireless sensor network and use.
The localization method of existing wireless sensor network mainly contains two large classes: based on the localization method (range-based) of range finding and the localization method (range-free) that need not to find range.Localization method based on range finding mainly contains received signal strength indicator method (Received Signal Strength Indicator, RSSI), time of arrival method (Time Of Arrival, TOA), differ from method (Time Difference Of Arrival time of arrival, TDOA) and arrive preset angle configuration (Angle Of Arrival, AOA), these class methods are by distance or the angle information of point-to-point between measured node, use trilateration, triangulation or maximum likelihood estimate calculate the position of mobile node, bearing accuracy is relatively high, but high to the node hardware requirement, cost is high, and locating effect is easily affected by environment; The localization method that need not to find range mainly contains centroid algorithm, DV-Hop and APIT, these class methods need not distance and angle information, only according to the location of the information realization mobile nodes such as network connectivty, bearing accuracy relies on the density of reference mode very much, dispose in the sparse situation at reference mode, positioning error can be very large.
Existing positioning system based on wireless sensor network mostly adopts above-mentioned localization method, yet because the singularity of underworkings environment, the propagation of electromagnetic wave in the down-hole is extremely complicated; And because the constraint of tunnel geometric configuration and the consideration of cost, reference mode can not be in a plane at random, intensive deployment, can only dispose along roadway direction.Therefore existing localization method and system based on wireless sensor network can not directly apply under the coal mine.
The utility model content
In order to overcome above-mentioned deficiency, particularly the mine Positioning System is low, cost is high in order to overcome, locating effect easily deployment quantity and the problems such as deployment density is limited, the pit gear system is limited, complex structure, power consumption height of essential safe type reference mode in affected by environment, the tunnel, and it is a kind of based on one dimension positioning system under the coal mine of wireless sensor network that the utility model provides.The characteristics such as the cost that this system takes full advantage of wireless sensor network is low, equipment volume is little, simple in structure, low in energy consumption, and in conjunction with the mine laneway actual working environment, utilize limited essential safe type reference mode to realize accurate target localization, satisfied the needs of in time rescuing after mine production scheduling and the calamity.
In order to achieve the above object, the utility model adopts following technical proposals:
A kind ofly comprise a plurality of wireless senser sub-networks that are deployed in the tunnel based on one dimension positioning system under the coal mine of wireless sensor network, be deployed in center switch and security monitoring and the Information management networks on ground; Described wireless senser sub-network comprises essential safe type aggregation gateway node, essential safe type reference mode, essential safe type mobile node; Described security monitoring and Information management networks comprise the ground monitoring terminal, location-server, upper strata terminal; Ground monitoring terminal and location-server consist of cable network by center switch and essential safe type aggregation gateway node, and send real-time locator data to the upper strata terminal by local network; Essential safe type aggregation gateway node is articulated on the center switch by bus; The essential safe type mobile node is carried by underground operators or mechanical hook-up; The essential safe type reference mode is asymmetric to be deployed on the wall in tunnel; Essential safe type aggregation gateway node, the essential safe type reference mode, the essential safe type mobile node consists of the wireless location network;
Described essential safe type aggregation gateway node receives the wireless data that the essential safe type mobile node sends, and converts thereof into cable data and sends to center switch; The cable data that the receiving center switch sends converts thereof into wireless data and sends to the essential safe type reference mode;
Described essential safe type reference mode distributes the rectangle positioning unit number of unique correspondence and unit inner number; Periodically the form with the periodic broadcasting packet outwards sends the periodic broadcasting signal, the periodic broadcasting packet that receives other adjacent essential safe type reference modes also extracts the RSSI value of corresponding periodic broadcasting signal, parameter recognition cycle broadcast singal according to the periodic broadcasting packet, the RSSI value of the periodic broadcasting signal that selection is corresponding is upgraded the parameters R A in the reference mode packet, RB, parameter in the periodic broadcasting packet should comprise the type of data packet identifier at least, rectangle positioning unit number, inner number of unit, the parameter in the reference mode packet should comprise the type of data packet identifier at least, rectangle positioning unit number, inner number of unit, RA, RB, mobile node ID, RE; The partial information of the rectangle positioning unit of the correspondence that reception ground monitoring terminal sends, the partial information of rectangle positioning unit comprises the long D of this essential safe type reference mode place rectangle positioning unit, wide d and the maximum possible RSSI value RM of rectangle positioning unit; Receive positioning request signal that the essential safe type mobile node sends and upgrade the partial information of loopback reference mode packet and corresponding rectangle positioning unit behind mobile node ID, the RE in the reference mode packet to the essential safe type mobile node according to positioning request signal;
Wherein the rectangle positioning unit number is the numbering to the rectangle positioning unit, from first rectangle positioning unit of access adit, along with bearing of trend numbering in tunnel increases successively; The unit is to being in the numbering of the essential safe type reference mode in the same rectangle positioning unit inner number, look according to the tunnel bearing of trend, from near access adit and be positioned at the essential safe type reference mode of left-hand side, number consecutively is 1,2,3,4 in the counterclockwise direction; The type of this packet of type of data packet identifier marking; RA is this essential safe type reference mode RSSI value with the periodic broadcasting signal centrosymmetric essential safe type reference mode of its center line about the bearing of trend in tunnel that receive; RB be this essential safe type reference mode receive be in the RSSI value of the periodic broadcasting signal of the adjacent essential safe type reference mode of different rectangle positioning units and homonymy with it; Mobile node ID is the numbering of essential safe type mobile node; RE be this essential safe type reference mode that receive with RSSI value positioning request signal corresponding to mobile node ID; The wide d of rectangle positioning unit is the wide of tunnel; Maximum possible RSSI value RM is the maximum RSSI value that can receive, and can draw this value by measurement or known essential safe type reference mode emissive power;
Described essential safe type mobile node distributes unique mobile node ID; Send positioning request signal to the essential safe type reference mode, and the reference mode packet of reception essential safe type reference mode loopback and the partial information of corresponding rectangle positioning unit, according to the mobile node ID in the reference mode packet that receives the partial information of reference mode packet and corresponding rectangle positioning unit is filtered, according to the RE in the reference mode packet reference mode packet after filtering is done and to be sorted for the first time and record adjacent mobile node ID, the reference mode packet that keeps after for the first time ordering and the neighboring mobile node ID packing of record are sent to the ground monitoring terminal;
Described center switch is transmitted the partial information that the essential safe type mobile node sends to the reference mode packet of ground monitoring terminal and adjacent mobile node ID, rectangle positioning unit that the ground monitoring terminal sends to the essential safe type reference mode;
Described ground monitoring terminal records the information of each rectangle positioning unit by building database, and the partial information of rectangle positioning unit sent to corresponding essential safe type reference mode, the information of rectangle positioning unit comprise long D, the rectangle positioning unit of rectangle positioning unit number, the rectangle positioning unit of this rectangle positioning unit wide d, maximum possible RSSI value RM, inside, unit number and with inside, unit number corresponding reference mode coordinate X; Receive the reference mode packet of essential safe type mobile node transmission and adjacent mobile node ID, according to the rectangle positioning unit in the reference mode packet number and inside, unit search database, the information of the rectangle positioning unit that utilization searches, the parameter in the reference mode packet and the neighboring mobile node ID of record, draw the position of essential safe type mobile node by calculating, sort and comparing numerical values recited, and send to location-server and upper strata terminal;
Wherein reference mode coordinate X is that this essential safe type reference mode is with respect to the distance of access adit;
Described location-server receives and stores the position of essential safe type mobile node.
