CN101236252B - Down-hole personnel tracking positioning system and its method - Google Patents
Down-hole personnel tracking positioning system and its method Download PDFInfo
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- CN101236252B CN101236252B CN2007101984582A CN200710198458A CN101236252B CN 101236252 B CN101236252 B CN 101236252B CN 2007101984582 A CN2007101984582 A CN 2007101984582A CN 200710198458 A CN200710198458 A CN 200710198458A CN 101236252 B CN101236252 B CN 101236252B
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Abstract
The invention discloses an underground staff tracking positioning system and a method thereof. The system of the invention comprises a computer monitoring server (1), a data communication interface (2), a substation (3), a repeater (4), a tracking card (5) and an aerial. The invention is characterized in that: the computer monitoring server (1), the data communication interface (2) and the substation (3) are connected with one another by wired means; the substation (3), the repeater (4) and the tracking card (5) are communicated with one another in the form of short waves; the aerial is a part of radio communication. The system of the invention is practically used in places like ground surface roads provided with fixed lines, roadways under mines, underground civil air-defense construction and so on and is mainly applied to tracking positioning and safety management of staff and equipment.
Description
Technical field
The present invention relates to a kind of personnel tracking positioning system and method thereof, particularly a kind of down-hole personnel tracking positioning system and method thereof.
Background technology
Domestic and international aboveground location has the GPS GPS now at present, and can not bring into play its effect at underground GPS, it belongs to the part of grey Geographic Information System, how to realize personnel in the pit's location, this is a worldwide problem, and many scientists, engineering technical personnel make great efforts for it.Being used for the product of personnel in the pit location now, mainly is zone location, can not reach relative accurate localization, when cause danger in the down-hole, be unfavorable for that personnel search and rescue,, need a kind of down-hole personnel tracking positioning system of design to solve personnel in the pit's location in order to realize relatively accurately locating.
Summary of the invention
Problem to be solved by this invention provides a kind of down-hole personnel tracking positioning system and method thereof, this system is useful for places such as the face of land road that includes but not limited to have permanent haulage line, the tunnel under the mine, underground civil air defense constructions and installations, is mainly used in the track and localization and the safety management of personnel, equipment.
In order to reach the above-mentioned purpose of invention, native system comprises computer monitoring server, data communication interface, substation, repeater, tracking card and antenna, it is characterized in that: described computer monitoring server, data communication interface and substation are wired connection, described substation, repeater and tracking card are wireless microwave communication mode each other, and described antenna comprises the branch station antenna that is connected with substation, the repeater antenna that is connected with repeater and the tracking card antenna that is connected with tracking card.
Described data communication interface is that wire cable or optical fiber connect computer monitoring server and substation, realizes remote data transmission between the two.
Described substation comprises interface unit, substation Main Processor Unit, storage unit, substation microwave unit, described interface unit and described substation Main Processor Unit are electrically connected, described substation Main Processor Unit and described substation Main Processor Unit are electrically connected respectively with storage unit, substation microwave unit, are connected with the branch station antenna behind the described substation microwave unit.
Described repeater comprises repeater Main Processor Unit, repeater microwave unit, power supply unit, described repeater Main Processor Unit and repeater microwave unit are electrically connected, described power supply unit is connected respectively with described repeater Main Processor Unit repeater microwave unit, is connected with repeater antenna behind the described repeater microwave unit.
Described tracking card comprises meter step tracking module, is connected with microprocessor behind the described meter step tracking module, is connected with radio frequency chip, audible-visual annunciator and alarm keys on the described microprocessor, and described radio frequency chip is connected with the tracking card antenna.
Described substation and described repeater can adopt short-wave communication tedhnologys such as radio frequency, bluetooth.
Described meter step tracking module is including but not limited to the individual switch of 1～N (N＞1), passometer handware (pendulum, hairspring etc.), acceleration transducer (as: single shaft, twin shaft, three) or part of devices wherein.
Described tracking card includes but not limited to be positioned between waist, on buttocks, shank or the pin, the carrier that described tracking card is installed can be waistband, mine lamp associate device, trousers, shoes and other.
Described substation, repeater, tracking card and antenna etc. have 1～N (N＞1) individual in system.
