CN101349744B - Method and system for tracking and positioning downhole personnel based on Zigbee network platform - Google Patents

Method and system for tracking and positioning downhole personnel based on Zigbee network platform Download PDF

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Publication number
CN101349744B
CN101349744B CN2008100698944A CN200810069894A CN101349744B CN 101349744 B CN101349744 B CN 101349744B CN 2008100698944 A CN2008100698944 A CN 2008100698944A CN 200810069894 A CN200810069894 A CN 200810069894A CN 101349744 B CN101349744 B CN 101349744B
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track
localization
node
identity module
wireless identity
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CN2008100698944A
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CN101349744A (en
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何明蜀
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重庆智溢科技有限公司
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Abstract

The invention discloses an underground worker tracking and positioning method based on Zigbee network platform, comprising the steps of: (1) setting tracking and positioning nodes; (2) positioning the tracking and positioning nodes; (3) setting a wireless identity module; (4) positioning the wireless identity module. The invention further provides an underground worker tracking and positioning system based on Zigbee network platform, comprising a wireless identity module, a tracking and positioning node network, a data transmission system and a superior computer system. The invention has the advantages of small device volume, low cost, low power consumption, reliable and safe data transmission, complex landform adaptability, the ability for covering the blind area of the prior mobile network and wide application.

Description

A kind of down-hole personnel tracking localization method and system thereof based on the Zigbee network platform

Technical field

The present invention relates to a kind of down-hole personnel tracking location technology, relate in particular to a kind of down-hole personnel tracking localization method and system thereof based on the Zigbee network platform.

Background technology

Well personnel's track and localization technology and downhole personnel management system gone in the colliery; Remain a blank field at home and abroad at present; Traditional down-hole personnel tracking locator meams and downhole personnel management system are with artificial principal element; Lack quantitative target, poor accuracy, the more and more needs of incompatibility modern production.

Abroad, personnel in the pit's track and localization signal generally is to be transferred to ground through the infrared wireless mode that waits through leaky cable, and the computing machine on ground can be handled the data of receiving, thereby judges the location at personnel in the pit place.Some collieries of the U.S., Japan and other countries have realized that full ore deposit goes into the well into member's track and localization, but this mode cost is very high.

Domestic present employed down-hole personnel tracking technology; Only actually is a kind of attendance record of radio-frequency card (RFID) system; But not real personnel tracking positioning system; This method is in mine inflow point, or some critical passage mouths of other down-hole, and the method for using radio-frequency card (RFID) to read (swiping the card) is carried out the method that registration record is followed the tracks of to going into the well personnel.This kind RFID radio frequency read-write system; Comprise SuperRFID; Can not realize that not only personnel in the pit truly locatees tracking; Can't report personnel in the pit's particular location in real time, and be helpless to improve the supervisory system of existing safety in production key element, can only be as the personnel's of going into the well work attendance registration.China Coal Research Institute was once developed missing personnel searching appearance, mainly was the personnel positions after the searching accident takes place, and search area still can't be to the personnel's of going into the well down-hole all track and localization in tens meters.The severe situation that safety in production is faced according to present China's coal mines, how to set up one accurately, personnel in the pit's positioning system and downhole personnel management system easily, obtain the very big concern of domestic governments at all levels.

Therefore now, requiring of domestic Safety of Coal Mine Production is increasingly high, and setting up reliable and practical coal mine down-hole personnel tracing-positioning system and downhole personnel management system has important practical sense to the production safety management in colliery.

Design considerations of the present invention:

1.GA/T75 security engineering program and requirement.

2.MT209-1900 colliery communication detects, control is with the requirement of electric and electronic product current techique.

3.MT210-1990 colliery communication detects, control is with electric and electronic product fundamental test method.

4.MT/T899-2000 information carrying means is used in the colliery.

5.AQ 6210-2007 coal mine underground operators management system general technical specifications.

Use and management regulation 6.AQ1048-2007 the coal mine underground operators management system is logical.