Described bus can be the CAN bus, or local area network bus, or the RS-485 bus.
Described essential safe type reference mode comprises: processor unit, memory cell, radio transceiver unit, power supply unit.
Described essential safe type mobile node comprises: processor unit, memory cell, radio transceiver unit, power supply unit.
Described ground monitoring terminal comprises: processor unit, memory cell, wireline interface, power interface.
Equipment in the described wireless senser sub-network all adopts inbeing safe explosion prevention equipment.
Described rectangle positioning unit is from access adit the tunnel to be divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits, each interval namely is a rectangle positioning unit, satisfies 7d＜D＜2r between the communication radius r of the long D of rectangle positioning unit, the wide d of rectangle positioning unit and node.
Described essential safe type reference mode is asymmetric to be deployed on the wall in tunnel and to refer in each rectangle positioning unit, take the center of rectangle positioning unit as initial point, the tunnel bearing of trend is that positive dirction is set up rectangle positioning unit one-dimensional coordinate system, on the coordinate of the rectangle positioning unit one-dimensional coordinate system side walls for-2D/7 place, respectively dispose an essential safe type reference mode, be respectively to dispose an essential safe type reference mode on the side walls at 3D/7 place at the coordinate of rectangle positioning unit one-dimensional coordinate system, the height of the height that the essential safe type reference mode is liftoff and essential safe type mobile node is basically identical.
It is parameter mobile node ID in the essential safe type mobile node stored reference node data bag reference mode packet identical with own ID and the corresponding partial information of rectangle positioning unit that described essential safe type mobile node filters the partial information of reference mode packet and corresponding rectangle positioning unit according to the mobile node ID in the reference mode packet that receives;
It is described that according to the parameters R E in the reference mode packet reference mode packet after filtering to be done for the first time ordering be numerical values recited according to the parameters R E in the reference mode packet after filtering, by from big to small order the reference mode packet is done for the first time ordering, reservation as much as possible after the ordering but at most only keep the partial informations of the reference mode packet that comes first six digits and the corresponding rectangle positioning unit of reference mode packet that makes number one;
The mobile node ID that described record is adjacent sends a reply signal after other essential safe type mobile nodes are received positioning request signal, if the RSSI value R of return signal satisfies
RA1+(d1-D1/14)(RM1-RA1)/d1≤R
Then record the mobile node ID of this essential safe type mobile node; Wherein RA1 is the parameters R A in the reference mode packet that makes number one after for the first time ordering; D1, d1, RM1 are D, d, the RM in the partial information of the corresponding rectangle positioning unit of reference mode packet that makes number one after for the first time ordering.
The beneficial effects of the utility model are:
1. the characteristics of self-organization, multi-hop and the radio communication by utilizing wireless sensor network, so that the power consumption decrease of equipment, system equipment is simple in structure, volume is little, is adapted at coal mine roadway and uses.
2. by adopting the tunnel is divided into the rectangle positioning unit, so that the location is fit to the long and narrow characteristics in tunnel more; Asymmetric deployment essential safe type reference mode has reduced the requirement of essential safe type reference mode quantity and density in the rectangle positioning unit, saves cost.
3. loopback was to the reference mode packet of essential safe type mobile node when the essential safe type reference mode utilized the periodic broadcasting signal of other adjacent essential safe type reference modes can dynamically update the location, and the parameter in the middle of the reference mode packet that utilizes during the location is along with the change of tunnel environment changes; Utilize the central parameter of reference mode packet and the information in the database, by calculating, sort and comparing the location that numerical values recited just can realize the essential safe type mobile node, localization method is simple on the one hand, reduced to calculate the time delay of bringing, can avoid on the other hand the king-sized situation of positioning error, improved bearing accuracy, and bearing accuracy is affected by environment little.
4. adopting take tree-like when a certain latter end device fails of system, can not affect the normal operation of other parts as main network structure, has improved the change ability of combating a natural disaster of system.
Description of drawings
Fig. 1 is essential safe type reference mode deployment diagram of the present utility model;
Fig. 2 is the periodic broadcasting data packet format synoptic diagram of essential safe type reference mode of the present utility model;
Fig. 3 is the reference mode data packet format synoptic diagram of essential safe type reference mode of the present utility model;
Fig. 4 is rectangle positioning unit areal map of the present utility model;
Fig. 5 is positioning system composition frame chart of the present utility model;
Fig. 6 is localization method process flow diagram of the present utility model;
Fig. 7 is the circuit block diagram of essential safe type reference mode of the present utility model and essential safe type mobile node;
Fig. 8 is ground monitoring terminating circuit block diagram of the present utility model;
Among the figure: 1, wireless senser sub-network; 1-1, essential safe type aggregation gateway node; 1-2, essential safe type reference mode; 1-3 essential safe type mobile node; 2, center switch; 3, security monitoring and Information management networks; 3-1, ground monitoring terminal; 3-2, location-server; 3-3, upper strata terminal.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail, but following description only is illustrative the restriction that protection domain of the present utility model not the following describes.What the utility model was realized is the one dimension location, and the reference mode coordinate X of each essential safe type reference mode all refers to it with respect to the distance of access adit in the database, and it is near apart from access adit for the little explanation of node coordinate, and it is far away apart from access adit for the large explanation of node coordinate.
1. Fig. 1 is essential safe type reference mode deployment diagram of the present utility model.As shown in Figure 1, the tunnel is divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits from access adit, and each interval namely is a rectangle positioning unit, and the tunnel part among Fig. 1 in the dotted line frame is a rectangle positioning unit; The wide d of rectangle positioning unit is the wide of tunnel, in order to guarantee that any position of essential safe type mobile node in the tunnel can communicate by letter with at least four essential safe type reference modes, need to satisfy D＜2r between the long D of rectangle positioning unit and the node communication radius; The rectangle positioning unit number is the numbering to the rectangle positioning unit, from first rectangle positioning unit of access adit, along with bearing of trend numbering in tunnel increases successively; Among Fig. 1, the rectangle positioning unit of the rectangle positioning unit of empty wire frame representation number is N, and the rectangle positioning unit of two adjacent rectangle positioning units number is respectively N-1 and N+1, and these three rectangle positioning units are continuously, not overlapping, long limit equates;
In each rectangle positioning unit, take the center of rectangle positioning unit as initial point, the tunnel bearing of trend is that positive dirction is set up rectangle positioning unit one-dimensional coordinate system, on the coordinate of the rectangle positioning unit one-dimensional coordinate system side walls for-2D/7 place, respectively dispose an essential safe type reference mode, be respectively to dispose an essential safe type reference mode on the side walls at 3D/7 place at the coordinate of rectangle positioning unit one-dimensional coordinate system, the height of the height that the essential safe type reference mode is liftoff and essential safe type mobile node is basically identical.The unit is to being in the numbering of the essential safe type reference mode in the same rectangle positioning unit inner number, look according to the tunnel bearing of trend, from near access adit and be positioned at the essential safe type reference mode of left-hand side, number consecutively is 1,2,3,4 in the counterclockwise direction.Among Fig. 1, rectangle positioning unit number has been disposed four essential safe type reference modes in the rectangle positioning unit of N, the coding rule that the unit is inner number is shown in the numeral in Fig. 1 centre circle, rectangle positioning unit number is for inner number that the coordinate of 1 and 2 the corresponding rectangle positioning unit of essential safe type reference mode one-dimensional coordinate system is-2D/7 for N, unit, and rectangle positioning unit number is for inner number that the coordinate of 3 and 4 the corresponding rectangle positioning unit of essential safe type reference mode one-dimensional coordinate system is 3D/7 for N, unit.