The method of described a kind of down-hole personnel tracking positioning system, described method comprise following steps:
Meter step tracking module was sent signal and is given microprocessor when 1) people walked, the microprocessor decision signal is that useful signal begins counting, counting reaches default value, microprocessor is passed to the radio frequency chip wireless transmit, described radio frequency chip receives the wireless data that substation sends and passes to microprocessor, when microprocessor judges is call instruction, opens audible-visual annunciator and carry out sound and light alarm; When microprocessor judges is calibration command, revise cumulative data, carry out error correction; Alarm keys is pressed, and microprocessor is to the radio frequency chip transmission command, and radio frequency chip is gone out transmitting instructions wirelessly through the tracking card antenna;
2) repeater is transmitted the communication information of substation and tracking card within the specific limits, the repeater microwave unit receives with wireless data frequently and passes to the repeater Main Processor Unit, and the repeater Main Processor Unit is passed to the repeater microwave unit and launched through repeater antenna for repacking behind the valid data by analysis;
3) when personnel that carry tracking card or equipment process repeater, repeater sends calibration command, and the meter step error of tracking card is proofreaied and correct (as making zero);
4) the substation Main Processor Unit is then passed to substation microwave unit with wired mode receiving computer monitoring server through the call instruction that data communication interface sends by interface unit, sends wirelessly by a minute station antenna; Receive data by minute station antenna and substation microwave unit and pass to the substation Main Processor Unit, Main Processor Unit is stored in storage unit to the data that receive through redefining, substation is received when the computer monitoring server instructs through patrolling and examining of data communication interface, is uploaded the storage data;
When 5) carrying the personnel of tracking card or equipment through substation, substation sends calibration command, and the meter step error of tracking card is proofreaied and correct (as making zero);
6) data communication interface connects computer monitoring server and substation, realizes remote data transmission between the two;
7) the computer monitoring server adopts the running background electronic chart, adopts real three-dimensional coordinate to write down the installation site of course, each substation; When course adopted three-dimensional coordinate to guarantee that personnel walk on the route of different gradient, its meter step number value was scaled the accuracy of actual three-dimensional distance; The installation site of each substation adopts three-dimensional coordinate then to guarantee personnel when walking, after its meter step number value is scaled actual three-dimensional distance, in conjunction with the coordinate data of substation, calculates personnel's comparatively accurate three-dimensional coordinate in real time.
Also comprise in the described method: in the computer monitoring server of described system, set up expert knowledge library, in expert knowledge library, write down the step size of each personnel under different road conditions, set up the conversion model between meter step data and the actual range, and in the use of described system, according to each personnel's time series meter step data and the relation between the actual range, constantly the conversion model is revised.
The present invention has the following advantages:
Security of system, reliable, maintainable strong.Equipment volume is little, and is simple to operation, has good shockproof, waterproof, Corrosion Protection.
Description of drawings
Fig. 1 is a system chart of the present invention.
Fig. 2 is a substation built-in function of the present invention unit block diagram.
Fig. 3 is a repeater built-in function of the present invention unit block diagram.
Fig. 4 is a tracking card built-in function of the present invention unit block diagram.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
Fig. 1 is a system chart of the present invention, comprises computer monitoring server 1, data communication interface 2, substation 3, repeater 4, tracking card 5 and antenna.The running background electronic chart of computer monitoring server 1, electronic chart comprise three-dimensional coordinate geography information and other attribute information.Use for the face of land, electronic chart is the thematic figure of large-scale measurement; For underground application, electronic chart is large-scale tunnel or adit survey special topic figure; To the mine, as the application in colliery, electronic chart is large-scale mining engineering plan.Described electronic chart adopts real three-dimensional coordinate to write down the installation site of course, each substation 3.When course adopted three-dimensional coordinate to guarantee that personnel walk on the route of different gradient, its meter step number value was scaled the accuracy of actual three-dimensional distance.The installation site of each substation adopts three-dimensional coordinate then to guarantee personnel when walking, after its meter step number value is scaled actual three-dimensional distance, can calculate personnel's comparatively accurate three-dimensional coordinate in real time in conjunction with the coordinate data of substation.Set up expert knowledge library, write down each personnel in different road conditions, promptly the step size under the gradient, the road surface material etc. is set up the conversion model between meter step number value and the actual range.And in system's use, according to each personnel's meter step number value and the relation between the actual range, constantly the conversion model is revised, reach conversion model self-training, self study and final purpose near truth.