Personnel in the pit's tracking at present, what adopt basically is this method of active radio-frequency card (RFID) attendance checking system.This method is in mine inflow point, or some critical passage mouths of other down-hole, and the method for using radio-frequency card (RFID) to read (swiping the card) is carried out the method that registration record is followed the tracks of to the personnel of going into the well.In fact this is not a personnel tracking truly, can't report personnel in the pit's particular location in real time.There is following several problem in this method:

1, radio-frequency card read-write system reading/writing distance is very limited, and it can only be used for personnel's from bank to bank work attendance record, or the personnel of turnover zones of different register record, and it can not realize personnel in the pit's location is followed the tracks of;

When the personnel that 2, are used to write down turnover down-hole zones of different when the radio-frequency card read-write system registered, system must be installed in the down-hole, and the frequency that the radio-frequency card read-write system uses is all lower; Poor anti jamming capability, and the subsurface environment condition is very complicated, disturbing factor is ubiquitous; The getting working face of most critical particularly, in addition, because its volume is big; And require the spatial dimension of work little, thereby there is suitable requirement in system to mounting condition, like this; This system comprises maintenance installing and using of down-hole, all receives suitable restriction;

3, this system card reading speed is very limited, can not handle many people simultaneously fast through the situation (for example going into the well by bus) of card-reading system, and at this moment, system tends to occur skip;

If 4 use long-range radio-frequency card (RFID) system, the read write line price is all more expensive, and along with the increase of distance, the price of system will increase sharply.

It is with fastest developing speed that Zigbee technology and RFID technology were just classified as the world today in 2004, in the most wide ten big state-of-the-art technologies of market outlook two.But, can not be used for the down-hole personnel tracking location because passive RFID transmission range is too short; There is above-mentioned deficiency again in active RFID, so a kind of new down-hole personnel tracking positioning system of exploitation is imperative.

This word of the origin of Zigbee: Zigbee stems from hive by the dancing of jumping the ZigZag shape, notifies information such as the relevant pollen of other honeybee position, to reach the purpose of linking up message each other, so with this name as ng mobile communication.Zigbee before also was called as ' HomeRF Lite ', ' RF-EasyLink ' or ' FireFly ' radiotelegraphy, the unified at present Zigbee that is called.

What Zigbee is: the Zigbee technology be mainly used in automatic control a kind of closely, low complex degree, low-power consumption, low data rate, two-way wireless communication technology cheaply.It operates mainly in 2.4GHz ISM (Industrial, Scientific, the Medical that need not register; Industry, scientific research, medical science) free frequency range; Data rate is 20~250kbit/s, and the maximum transmitted scope is at 10~75m, and typical range is 30m; After the Zigbee agreement was passed through in 2003, in 2004 formal come out.It is one by a wireless data sending network platform can how forming to 65000 wireless data transmission modules; The CDMA (CDMA connection net) or GSM (global system for mobile communications) net of the similar existing mobile communication of ten minutes; The similar mobile network's of each Zigbee network digital transmission module a base station; In whole network range, can intercom mutually between them; Distance between each network node can arrive the hundreds of rice after expanding from 75 meters of standard, even several kilometers; Whole in addition Zigbee network can also be connected with existing other diverse network.Different is, the Zigbee network mainly is to set up for the robotization control data transmission, and mobile radio communication mainly is to set up for voice communication; Each mobile base station is worth generally all more than 1,000,000 yuans, and each Zigbee " base station " is less than 1000 yuans; Each Zigbee network node not only itself can with monitored object, for example sensor connects and directly to carry out data acquisition and monitoring, it is other network node biography of transfer data information of coming automatically; In addition, each Zigbee network node (FFD) also can be in the scope that own signal covers and a plurality of isolated child node (RFD) wireless connections of not bearing network information transfer task.To 31 sensor and controlled plant, each sensor can have 8 kinds of different interface modes eventually with controlled plant more than each Zigbee network node (FFD and RFD) can be supported.Can gather and transmission of digital amount and analog quantity.Zigbee is the wireless network that does not have Internet utilization fee, uses existing mobile radio communication, although bring a lot of convenience, the input of mobile network's terminal device is a no small input, and this greatly increases the construction cost of system.The more important thing is: use the mobile network must pay Internet utilization fee, this is a long-standing expense.Get off for a long time, the operation cost of system just can increase greatly, particularly when the control point is many.And when using the Zigbee network, the input at each terminal is half the no more than existing any mobile network terminal, in addition, also need not pay any Internet utilization fee.