Maximum possible RSSI value RM is the maximum RSSI value that can receive, and can draw this value by measurement or known essential safe type reference mode emissive power; Reference mode coordinate X is that this essential safe type reference mode is with respect to the distance of access adit.Record the information of each rectangle positioning unit by building database, the information of rectangle positioning unit comprise this rectangle positioning unit rectangle positioning unit number, the long D of rectangle positioning unit, wide d, the maximum possible RSSI value RM of rectangle positioning unit, inner number of unit and with the inner number corresponding reference mode coordinate X in unit, the partial information of rectangle positioning unit comprises the long D of this rectangle positioning unit, wide d, the maximum possible RSSI value RM of rectangle positioning unit; The long D of rectangle positioning unit, the wide d of rectangle positioning unit, maximum possible RSSI value RM and rectangle positioning unit number are one to one, can obtain the long D of corresponding rectangle positioning unit, wide d, the maximum possible RSSI value RM of rectangle positioning unit with rectangle positioning unit removal search database; Reference mode coordinate X and rectangle positioning unit number, unit are one to one inner number, number can obtain corresponding reference mode coordinate X with inside, unit removal search database with the rectangle positioning unit.
2. Fig. 2 is the periodic broadcasting data packet format synoptic diagram of essential safe type reference mode of the present utility model.As shown in Figure 2, comprise inner number of type of data packet identifier, rectangle positioning unit number, unit in the periodic broadcasting packet of essential safe type reference mode.The essential safe type reference mode is assigned with unique rectangle positioning unit number and unit inner number, both concern one to one, can identify this periodic broadcasting signal inner number by the rectangle positioning unit in the periodic broadcasting packet number and unit and by which essential safe type reference mode be sent.
3. Fig. 3 is the reference mode data packet format synoptic diagram of essential safe type reference mode of the present utility model.As shown in Figure 3, the reference mode packet of essential safe type reference mode comprises type of data packet identifier, rectangle positioning unit number, inner number of unit, RA, RB, mobile node ID, RE; The type of this packet of type of data packet identifier marking wherein; RA is this essential safe type reference mode RSSI value with the periodic broadcasting signal centrosymmetric essential safe type reference mode of its center line about the bearing of trend in tunnel that receive; RB be this essential safe type reference mode receive be in the RSSI value of the periodic broadcasting signal of the adjacent essential safe type reference mode of different rectangle positioning units and homonymy with it; Mobile node ID is the numbering of essential safe type mobile node; RE is the RSSI value of the positioning request signal corresponding with mobile node ID that receive of this essential safe type reference mode.
Number be N in conjunction with the rectangle positioning unit among Fig. 1, the unit is for inner number the implication that 1 essential safe type reference mode illustrates parameter:
RA is that rectangle positioning unit number is N, and the unit is for inner number that 1 essential safe type reference mode receives the rectangle positioning unit and number is that N, unit are for inner number the RSSI value of the periodic broadcasting signal of 2 essential safe type reference mode;
RB is that rectangle positioning unit number is N, and the unit is for inner number that 1 essential safe type reference mode receives the rectangle positioning unit and number is that N-1, unit are for inner number the RSSI value of the periodic broadcasting signal of 4 essential safe type reference mode.
The information of the rectangle positioning unit in reference mode packet and the database is one to one, with the rectangle positioning unit search database in the reference mode packet, the long D of corresponding rectangle positioning unit, wide d, the maximum possible RSSI value RM of rectangle positioning unit can be obtained, corresponding reference mode coordinate X can be obtained with the rectangle positioning unit in the reference mode packet number and inside, unit removal search database.
4. Fig. 4 is rectangle positioning unit areal map of the present utility model.As shown in Figure 4, a rectangle positioning unit is divided into seven isometric zones, and each regional length is D/7; There is unique feature in each zone, the localization method that the utility model adopts is in fact to judge the current residing zone of essential safe type mobile node by the feature of uniqueness, then the current position coordinates of a dimension coordinate of regional center of living in as the essential safe type mobile node.
When distance was smaller, the RSSI value intercepted one section very little curve with the large and line smoothing of die-away curve slope that distance increases, and can think that this a bit of curve is straight line; On this section straight line, utilize known two to adjust the distance and the corresponding relation of RSSI can be obtained the corresponding RSSI value of other distances, and can come by the size of comparison RSSI value the size of judging distance.
The rectangle positioning unit of the below take rectangle positioning unit number as N be as example, and the feature in AR1 and AR2 zone is described:
As shown in Figure 4, the AR1 zone can be divided into the semicircle that intersects shown in two dotted lines, two semicircles are all take the essential safe type reference mode as the center of circle, radius all is D/14, in order to guarantee that two semicircles intersect, and need to satisfy 7d＜D between the long D of rectangle positioning unit and the wide d of rectangle positioning unit; In the time of in any one semicircle, think that the relation of RSSI and distance is linear, utilize the parameters R A in maximum possible RSSI value RM and the reference mode packet, can obtain when the essential safe type mobile node is on circle and the RSSI value of signal of communication between the essential safe type reference mode of this circle circle centre position; If the RSSI value that has the essential safe type reference mode to receive the positioning request signal that the essential safe type mobile node sends is not less than the above-mentioned RSSI value of obtaining, can judge so the essential safe type mobile node take this essential safe type reference mode in the semicircle in the center of circle or on the semicircle.When the essential safe type mobile node is positioned at rectangle positioning unit number for the AR1 zone of the rectangle positioning unit of N, value according to parameters R E in the reference mode packet, by from big to small order to the reference mode data packet sequencing, the reference mode packet that makes number one so is that rectangle positioning unit number is N, the unit is for inner number that 1 the corresponding reference mode packet of essential safe type reference mode or rectangle positioning unit number are N, the unit is for inner number 2 the corresponding reference mode packet of essential safe type reference mode, and the condition of the parameters R E in the reference mode packet that makes number one when satisfying on the semicircle that is positioned at take this essential safe type reference mode as the center of circle or the semicircle;
In like manner, when the essential safe type mobile node is positioned at rectangle positioning unit number for the AR2 zone of the rectangle positioning unit of N, value according to parameters R E in the reference mode packet, by from big to small order to the reference mode data packet sequencing, the reference mode packet that makes number one so is that rectangle positioning unit number is N, the unit is for inner number that 3 the corresponding reference mode packet of essential safe type reference mode or rectangle positioning unit number are N, the unit is for inner number 4 the corresponding reference mode packet of essential safe type reference mode, and the condition of the parameters R E in the reference mode packet that makes number one when satisfying on the semicircle that is positioned at take this essential safe type reference mode as the center of circle or the semicircle.
The relation of RSSI value and distance is not linear, but basically present the trend that the RSSI value reduces along with the increase of distance, can be by the big or small size that determines the distance of these different essential safe type reference modes of the RSSI value of signal of communication relatively and between the different essential safe type reference modes, according to and the essential safe type reference mode between the RSSI value size of signal of communication to the reference mode data packet sequencing corresponding with the essential safe type reference mode, different order correspondences different from magnitude relationship, and namely different order correspondences different zones.