Software systems in the described computer monitoring server 1 according to the rule of everyone walking comparatively accurately calculate his position three-dimensional geographic coordinate (X, Y, Z):
X＝x
0+(w
1+w
2+…+w
n)*cos(beta)*cos(alf)
Y＝y
0+(w
1+w
2+…+w
n)*cos(beta)*sin(alf)
Z＝z
0+(w
1+w
2+…+w
n)*sin(beta)
The w here
1, w
2..., w
nBe the step-length in expression n step, step-length is obtained by accurate conversion of parameters such as the gradient in people's basic step-length, the accekeration of taking a step, road or tunnel; Beta is the gradient in road or tunnel; Alf is the plane projection in road or tunnel and the angle of X-axis; (x
0, y
0, z
0) be the accurate geographic coordinate of substation or repeater.
Described computer monitoring server 1, data communication interface 2 and substation 3 are wireless microwave communication mode between described substation 3, repeater 4 and the tracking card 5 for wired optical fiber or cable are connected.Computer monitoring server 1 and data communication interface 2 work in ground, substation 3 and repeater 4 are installed in the down-hole, tracking card 5 wearing positions include but not limited to be positioned between waist, on buttocks, shank or the pin, the carrier of installation can be miner's waistband, mine lamp associate device, trousers, shoes and other.Computer monitoring server 1 sends instruction and receives data to substation 3 through data communication interface 2.Data communication interface 2 connects computer monitoring server 1 and substation 3 realizations remote data transmission between the two.Substation 3 instruction that issues of receiving computer monitoring servers on the one hand, upload the storage data; Proofread and correct on the other hand (as making zero) tracking card 5 position data, obtain real time data.Repeater 4 is transmitted the communication information of substation 3 and tracking card 5, proofreaies and correct the meter step error of tracking card 5.Tracking card 5 receives substation 3 or 4 times photos and sending messages of repeater, uploads meter step image data.
According to application demand, substation 3 or repeater 4 are laid in a certain position in road or tunnel, and on electronic chart the mark these facilities the position, when People's Bank of China goes to substation 3 or repeater 4 positions, passometer data calibration (as making zero) in the tracking card 4, promptly prepare to begin the meter step, passometer is recorded into the step number with respect to substation 3 or repeater 4 walkings subsequently, and step number is passed to substation 3 or repeater 4 by the data mode that is provided with, and then upload in the database or data file of computer monitoring server 1, the data transfer mode here can be time interval transmission (as several seconds) in accordance with regulations, also can be by fixing accumulative total step number transmission.If (for example comprise acceleration transducer in the tracking card 5, the acceleration transducer value can be used for judging the dynamics of taking a step), people's acceleration value that is write down that whenever makes a move can upload to computer monitoring server 1 with step number so, step-length is accurately proofreaied and correct according to related algorithm or experts database model for system.
Fig. 2 is a substation built-in function of the present invention unit block diagram, and substation 3 is made of substation Main Processor Unit 32, storage unit 33, interface unit 31, substation microwave unit 34, branch station antenna.The call instruction that substation Main Processor Unit 32 sends through data communication interface 2 receiving computer monitoring servers 1 in wired mode by interface unit 31 is passed to substation microwave unit 34 then and is sent wirelessly by a minute station antenna.Receive data by minute station antenna 6 and substation microwave unit 34 and pass to substation Main Processor Unit 32, substation Main Processor Unit 32 is stored in storage unit 33 to the data that receive through redefining, when substation 3 receives that through data communication interface 2 patrolling and examining of computer monitoring server 1 instructed, upload the storage data.When carrying the personnel of tracking card 5 or equipment through substation 3, substation 3 sends calibration command, and the meter step error of tracking card 5 is proofreaied and correct (as making zero).