The target of Zigbee The Application of Technology field: Zigbee technology is exactly to industry, home automation, remote measuring and controlling; Automotive automation, agricultural automation and medical treatment and nursing etc.; For example light robotization control, the data acquisition of sensor and monitoring, oil field; Electric power, applications such as mine and logistics management.In addition it can also to moving target in the regional area for example the vehicle in the city position.Usually, meet the application of one of following condition, just can consider to adopt the Zigbee technology to do wireless transmission:

Specifically, the Zigbee technology be mainly used in automatic control a kind of closely, low complex degree, low-power consumption, low data rate, two-way wireless communication technology cheaply.The Zigbee technology is not exclusive, brand-new fully standard.Its Physical layer, MAC (Media Access Control; Medium access control layer) layer and link layer have adopted IEEE (Institute ofElectrical and Electronics Engineers) 802.15.4 (electrical equipment and the wireless personal-area network's of Electronic Engineering Association 802.15.4 standard) consensus standard, but improve on this basis and expand.Its network layer, application convergence layer and higher layer applications DLL (API) are formulated by Zigbee alliance; Zigbee be with one by one independently working node be support, form starlike, sheet or mesh network through radio communication, function device and full-function device (being also referred to as telegon) are simplified in can being divided into by function of each node.

Summary of the invention

The invention discloses a kind of down-hole personnel tracking localization method based on the Zigbee network platform; This method comprises the steps: 1) layout track and localization node; 2) track and localization node self poisoning, 3) wireless identity module is set, 4) wireless identity module is positioned.

The method of described track and localization node self poisoning comprises: choose a track and localization node as anchor node, this anchor node emissive power, particular location are known; Measure received power at track and localization node to be positioned place, according to computes anchor node and track and localization euclidean distance between node pair to be positioned:

Pr(d)=PtGtGrλ2/(4π)2d2L

In the formula: Pt is the anchor node emissive power;

Pr (d) is the received power at track and localization node to be positioned place

Gt is a transmitter antenna gain (dBi)

Gr is a receiving antenna gain;

D is anchor node and track and localization euclidean distance between node pair to be positioned, unit: rice;

L is and propagates the irrelevant system loss factor;

λ is a wavelength, unit: rice;

Repeat above-mentioned steps, try to achieve the distance of track and localization node to 3 an above anchor node to be positioned, can obtain track and localization node location coordinate to be positioned with trilateration.

Described layout track and localization node comprises: arrange the track and localization node along the tunnel, make that spacing is a 50-100 rice between per two track and localization nodes.

The method that wireless identity module is positioned is: any one receives the track and localization node location that wireless identity module transmits, and is moving target position; A plurality of track and localization nodes that wireless identity module transmits that receive are arranged, receive the strong track and localization node location of signal, be moving target position.

Described step 1) is arranged the track and localization node, comprising: arrange the track and localization node along the tunnel, make that spacing is a 100-400 rice between per two track and localization nodes.

The method that wireless identity module is positioned is: will receive the received power substitution computes of the track and localization node that wireless identity module transmits,

Pr(m)=PtGtGrλ2/(4π)2d2L

In the formula: Pt is the wireless identity module emissive power;

Pr (m) is the received power at track and localization node place;

Gt is a transmitter antenna gain (dBi);

Gr is a receiving antenna gain;

M is wireless identity module and track and localization euclidean distance between node pair, unit: rice;

L is and propagates the irrelevant system loss factor;

λ is a wavelength, unit: rice;

Repeat above-mentioned steps, try to achieve the distance of wireless identity module to 3 an above track and localization node, can obtain line identity module position coordinates, can try to achieve moving target position with trilateration.