Compatriot's reference mode is to be in same rectangle positioning unit, the unit is for inner number 1 and 2 or 3 and 4 a pair of essential safe type reference mode, reference mode born of the same parents refers on the side walls of tunnel that the reference mode coordinate X of two essential safe type reference modes of reference mode born of the same parents is identical about the centrosymmetric a pair of essential safe type reference mode of center line of the bearing of trend in tunnel in fact.It is the processing of two reference mode packets that reference mode born of the same parents is sent that compatriot's reference mode is processed, supplemental characteristic bag type identifier in the reference mode packet, rectangle positioning unit number, inner number of unit, mobile node ID are constant, obtain the mean value of rest parameter in two reference mode packets, with the corresponding parameter in inner number little reference mode packet of the mean value updating block of obtaining, and only keep the reference mode packet that upgraded with mean value.Compatriot's reference mode is processed and to be actually average to parameters R A, RB, RE in the reference mode packet, on average can make these parameters more accurate; Can filtering RSSI and the distance relation curve in the middle of catastrophe point, make the relation of RSSI value and distance better meet the trend that the RSSI value reduces along with the increase of distance.
The rectangle positioning unit of the below take rectangle positioning unit number as N be as example, and the feature in AR3, AR4, AR5, AR6 and AR7 zone is described:
As can be seen from Figure 4, the rectangle positioning unit number is N, the unit is for inner number that reference mode born of the same parents under 1 the essential safe type reference mode and rectangle positioning unit number are N, the unit is for inner number that the reference mode born of the same parents under 4 the essential safe type reference mode is that the vertical line that the rectangle positioning unit at D/14 place is grown the limit is centrosymmetric about the coordinate of rectangle positioning unit one-dimensional coordinate system, here said reference mode born of the same parents is that the vertical line on the long limit of rectangle positioning unit at D/14 place is that Central Symmetry refers to that the rectangle positioning unit number is N about the coordinate of rectangle positioning unit one-dimensional coordinate system, the unit is for inner number that 1 essential safe type reference mode and rectangle positioning unit number are N, the unit is for inner number 4 essential safe type reference mode about the coordinate of rectangle positioning unit one-dimensional coordinate system is that the vertical line that the rectangle positioning unit at D/14 place is grown the limit is Central Symmetry, the rectangle positioning unit number is N, the unit is for inner number that 2 essential safe type reference mode and rectangle positioning unit number are that N, unit be for inner number 3 essential safe type reference mode about the coordinate of rectangle positioning unit one-dimensional coordinate system are that the vertical line that the rectangle positioning unit at D/14 place is grown the limit also is Central Symmetry;
In like manner, the rectangle positioning unit number is N-1, the unit is for inner number that reference mode born of the same parents under 4 the essential safe type reference mode and rectangle positioning unit number are that N+1, unit are for inner number that reference mode born of the same parents under 1 the essential safe type reference mode is that the vertical line on the rectangle positioning unit length limit at D/14 place is centrosymmetric about the coordinate of rectangle positioning unit one-dimensional coordinate system; The rectangle positioning unit number is N-1, the unit is for inner number that reference mode born of the same parents under 4 the essential safe type reference mode and rectangle positioning unit number are that N, unit are for inner number that reference mode born of the same parents under 4 the essential safe type reference mode is centrosymmetric about the coordinate of rectangle positioning unit one-dimensional coordinate system for the vertical line on the rectangle positioning unit length limit at-D/14 place; The rectangle positioning unit number is N, the unit is for inner number that reference mode born of the same parents under 1 the essential safe type reference mode and rectangle positioning unit number are that N+1, unit are for inner number that reference mode born of the same parents under 1 the essential safe type reference mode is that the vertical line on the rectangle positioning unit length limit at 3D/14 place is centrosymmetric about the coordinate of rectangle positioning unit one-dimensional coordinate system.
When the essential safe type mobile node is positioned at rectangle positioning unit number for the AR3 zone of the rectangle positioning unit of N, can be drawn by the Central Symmetry of above-mentioned reference mode born of the same parents relation: the essential safe type mobile node number is N to the rectangle positioning unit, the unit is for inner number that the distance of 1 essential safe type reference mode is than number be N to the rectangle positioning unit, the unit is for inner number the near distance of 4 essential safe type reference mode, so the rectangle positioning unit number is N, the unit is for inner number that the parameters R E in the reference mode packet of 1 essential safe type reference mode number is that than rectangle positioning unit N, unit are for inner number that parameters R E in the reference mode packet of 4 essential safe type reference mode is large; The essential safe type mobile node number is N to the rectangle positioning unit, the unit is for inner number that the distance of 2 essential safe type reference mode is than number be N to the rectangle positioning unit, the unit is for inner number the near distance of 3 essential safe type reference mode, so the rectangle positioning unit number is N, the unit is for inner number that the parameters R E in the reference mode packet of 2 essential safe type reference mode number is that than rectangle positioning unit N, unit are for inner number that parameters R E in the reference mode packet of 3 essential safe type reference mode is large; After doing reference mode processing born of the same parents, the rectangle positioning unit number is N, the unit is for inner number that the parameters R E in the reference mode packet after 1 the corresponding reference mode born of the same parents of essential safe type reference mode is processed number is that than rectangle positioning unit N, unit are for inner number that parameters R E in the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed is large; In like manner, after doing reference mode processing born of the same parents, the rectangle positioning unit number is N, the unit is for inner number that the parameters R E in the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed number is that than rectangle positioning unit N-1, unit are for inner number that parameters R E in the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed is large; Value according to the parameters R E in the reference mode packet after the reference mode processing born of the same parents, reference mode data packet sequencing after by from big to small order reference mode born of the same parents being processed, what make number one so is that rectangle positioning unit number is N, the unit is for inner number the reference mode packet after 1 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, coming deputy is that rectangle positioning unit number is N, the unit is for inner number the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, that is to say make number one with deputy reference mode packet in the rectangle positioning unit number be the same, and reference mode coordinate X corresponding to the reference mode packet that makes number one is less than coming reference mode coordinate X corresponding to deputy reference mode packet;
In like manner, when the essential safe type mobile node is positioned at rectangle positioning unit number for the AR4 zone of the rectangle positioning unit of N, do that reference mode born of the same parents is processed and process according to reference mode born of the same parents after the reference mode packet in the value of parameters R E, reference mode data packet sequencing after by from big to small order reference mode born of the same parents being processed, what make number one so is that rectangle positioning unit number is N, the unit is for inner number the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, coming deputy is that rectangle positioning unit number is N, the unit is for inner number the reference mode packet after 1 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, that is to say make number one with deputy reference mode packet in the rectangle positioning unit number be the same, and reference mode coordinate X corresponding to the reference mode packet that makes number one is greater than coming reference mode coordinate X corresponding to deputy reference mode packet;