Fig. 3 is a repeater built-in function of the present invention unit block diagram, and repeater 4 comprises: repeater Main Processor Unit 41, repeater microwave unit 42 and power supply unit 43, repeater 4 is transmitted the communication information of substation 3 and tracking card 5 within the specific limits.Repeater microwave unit 42 receives with wireless data frequently and passes to repeater Main Processor Unit 41, and repeater Main Processor Unit 41 is passed to repeater microwave unit 42 and launched through repeater antenna 7 for repacking behind the valid data by analysis.Power supply unit 43 provides the work energy for repeater Main Processor Unit and repeater microwave unit.When carrying the personnel of tracking card 5 or equipment through repeater 4, repeater 4 sends calibration command, and the meter step error of tracking card 5 is proofreaied and correct (as making zero).
Fig. 4 is a tracking card built-in function of the present invention unit block diagram, mainly form by meter step tracking module 51, microprocessor 52, radio frequency chip 53, audible-visual annunciator 54 and alarm keys 55 etc., be connected with meter step tracking module 51, audible-visual annunciator 54, radio frequency chip 53 and alarm keys 55 on the microprocessor 52 and include but not limited to keys such as fire, floods, gas, coal dust, rescue, radio frequency chip 53 is connected with tracking card antenna 8.
People's meter step tracking module of walking is sent signal and is given microprocessor 52, and microprocessor 52 decision signals are that useful signal begins counting, and counting reaches default value, and microprocessor 52 is passed to radio frequency chip 53 wireless transmit.Radio frequency chip 53 receives the wireless data that substation 3 sends and passes to microprocessor 52, when microprocessor 52 is judged as call instruction, opens audible-visual annunciator 54 and carries out sound and light alarm; When microprocessor 52 is judged as calibration command, revise cumulative data, carry out error correction (as making zero); Alarm keys 55 is pressed, and microprocessor 52 is to radio frequency chip 53 transmission commands, and radio frequency chip 53 is gone out transmitting instructions wirelessly through tracking card antenna 8.The individual switch of 1～N (N＞1) in meter step tracking module 51, passometer handware (pendulum, hairspring etc.), acceleration transducer or wherein part of devices be used for the sampling action of people's walking.
Tracking card 5 wearing positions include but not limited to be positioned between waist, on buttocks, shank or the pin, the carrier of installation can be miner's waistband, mine lamp associate device, trousers, shoes and other.Tracking card 5 can include but not limited to that system compatibles such as down-hole Personal Handyphone System, down-hole mobile phone, bluetooth, WI-FI, WIMAX, WAPI and down-hole ether industry net use with other communication system of down-hole.
Claims (9)
1. down-hole personnel tracking positioning system, described system comprises computer monitoring server (1), data communication interface (2), substation (3), repeater (4), tracking card (5) and antenna, it is characterized in that: described computer monitoring server (1), data communication interface (2) and substation (3) are wired connection, described substation (3), repeater (4) and tracking card (5) are wireless microwave communication mode each other, and described antenna comprises the branch station antenna (6) that is connected with substation (3), repeater antenna that is connected with repeater (7) and the tracking card antenna (8) that is connected with tracking card;
Described tracking card (5) is connected with microprocessor (52) after comprising meter step tracking module (51), described meter step tracking module (51), be connected with radio frequency chip (53), audible-visual annunciator (54) and alarm keys (55) on the described microprocessor (52), described radio frequency chip (53) is connected with tracking card antenna (8).
2. a kind of down-hole personnel tracking positioning system according to claim 1 is characterized in that: described data communication interface (2) is wired connection computer monitoring server (1) and substation (3).
3. a kind of down-hole personnel tracking positioning system according to claim 1, it is characterized in that: described substation (3) comprises interface unit (31), substation Main Processor Unit (32), storage unit (33), substation microwave unit (34), described interface unit (31) and described substation Main Processor Unit (32) are electrically connected, described substation Main Processor Unit (32) is electrically connected respectively with storage unit (33), substation microwave unit (34), is connected with branch station antenna (6) behind the described substation microwave unit (34).
4. a kind of down-hole personnel tracking positioning system according to claim 1, it is characterized in that: described repeater (4) comprises repeater Main Processor Unit (41), repeater microwave unit (42) and power supply unit (43), described repeater Main Processor Unit (41) and repeater microwave unit (42) are electrically connected, described power supply unit (43) is connected respectively with described repeater Main Processor Unit (41), repeater microwave unit (42), is connected with repeater antenna (7) behind the described repeater microwave unit (42).