The invention also discloses a kind of system of the down-hole personnel tracking localization method based on the Zigbee network platform; It comprises: wireless identity module, track and localization meshed network, data transmission system, host computer system; The track and localization meshed network is delivered to the host computer system to the transmitting of wireless identity module that receives through data transmission system, and the signal of being received by the host computer system docking carries out handled.

Described track and localization meshed network is made up of a plurality of track and localization nodes of arranging along the tunnel, and spacing is that 50-100 rice or 100-400 rice are optional between the track and localization node in twos.

Described data transmission system comprises: telecommunication cable, switch; The track and localization node is communicated by letter with telecommunication cable and is connected, and telecommunication cable is connected with switch communication, and switch is connected with host computer system communication, and the signal that the track and localization node is received is transferred to the host computer system in order through telecommunication cable, switch.

Described wireless identity module can also be communicated by letter with various sensor wireless and is connected, and wherein, sensor is a kind of or its various combination in gas, temperature, humidity, blast, wind speed, the operating mode sensor; The signal of sensor acquisition is delivered to the host computer system through wireless identity module, track and localization meshed network, data transmission system.

Advantages such as useful technique effect of the present invention is: equipment volume is little, cost is low, low in energy consumption, and data transmission is reliable, safety, can adapt to complex-terrain needs, cover the blind area that has the mobile network now, and is widely applicable.

Description of drawings

Fig. 1, system software module tabulation of the present invention;

Fig. 2, system construction drawing of the present invention;

Fig. 3, signal flow block diagram of the present invention;

Fig. 4, host computer system controlling software design cycle block diagram;

Embodiment

Down-hole personnel tracking localization method and system thereof based on the Zigbee network platform of the present invention utilized current up-to-date Zigbee radio-frequency technique and integrated technology, proposed a kind of economical and practical, the down-hole personnel tracking positioning system of reliable operation.Its gordian technique comprises: multichannel communication, automatic network-building, dynamic routing, direct sequence spread spectrum etc.; Be a kind of real low cost (cost only reach traditional data radio station about 1/8); Low-power consumption, pocket volume (business card size), the spread spectrum radio data radio station of high reliability; Use the up-to-date wireless internet network technology in the world; Not needing between our all data radio stations to realize the internet type communication of relay station; Many Zigbee networks are interconnected into the as a whole blind area covering problem that can effectively solve mobile network mutually; Present technique adopts the mesh network communication mode to guarantee multichannel communication, has improved communication rate.

The Zigbee network can automatic network-building, promptly in the communication range of mixed-media network modules mixed-media, through seeking automatically each other, can form a Zigbee network that interconnects soon, guarantees legacy network is refreshed, and keeps contact to each other at any time; The path of Zigbee network using dynamic routing data transmission in designed system; In our network management software, what the selection in path was used is " gradient method ", promptly selects a nearest passage of path to transmit earlier; As pass obstructed; Re-use an other path slightly a little further and transmit, by that analogy, till packet is sent to the destination.On-the-spot in actual industrial, often predetermined transmission path all possibly change at any time, perhaps because of a variety of causes path has been interrupted, and perhaps too busy can not in time the transmission.Dynamic routing combines netted net topology structure, just can finely address this problem, thus the reliable transmission of assurance data.

1. set up fixer network

1) according to on-the-spot actual needs, (also can be consistent) along the tunnel at a certain distance with the down-hole power interface position, (for example top) is provided with a Zigbee mixed-media network modules mixed-media (can adopt battery-operated or use other power supply), i.e. track and localization node in the appropriate location, tunnel; Simultaneously need locate the place that is connected with network, also settle corresponding track and localization node at other; For fear of the interference of subsurface environment to wireless signal, what all track and localization nodes used all is jamproof direct sequence spectrum spread communication mode, and each track and localization node all has the strong and weak deixis (RSSI) of the signal of reception.