When the essential safe type mobile node is positioned at rectangle positioning unit number for the AR5 zone of the rectangle positioning unit of N, do that reference mode born of the same parents is processed and process according to reference mode born of the same parents after the reference mode packet in the value of parameters R E, reference mode data packet sequencing after by from big to small order reference mode born of the same parents being processed, what make number one so is that rectangle positioning unit number is N, the unit is for inner number the reference mode packet after 1 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, coming deputy is that rectangle positioning unit number is N-1, the unit is for inner number the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, that is to say make number one and deputy reference mode packet in the rectangle positioning unit number be different, and reference mode coordinate X corresponding to the reference mode packet that makes number one is greater than coming reference mode coordinate X corresponding to deputy reference mode packet; Simultaneously, because the essential safe type mobile node number is N-1 to the rectangle positioning unit, the unit is for inner number that the distance of 3 essential safe type reference mode number is N than rectangle positioning unit, the unit is for inner number 2 essential safe type reference mode to the rectangle positioning unit number is N-1, the unit is for inner number the distance of 3 essential safe type reference mode, the essential safe type mobile node number is N-1 to the rectangle positioning unit, the unit is for inner number that the distance of 4 essential safe type reference mode number is N than rectangle positioning unit, the unit is for inner number 1 essential safe type reference mode to the rectangle positioning unit number is N-1, the unit is for inner number the distance of 4 essential safe type reference mode, so after doing reference mode processing born of the same parents, the rectangle positioning unit number is N, the unit is for inner number that the parameters R B in the reference mode packet after 1 the corresponding reference mode born of the same parents of essential safe type reference mode is processed number is N-1 than rectangle positioning unit, the unit is for inner number that the parameters R E in the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed is large, that is to say do that reference mode born of the same parents is processed and process according to reference mode born of the same parents after the reference mode packet in the value of parameters R E, behind the reference mode data packet sequencing after by from big to small order reference mode born of the same parents being processed, the parameters R B in the reference mode packet that makes number one is greater than the parameters R E that comes in the deputy reference mode packet;
When the essential safe type mobile node is positioned at rectangle positioning unit number for the AR6 zone of the rectangle positioning unit of N, do that reference mode born of the same parents is processed and process according to reference mode born of the same parents after the reference mode packet in the value of parameters R E, reference mode data packet sequencing after by from big to small order reference mode born of the same parents being processed, what make number one so is that rectangle positioning unit number is N, the unit is for inner number the reference mode packet after 3 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, coming deputy is that rectangle positioning unit number is N+1, the unit is for inner number the reference mode packet after 1 the corresponding reference mode born of the same parents of essential safe type reference mode is processed, that is to say make number one and deputy reference mode packet in the rectangle positioning unit number be different, and reference mode coordinate X corresponding to the reference mode packet that makes number one is less than coming reference mode coordinate X corresponding to deputy reference mode packet; Simultaneously, the parameters R B in the reference mode packet that makes number one is greater than the parameters R E that comes in the deputy reference mode packet;
When the essential safe type mobile node is positioned at rectangle positioning unit number for the AR7 zone of the rectangle positioning unit of N, do that reference mode born of the same parents is processed and process according to reference mode born of the same parents after the reference mode packet in the value of parameters R E, reference mode data packet sequencing after by from big to small order reference mode born of the same parents being processed, make number one and deputy reference mode packet is uncertain, but make number one and deputy reference mode packet in the rectangle positioning unit number always different.Simultaneously, the parameters R B in the reference mode packet that makes number one is less than the parameters R E that comes in the deputy reference mode packet;
Communication between two other essential safe type mobile node also can improve the precision of location; Analysis such as the AR1 zone, can obtain when the essential safe type mobile node and be positioned at take the essential safe type reference mode as the center of circle, radius be on the circle of D/14 the time and the essential safe type reference mode of this circle circle centre position between the RSSI value of signal of communication, if the RSSI value of signal of communication is not less than the above-mentioned RSSI value of obtaining between two essential safe type mobile nodes, distance between these two essential safe type mobile nodes is not more than D/14 so, can further revise the position of these two essential safe type mobile nodes; But not all two essential safe type mobile nodes that satisfy above-mentioned relation can improve bearing accuracy, and the communication that is positioned at the essential safe type mobile node of same locating area can not improve any bearing accuracy.Only have when two essential safe type mobile nodes that are in the adjacent positioned zone, if the RSSI value of signal of communication satisfies above-mentioned relation between them, so just can further improve bearing accuracy.
5. Fig. 5 is positioning system composition frame chart of the present utility model.As shown in Figure 5, the utility model comprises a plurality of wireless senser sub-networks 1 that are deployed in the tunnel based on one dimension positioning system under the coal mine of wireless sensor network, is deployed in center switch 2 and security monitoring and the Information management networks 3 on ground; The wireless senser sub-network comprises essential safe type aggregation gateway node 1-1, essential safe type reference mode 1-2, essential safe type mobile node 1-3; Security monitoring and Information management networks comprise ground monitoring terminal 3-1, location-server 3-2, upper strata terminal 3-3; Ground monitoring terminal 3-1 and location-server 3-2 consist of cable network by center switch 2 with essential safe type aggregation gateway node 1-1, and send real-time locator data to upper strata terminal 3-3 by local network; Essential safe type aggregation gateway node 1-1 is articulated on the center switch 2 by bus; Essential safe type mobile node 1-3 is carried by underground operators or mechanical hook-up; Essential safe type aggregation gateway node 1-1, essential safe type reference mode 1-2, essential safe type mobile node 1-3 consists of the wireless location network;
Location-server 3-2 is connected with ground monitoring terminal 3-1, receives and store the position data from the essential safe type mobile node of ground monitoring terminal 3-1.Ground monitoring terminal 3-1 records the information of each rectangle positioning unit according to the division of rectangle positioning unit shown in Figure 1, the deployment of essential safe type reference mode by building database, and the partial information of rectangle positioning unit is sent to the essential safe type reference mode 1-2 of correspondence by center switch 2 and essential safe type aggregation gateway node 1-1; Receive the reference mode packet of essential safe type mobile node 1-3 transmission and adjacent mobile node ID, according to the rectangle positioning unit in the reference mode packet number and inside, unit search database, the adjacent mobile node ID of the information of the rectangle positioning unit that utilization searches, the parameter in the reference mode packet and record, draw the position of essential safe type mobile node 1-3 by calculating, sort and comparing numerical values recited, and send to location-server 3-2; By local network essential safe type positions of mobile nodes data are sent to upper strata terminal 3-3.Center switch 2 is transmitted essential safe type mobile node 1-3 and is sent to the reference mode packet of ground monitoring terminal 3-1 and adjacent mobile node ID, the partial information that ground monitoring terminal 3-1 sends to the rectangle positioning unit of essential safe type reference mode 1-2.Essential safe type converges webmaster node 1-1 and is responsible for data and switches between heterogeneous networks, receives the wireless data that essential safe type mobile node 1-3 sends, and converts thereof into cable data and sends to center switch 2; The cable data that receiving center switch 2 sends converts thereof into wireless data and sends to essential safe type reference mode 1-2.Essential safe type reference mode 1-2 distributes the rectangle positioning unit number of unique correspondence and unit inner number, receives the partial information of corresponding rectangle positioning unit from ground monitoring terminal 3-1; Periodically the form with the periodic broadcasting packet outwards sends the periodic broadcasting signal, the periodic broadcasting packet that receives other adjacent essential safe type reference mode 1-2 also extracts the RSSI value of corresponding periodic broadcasting signal, according to the parameter recognition cycle broadcast singal of periodic broadcasting packet, loopback was to parameters R A, RB in the reference mode packet of essential safe type mobile node 1-3 when the RSSI value of the periodic broadcasting signal that selection is corresponding was upgraded the location; Receive positioning request signal that essential safe type mobile node 1-3 sends and upgrade the partial information of loopback reference mode packet and corresponding rectangle positioning unit behind mobile node ID, the RE in the reference mode packet to essential safe type mobile node 1-3 according to positioning request signal; Essential safe type mobile node 1-3 distributes unique mobile node ID; Send positioning request signal to essential safe type reference mode 1-2, and the reference mode packet of reception essential safe type reference mode 1-2 loopback and the partial information of corresponding rectangle positioning unit, according to the mobile node ID in the reference mode packet that receives the partial information of reference mode packet and corresponding rectangle positioning unit is filtered, according to the RE in the reference mode packet reference mode packet after filtering is done and to be sorted for the first time and record adjacent mobile node ID, the reference mode packet that keeps after for the first time ordering and the neighboring mobile node ID packing of record are sent to ground monitoring terminal 3-1.