5. a kind of down-hole personnel tracking positioning system according to claim 1 is characterized in that: described substation (3) adopts radio frequency, bluetooth short-wave communication tedhnology; Described repeater (4) adopts radio frequency, bluetooth short-wave communication tedhnology; Described tracking card (5) adopts radio frequency, meter step and acceleration transducer technology.
6. according to the described a kind of down-hole personnel tracking positioning system in one of claim 1 or 4 or 5, it is characterized in that: described tracking card (5) is positioned between people's waist, on buttocks, shank or the pin, and the carrier that described tracking card (5) is installed is waistband, mine lamp associate device, trousers or shoes.
7. according to the using method of the described a kind of down-hole personnel tracking positioning system of one of claim 1～5, described method comprises following steps:
Tracking card when 1) people walks (5) begins counting; Enumeration data sends by tracking card antenna (8);
2) the branch station antenna (6) of substation (3) passed to the counting of tracking card (5) by repeater (4) by the wireless mode of repeater antenna (7);
3) substation (3) carries out institute's numeration certificate to pass to computer monitoring server (1) through data communication interface (2) after the error correction.
8. the using method of a kind of down-hole personnel tracking positioning system according to claim 7, described method comprises following steps:
Meter step tracking module (51) was sent signal and is given microprocessor (52) when 1) people walked, microprocessor (52) decision signal is that useful signal begins counting, counting reaches default value, microprocessor (52) is passed to radio frequency chip (53) wireless transmit, described radio frequency chip (53) receives the wireless data that substation (3) sends and passes to microprocessor (52), microprocessor (52) is opened audible-visual annunciator (54) and is carried out sound and light alarm when being judged as call instruction; Microprocessor (52) is revised cumulative data when being judged as calibration command, carries out error correction; Alarm keys (55) is pressed, and microprocessor (52) is to radio frequency chip (53) transmission command, and radio frequency chip (53) is gone out transmitting instructions wirelessly through tracking card antenna (8);
2) repeater (4) is transmitted the communication information of substation and tracking card within the specific limits, repeater microwave unit (42) receives with wireless data frequently and passes to repeater Main Processor Unit (41), and repeater Main Processor Unit (41) is passed to repeater microwave unit (42) and launched through repeater antenna (7) for repacking behind the valid data by analysis;
3) when personnel that carry tracking card (5) or equipment process repeater (4), repeater (4) sends calibration command, and the meter step error of tracking card (5) is proofreaied and correct;
4) substation Main Processor Unit (32) is then passed to substation microwave unit (34) with wired mode receiving computer monitoring server (1) through the call instruction that data communication interface (2) sends by interface unit (31), sends wirelessly by a minute station antenna (6); Receive data by a minute station antenna (6) and substation microwave unit (34) and pass to substation Main Processor Unit (32), substation Main Processor Unit (32) is stored in storage unit (33) to the data that receive through redefining, substation (3) is received when computer monitoring server (1) instructs through patrolling and examining of data communication interface (2), is uploaded the storage data;
When 5) carrying the personnel of tracking card (5) or equipment through substation (3), substation (3) sends calibration command, and the meter step error of tracking card (5) is proofreaied and correct;
6) data communication interface (2) connects computer monitoring server (1) and substation (3), realizes remote data transmission;
7) computer monitoring server (1) adopts the running background electronic chart, adopts real three-dimensional coordinate to write down the installation site of course, each substation (3); When course adopted three-dimensional coordinate to guarantee that personnel walk on the route of different gradient, its meter step number value was scaled the accuracy of actual three-dimensional distance; The installation site of each substation adopts three-dimensional coordinate then to guarantee personnel when walking, after its meter step number value is scaled actual three-dimensional distance, in conjunction with the coordinate data of substation (3), calculates personnel's comparatively accurate three-dimensional coordinate in real time.
9. the using method of a kind of down-hole personnel tracking positioning system according to claim 8, also comprise in the described method: in the computer monitoring server (1) of described system, set up expert knowledge library, in expert knowledge library, write down the step size of each personnel under different road conditions, set up the conversion model between meter step number value and the actual range, and in the use of described system, according to each personnel's time series meter step number value and the relation between the actual range, constantly the conversion model is revised.
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