2) the track and localization node of being settled will be formed a Zigbee network automatically; When arranging the position of track and localization node; Attention should make each track and localization node can communicate with plural track and localization node at least; Promptly avoid " single line is write to each other ", to guarantee the reliability of Zigbee network service; This Zigbee network is actual to be exactly a track and localization meshed network; Each track and localization node is exactly an anchor point; Only compared with the method for using RFID to locate, our anchor point also can be confirmed the positional information of moving target through reading the signal intensity of moving target.In addition, it is much little that track and localization node volume is wanted, and the communication between each node, not necessarily will use extra optical fiber or telecommunication cable to connect, certainly, if cable network and the wireless network communication port that backups each other is better.

3) be the track and localization node self-locating method in the network below:

Choose a track and localization node as anchor node, this anchor node emissive power, particular location are known; Measure received power at track and localization node to be positioned place, according to computes anchor node and track and localization euclidean distance between node pair to be positioned:

Pr(d)=PtGtGrλ2/(4π)2d2L

In the formula: Pt is the anchor node emissive power;

Pr (d) is the received power at track and localization node to be positioned place

Gt is a transmitter antenna gain (dBi)

Gr is a receiving antenna gain;

D is anchor node and track and localization euclidean distance between node pair to be positioned, unit: rice;

L is and propagates the irrelevant system loss factor;

λ is a wavelength, unit: rice;

Repeat above-mentioned steps, try to achieve the distance of track and localization node to 3 an above anchor node to be positioned, can obtain track and localization node location coordinate to be positioned with trilateration.

The theoretical foundation that calculate on three limits is, in three dimensions, known the distance of unknown node to three an above anchor node, just can confirm the coordinate of this point.

Also have some concrete considerations when arranging the track and localization node: if positioning accuracy request is not high; Can be arranged to less track and localization nodal pitch (50~100 meters); Emissive power with less wireless identity module; The benefit of this method is a reliable operation, is suitable for complicated places such as face.

When the tunnel environmental facies when simple, for example in permanent traffic tunnel, or simple transport channel; At this moment; Track and localization node distance each other can be placed far (100~400 meters), promptly when moving target is launched the identity code signal in different positions, is near the track and localization node of this moving target; Because of apart from the difference of this moving target apart from distance, the signal intensity of being received is also different.The track and localization meshed network will be this mobile object identify sign indicating number; And the signal intensity when corresponding track and localization node receives this identity code passes toward control center; Through simple computation, add field measurement and just imitating, be easy to confirm the position of this moving target.The advantage of this method is, network node quantity is few, and bearing accuracy is higher.

2. wireless identity module

Wireless identity module is based on the wireless module of Zigbee technology and is made up of highly integrated antenna, battery and frequency controller.

1) each moving target that need locate (for example miner); All need carry a wireless identity module; This module can be to be fixed on the totally enclosed module that a button cell on the safety helmet drives, and its size is 50 * 40 * 8mm, and the emissive power of each module is less than 1/1000 watt.

2) in order to increase battery serviceable life, wireless identity module is every launched an identity code signal at a distance from 5~30 seconds; For fear of the interference of subsurface environment to wireless signal, what all wireless identity module were used all is jamproof direct sequence spectrum spread communication mode; Simultaneously, when emergency condition, can also send SOS information at any time through the button on the card.

3) this wireless identity module also can link to each other with sensors such as the temperature of gas boring and surveying, mine surrounding environment, humidity, wind speed; Sensor can be set to the plate inner sensor, and suggestion is multiplexing to reduce investment with positioning system of the present invention and original Safety Production Monitoring System common network; Also can in newly-established positioning system network, add the sensor of other types such as gas, environmental parameter, operating mode; Constitute multi-functional comprehensive monitor system; Like this, not only can be as required, maneuverability gather the required information of various safety in production (gas density for example at diverse location (particularly face); Wind pressure and wind speed etc.), automatically the positional information and the relevant information of collection point are passed to Surveillance center simultaneously.This sensor can be placed in certain fixed position of face, and with the moving of face, also can let the gas security staff carry with establishing, and is very convenient.When gas density exceeded standard, this wireless identity module can be passed through the track and localization meshed network immediately, and with concentration information, positional information and alerting signal pass toward Surveillance center, in case of necessity, and with the emergency equipment that starts other interlock simultaneously.