6. Fig. 6 is localization method process flow diagram of the present utility model.As shown in Figure 6, the utility model may further comprise the steps based on the localization method of one dimension positioning system using under the coal mine of wireless sensor network:
A. from access adit the tunnel is divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits, each interval namely is a rectangle positioning unit, asymmetric deployment reference mode on the wall in the inherent tunnel of each rectangle positioning unit;
B. record the information of each rectangle positioning unit by building database;
C. be spaced apart the cycle with regular time, all reference modes outwards send the periodic broadcasting signal with the form of periodic broadcasting packet, the periodic broadcasting packet that receives other adjacent reference modes also extracts the RSSI value of corresponding periodic broadcasting signal, according to the parameter recognition cycle broadcast singal of periodic broadcasting packet, parameters R A, the RB in selection and the reference mode packet respectively RSSI value of corresponding periodic broadcasting signal comes undated parameter RA, RB;
Mobile node sends positioning request signal when D. locating, reference mode is according to the parameter mobile node ID in the positioning request signal renewal reference mode packet that receives, the partial information of loopback reference mode packet and corresponding rectangle positioning unit is to mobile node behind the RE, and mobile node filters the partial information of reference mode packet and corresponding rectangle positioning unit according to the mobile node ID in the reference mode packet that receives, according to the parameters R E in the reference mode packet reference mode packet after filtering is done and to be sorted for the first time and record adjacent mobile node ID;
E. according to the rectangle positioning unit in the reference mode packet number and inside, unit search database, the information of the rectangle positioning unit that utilization searches, the parameter in the reference mode packet and the neighboring mobile node ID of record are by calculating, sort and comparing the position that numerical values recited draws mobile node.
Described steps A comprises the following steps:
A1. from access adit, the tunnel is divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits, each interval namely is a rectangle positioning unit, the wide d of rectangle positioning unit is the wide of tunnel, satisfies 7d＜D＜2r between the communication radius r of the long D of rectangle positioning unit, the wide d of rectangle positioning unit and node;
A2. in each rectangle positioning unit, take the center of rectangle positioning unit as initial point, the tunnel bearing of trend is that positive dirction is set up rectangle positioning unit one-dimensional coordinate system, on the coordinate of the rectangle positioning unit one-dimensional coordinate system side walls for-2D/7 place, respectively dispose a reference mode, be respectively to dispose a reference mode on the side walls at 3D/7 place at the coordinate of rectangle positioning unit one-dimensional coordinate system, the height that reference mode is liftoff and the height of mobile node are basically identical.
Among the step D, it is parameter mobile node ID in the mobile node stored reference node data bag reference mode packet identical with own ID and the corresponding partial information of rectangle positioning unit that described mobile node filters the partial information of reference mode packet and corresponding rectangle positioning unit according to the mobile node ID in the reference mode packet that receives;
It is described that according to the parameters R E in the reference mode packet reference mode packet after filtering to be done for the first time ordering be numerical values recited according to the parameters R E in the reference mode packet after filtering, by from big to small order the reference mode packet is done for the first time ordering, reservation as much as possible after the ordering but at most only keep the partial informations of the reference mode packet that comes first six digits and the corresponding rectangle positioning unit of reference mode packet that makes number one;
The mobile node ID that described record is adjacent sends a reply signal after other mobile nodes are received positioning request signal, if the RSSI value R of return signal satisfies
RA1+(d1-D1/14)(RM1-RA1)/d1≤R
Then record the mobile node ID of this mobile node; Wherein RA1 is the parameters R A in the reference mode packet that makes number one after for the first time ordering; D1, d1, RM1 are D, d, the RM in the partial information of the corresponding rectangle positioning unit of reference mode packet that makes number one after for the first time ordering.
Described step e comprises the following steps:
E1. according to the rectangle positioning unit in the reference mode packet that makes number one after for the first time ordering number and inside, unit search database, utilize the information of the rectangle positioning unit that searches and the reference mode packet that makes number one in the parameter judgement
RA1+(d1-D1/14)(RM1-RA1)/d1≤RE1
Whether satisfy, if satisfied then definite mobile node coordinate is the reference mode coordinate X in the corresponding database of reference mode packet that makes number one after the ordering first time, execution E7, if do not satisfy, continuation is carried out E2 and gone on foot if going on foot;
Wherein RA1, RE1 are respectively parameters R A, the RE in the reference mode packet that makes number one after for the first time ordering; D1, d1, RM1 are D, d, the RM in the corresponding database of reference mode packet that makes number one after for the first time ordering;
E2. the reference mode packet after for the first time ordering being made reference mode born of the same parents processes, numerical values recited according to the parameters R E in the reference mode packet after the reference mode processing born of the same parents, by order from big to small the reference mode packet is done for the second time ordering, and only keep the reference mode packet that comes front two; If the rectangle positioning unit in two reference mode packets that keep number is the same, continue to carry out the E3 step, otherwise, carry out E4 and go on foot;
If the reference mode coordinate X in the corresponding database of reference mode packet that E3. makes number one after for the second time ordering is greater than the reference mode coordinate X that comes after sorting for the second time in the corresponding database of deputy reference mode packet, reference mode coordinate X in the corresponding database of reference mode packet of then determining to make number one after the mobile node coordinate is for for the second time ordering subtracts 2/7D, carry out the E7 step, otherwise, reference mode coordinate X in the corresponding database of reference mode packet of determining to make number one after the mobile node coordinate is for for the second time ordering adds 2/7D, carries out the E7 step;
If the RB in the reference mode packet that E4. makes number one after for the second time ordering continues to carry out the E5 step greater than the RE that comes after sorting for the second time in the deputy reference mode packet, otherwise, carry out E6 and go on foot;
If the reference mode coordinate X in the corresponding database of reference mode packet that E5. makes number one after for the second time ordering is greater than the reference mode coordinate X that comes after sorting for the second time in the corresponding database of deputy reference mode packet, reference mode coordinate X in the corresponding database of reference mode packet of then determining to make number one after the mobile node coordinate is for for the second time ordering adds 1/7D, carry out the E7 step, otherwise, reference mode coordinate X in the corresponding database of reference mode packet of determining to make number one after the mobile node coordinate is for for the second time ordering subtracts 1/7D, carries out the E7 step;
E6. come the intermediate value of the reference mode coordinate X in the corresponding database of deputy reference mode packet after the reference mode coordinate X in the corresponding database of reference mode packet of determining to make number one after the mobile node coordinate is for for the second time ordering and for the second time ordering, carry out the E7 step;
If current definite position of the adjacent corresponding mobile node of mobile node ID that records among the mobile node of E7. having determined the position and the step D differs 1/7D, then the mobile node of less position carries out position correction according to increasing 1/28D in the mobile node of these two definite positions, and the mobile node of larger position carries out position correction according to reducing 1/28D.
7. Fig. 7 is the circuit block diagram of essential safe type reference mode of the present utility model and essential safe type mobile node.As shown in Figure 7, essential safe type reference mode 1-2 is identical with the circuit block diagram of essential safe type mobile node 1-3, comprises processor unit 1-20, memory cell 1-21, radio transceiver unit 1-22, power supply unit 1-23.Memory cell 1-21, radio transceiver unit 1-22, power supply unit 1-23 all link to each other with processor unit 1-20.Power supply unit 1-23 is responsible for unit electric energy is provided; Radio transceiver unit 1-22 is responsible for receiving the radio magnetic wave signal and extracts data from signal, and data to be launched are changed into radio magnetic wave signal and emission; Processor unit 1-20 is responsible for depositing memory cell 1-21 in to the data analysis that receives and with corresponding data, extracts corresponding data and be used for emission from memory cell 1-21; Memory cell 1-21 is responsible for storing data, the memory cell 1-21 of essential safe type reference mode 1-2 stores corresponding rectangle positioning unit number and unit inner number in addition, and the memory cell 1-21 of essential safe type mobile node 1-3 stores corresponding mobile node ID.The essential safe type reference mode receives the partial information of the rectangle positioning unit of ground monitoring terminal transmission by radio transceiver unit; The essential safe type reference mode obtains rectangle positioning unit number and unit inner number from memory cell, carry out periodic broadcasting by radio transceiver unit, and obtain the RSSI value of other adjacent essential safe type reference mode periodic broadcasting signals by radio transceiver unit, deposit it in memory cell; Behind the corresponding data of essential safe type reference mode by positioning request signal, extraction data and the updated stored device unit of radio transceiver unit reception essential safety mobile node, the corresponding data communication device of extraction is crossed radio transceiver unit and is sent to the essential safe type mobile node from memory cell.The essential safe type mobile node obtains mobile node ID from memory cell, sends positioning request signal by radio transceiver unit; Utilize radio transceiver unit to receive the partial information of reference mode packet that the essential safe type reference mode sends and rectangle positioning unit and extract data, after mobile node ID, RE filtration and for the first time ordering, record adjacent mobile node ID, the reference mode packet of reservation and the neighboring mobile node ID of record are sent to the ground monitoring terminal by radio transceiver unit.Simultaneously, essential safe type reference mode and essential safe type mobile node are equipped with explosion-resistant enclosure.
8. Fig. 8 is the circuit block diagram of ground monitoring terminal of the present utility model.As shown in Figure 8, ground monitoring terminal 3-1 comprises processor unit 3-10, memory cell 3-11, wireline interface 3-12, power interface 3-13.Memory cell 3-11, wireline interface 3-12, power interface 3-13 all link to each other with processor unit 3-10.The ground monitoring terminal links to each other with location-server and center switch by wireline interface, and links to each other with the upper strata terminal by local network, consists of cable network.The ground monitoring terminal is deposited into the information of each rectangle positioning unit in the memory cell and the partial information of rectangle positioning unit is sent to corresponding essential safe type reference mode.During the location, obtain the reference mode packet of each essential safe type mobile node transmission of down-hole and adjacent mobile node ID from wireline interface, according to the rectangle positioning unit in the reference mode packet number and searching storage unit, inside, unit, the corresponding data library information that utilization searches, the parameter in the reference mode packet and adjacent mobile node ID, obtain the position of essential safe type mobile node by calculating, sort and comparing magnitude numerical value, and send it to location-server and upper strata terminal.
Claims (9)
1. one kind based on one dimension positioning system under the coal mine of wireless sensor network, it is characterized in that, this system comprises a plurality of wireless senser sub-networks (1) that are deployed in the tunnel, is deployed in center switch (2) and security monitoring and the Information management networks (3) on ground; Described wireless senser sub-network comprises essential safe type aggregation gateway node (1-1), essential safe type reference mode (1-2), essential safe type mobile node (1-3); Described security monitoring and Information management networks comprise ground monitoring terminal (3-1), location-server (3-2), upper strata terminal (3-3); Ground monitoring terminal (3-1) and location-server (3-2) consist of cable network by center switch (2) and essential safe type aggregation gateway node (1-1), and send real-time locator data to upper strata terminal (3-3) by local network; Essential safe type aggregation gateway node (1-1) is articulated on the center switch (2) by bus; Essential safe type mobile node (1-3) is carried by underground operators or mechanical hook-up; Essential safe type reference mode (1-2) is asymmetric to be deployed on the wall in tunnel; Essential safe type aggregation gateway node (1-1), essential safe type reference mode (1-2), essential safe type mobile node (1-3) consists of the wireless location network;
Described essential safe type aggregation gateway node (1-1) receives the wireless data that essential safe type mobile node (1-3) sends, and converts thereof into cable data and sends to center switch (2); The cable data that receiving center switch (2) sends converts thereof into wireless data and sends to essential safe type reference mode (1-2);
Described essential safe type reference mode (1-2) distributes the rectangle positioning unit number of unique correspondence and unit inner number; Periodically the form with the periodic broadcasting packet outwards sends the periodic broadcasting signal, the periodic broadcasting packet that receives other adjacent essential safe type reference modes (1-2) also extracts the RSSI value of corresponding periodic broadcasting signal, parameter recognition cycle broadcast singal according to the periodic broadcasting packet, the RSSI value of the periodic broadcasting signal that selection is corresponding is upgraded the parameters R A in the reference mode packet, RB, parameter in the periodic broadcasting packet should comprise the type of data packet identifier at least, rectangle positioning unit number, inner number of unit, the parameter in the reference mode packet should comprise the type of data packet identifier at least, rectangle positioning unit number, inner number of unit, RA, RB, mobile node ID, RE; The partial information of the rectangle positioning unit of the correspondence that reception ground monitoring terminal (3-1) sends, the partial information of rectangle positioning unit comprises the long D of this essential safe type reference mode (1-2) place rectangle positioning unit, wide d and the maximum possible RSSI value RM of rectangle positioning unit; Receive positioning request signal that essential safe type mobile node (1-3) sends and upgrade the partial information of loopback reference mode packet and corresponding rectangle positioning unit behind mobile node ID, the RE in the reference mode packet to essential safe type mobile node (1-3) according to positioning request signal;
Wherein the rectangle positioning unit number is the numbering to the rectangle positioning unit, from first rectangle positioning unit of access adit, along with bearing of trend numbering in tunnel increases successively; The unit is to being in the numbering of the essential safe type reference mode (1-2) in the same rectangle positioning unit inner number, look according to the tunnel bearing of trend, from near access adit and be positioned at the essential safe type reference mode (1-2) of left-hand side, number consecutively is 1,2,3,4 in the counterclockwise direction; The type of this packet of type of data packet identifier marking; RA is this essential safe type reference mode (1-2) RSSI value with the periodic broadcasting signal centrosymmetric essential safe type reference mode of its center line about the bearing of trend in tunnel (1-2) that receive; RB be this essential safe type reference mode (1-2) receive be in the RSSI value of the periodic broadcasting signal of the adjacent essential safe type reference mode (1-2) of different rectangle positioning units and homonymy with it; Mobile node ID is the numbering of essential safe type mobile node (1-3); RE be this essential safe type reference mode (1-2) that receive with RSSI value positioning request signal corresponding to mobile node ID; The wide d of rectangle positioning unit is the wide of tunnel; Maximum possible RSSI value RM is the maximum RSSI value that can receive, and can draw this value by measurement or known essential safe type reference mode (1-2) emissive power;
Described essential safe type mobile node (1-3) distributes unique mobile node ID; Send positioning request signal to essential safe type reference mode (1-2), and the reference mode packet of reception essential safe type reference mode (1-2) loopback and the partial information of corresponding rectangle positioning unit, according to the mobile node ID in the reference mode packet that receives the partial information of reference mode packet and corresponding rectangle positioning unit is filtered, according to the RE in the reference mode packet reference mode packet after filtering is done and to be sorted for the first time and record adjacent mobile node ID, the reference mode packet that keeps after for the first time ordering and the neighboring mobile node ID packing of record are sent to ground monitoring terminal (3-1);
Described center switch (2) is transmitted essential safe type mobile node (1-3) and is sent to the reference mode packet of ground monitoring terminal (3-1) and adjacent mobile node ID, the partial information that ground monitoring terminal (3-1) sends to the rectangle positioning unit of essential safe type reference mode (1-2);
Described ground monitoring terminal (3-1) records the information of each rectangle positioning unit by building database, and the partial information of rectangle positioning unit sent to corresponding essential safe type reference mode (1-2), the information of rectangle positioning unit comprise long D, the rectangle positioning unit of rectangle positioning unit number, the rectangle positioning unit of this rectangle positioning unit wide d, maximum possible RSSI value RM, inside, unit number and with inside, unit number corresponding reference mode coordinate X; Receive the reference mode packet of essential safe type mobile node (1-3) transmission and adjacent mobile node ID, according to the rectangle positioning unit in the reference mode packet number and inside, unit search database, the information of the rectangle positioning unit that utilization searches, the parameter in the reference mode packet and the neighboring mobile node ID of record, draw the position of essential safe type mobile node (1-3) by calculating, sort and comparing numerical values recited, and send to location-server (3-2) and upper strata terminal (3-3);
Wherein reference mode coordinate X is that this essential safe type reference mode (1-2) is with respect to the distance of access adit;
Described location-server (3-2) receives and stores the position of essential safe type mobile node (1-3).
2. according to claim 1ly a kind ofly it is characterized in that based on one dimension positioning system under the coal mine of wireless sensor network described bus can be the CAN bus, or local area network bus, or the RS-485 bus.
3. according to claim 1 a kind of based on one dimension positioning system under the coal mine of wireless sensor network, it is characterized in that described essential safe type reference mode (1-2) comprising: processor unit, memory cell, radio transceiver unit, power supply unit.
4. according to claim 1 a kind of based on one dimension positioning system under the coal mine of wireless sensor network, it is characterized in that described essential safe type mobile node (1-3) comprising: processor unit, memory cell, radio transceiver unit, power supply unit.
5. according to claim 1ly a kind ofly it is characterized in that based on one dimension positioning system under the coal mine of wireless sensor network described ground monitoring terminal (3-1) comprising: processor unit, memory cell, wireline interface, power interface.
6. according to claim 1ly a kind ofly it is characterized in that based on one dimension positioning system under the coal mine of wireless sensor network the equipment in the described wireless senser sub-network (1) all adopts inbeing safe explosion prevention equipment.
7. according to claim 1 a kind of based on one dimension positioning system under the coal mine of wireless sensor network, it is characterized in that, described rectangle positioning unit is from access adit the tunnel to be divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits, each interval namely is a rectangle positioning unit, satisfies 7d＜D＜2r between the communication radius r of the long D of rectangle positioning unit, the wide d of rectangle positioning unit and node.
8. according to claim 1 a kind of based on one dimension positioning system under the coal mine of wireless sensor network, it is characterized in that, described essential safe type reference mode (1-2) is asymmetric to be deployed on the wall in tunnel and to refer in each rectangle positioning unit, take the center of rectangle positioning unit as initial point, the tunnel bearing of trend is that positive dirction is set up rectangle positioning unit one-dimensional coordinate system, on the coordinate of the rectangle positioning unit one-dimensional coordinate system side walls for-2D/7 place, respectively dispose an essential safe type reference mode (1-2), be respectively to dispose an essential safe type reference mode (1-2) on the side walls at 3D/7 place at the coordinate of rectangle positioning unit one-dimensional coordinate system, the height of the height that essential safe type reference mode (1-2) is liftoff and essential safe type mobile node (1-3) is basically identical.
9. according to claim 1 a kind of based on one dimension positioning system under the coal mine of wireless sensor network, it is characterized in that it is parameter mobile node ID in essential safe type mobile node (1-3) the stored reference node data bag reference mode packet identical with own ID and the corresponding partial information of rectangle positioning unit that described essential safe type mobile node (1-3) filters the partial information of reference mode packet and corresponding rectangle positioning unit according to the mobile node ID in the reference mode packet that receives;
It is described that according to the parameters R E in the reference mode packet reference mode packet after filtering to be done for the first time ordering be numerical values recited according to the parameters R E in the reference mode packet after filtering, by from big to small order the reference mode packet is done for the first time ordering, reservation as much as possible after the ordering but at most only keep the partial informations of the reference mode packet that comes first six digits and the corresponding rectangle positioning unit of reference mode packet that makes number one;
The mobile node ID that described record is adjacent sends a reply signal after other essential safe type mobile nodes (1-3) are received positioning request signal, if the RSSI value R of return signal satisfies
RA1+(d1-D1/14)(RM1-RA1)/d1≤R
Then record the mobile node ID of this essential safe type mobile node (1-3); Wherein RA1 is the parameters R A in the reference mode packet that makes number one after for the first time ordering; D1, d1, RM1 are D, d, the RM in the partial information of the corresponding rectangle positioning unit of reference mode packet that makes number one after for the first time ordering.
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| CN 201220259910 CN202735506U (en) | 2012-06-01 | 2012-06-01 | Coal mine downhole one-dimensional positioning system based on wireless sensor network |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103957595A (en) * | 2014-05-14 | 2014-07-30 | 肖登坤 | High-precision borehole operation personnel positioning system and method |
| CN104820382A (en) * | 2015-03-25 | 2015-08-05 | 南华大学 | Mine safety monitoring system based on wireless sensor network |
| CN104853364A (en) * | 2015-04-29 | 2015-08-19 | 中国铁道科学研究院 | Wireless sensor network node deployment method |
| CN108712730A (en) * | 2018-07-25 | 2018-10-26 | 山东精诚电子科技有限公司 | A kind of transmission substation and method with positioning and data acquisition function |
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2012
- 2012-06-01 CN CN 201220259910 patent/CN202735506U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103957595A (en) * | 2014-05-14 | 2014-07-30 | 肖登坤 | High-precision borehole operation personnel positioning system and method |
| CN104820382A (en) * | 2015-03-25 | 2015-08-05 | 南华大学 | Mine safety monitoring system based on wireless sensor network |
| CN104853364A (en) * | 2015-04-29 | 2015-08-19 | 中国铁道科学研究院 | Wireless sensor network node deployment method |
| CN104853364B (en) * | 2015-04-29 | 2018-08-14 | 中国铁道科学研究院 | A kind of wireless sensor network node dispositions method |
| CN108712730A (en) * | 2018-07-25 | 2018-10-26 | 山东精诚电子科技有限公司 | A kind of transmission substation and method with positioning and data acquisition function |
| CN108712730B (en) * | 2018-07-25 | 2023-04-25 | 山东精诚电子科技有限公司 | Transmission substation with positioning and wireless data acquisition functions and method |
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