4) adjustment wireless identity module emissive power, make its at least can with a track and localization node communication.

3. moving target position confirms

As previously mentioned, when arranging the track and localization node, spacing is that 50-100 rice or 100-400 rice are optional between the track and localization node in twos.

When spacing was 50-100 rice between the track and localization node in twos: 1) when having only a track and localization node to receive the signal of certain wireless identity module in moving, the position of this track and localization node was exactly the position of this moving target;

2) when two track and localization nodes were received the signal of the wireless identity module during certain moves simultaneously, if the reception signal intensity of two track and localization nodes is identical, then the centre position between these two anchor points was exactly the position of this moving target; If it is different to receive signal intensity, receive the position that the strong track and localization node location of signal is moving target.

When spacing is 100-400 rice between the track and localization node in twos: when two location nodes receive the signal of some moving targets simultaneously; We just can confirm; Moving target must be in the somewhere between these two location nodes; The position that it is concrete can utilize the occurrence of this received moving target signal intensity of these two anchor points, proofreaies and correct through simple computation and field measurement to obtain.It should be noted that in environment comparatively complicated place, particularly locating area be not the place of wire, some scope of operation for example, we need improve bearing accuracy through the method that increases location node quantity.The place complicated with landform is example, and its computing method are: will receive the received power substitution computes of the track and localization node that wireless identity module transmits,

Pr(m)=PtGtGrλ2/(4π)2d2L

In the formula: Pt is the wireless identity module emissive power;

Pr (m) is the received power at track and localization node place;

Gt is a transmitter antenna gain (dBi);

Gr is a receiving antenna gain;

M is wireless identity module and track and localization euclidean distance between node pair, unit: rice;

L is and propagates the irrelevant system loss factor;

λ is a wavelength, unit: rice;

Repeat above-mentioned steps, try to achieve the distance of wireless identity module to 3 an above track and localization node, can obtain line identity module position coordinates, can try to achieve moving target position with trilateration.

Referring to accompanying drawing 2, system architecture signal as figure.

Embodiment:

This positioning system can roughly be divided into personnel positioning, data transmission, data processing three parts.

1) personnel positioning partly comprises: the track and localization node (is the Zigbee mixed-media network modules mixed-media; Also be the Zigbee read write line), wireless identity module, by the electronics of the serial line interface of EIA (Electronic Industries Association, Electronic Industries Association) definition and the standard cable of cable connection performance.

2) tcp data segment comprises: branch joint, cable splice, network connection etc.

3) data processing mainly is made up of the host computer system, and the host computer system can be subdivided into again: hardware, software systems, warning device etc.

Referring to accompanying drawing 1,3,4, the software module that the present invention manages control is developed design according to the form in the accompanying drawing, block diagram.

The system works principle:

Wireless identity module, track and localization meshed network, data transmission system, host computer system mutual group become positioning system of the present invention; The track and localization meshed network is delivered to the host computer system to the transmitting of wireless identity module that receives through data transmission system, and the signal of being received by the host computer system docking carries out handled.

Described track and localization meshed network is made up of a plurality of track and localization nodes of arranging along the tunnel, and spacing is that 50-100 rice or 100-400 rice are optional between the track and localization node in twos.

Described data transmission system comprises: telecommunication cable, switch; The track and localization node is communicated by letter with telecommunication cable and is connected, and telecommunication cable is connected with switch communication, and switch is connected with host computer system communication, and the signal that the track and localization node is received is transferred to the host computer system in order through telecommunication cable, switch.

Described wireless identity module can also be communicated by letter with various sensor wireless and is connected, and wherein, sensor is a kind of or its various combination in gas, temperature, humidity, blast, wind speed, the operating mode sensor; The signal of sensor acquisition is delivered to the host computer system through wireless identity module, track and localization meshed network, data transmission system.

Claims (1)

1. down-hole personnel tracking localization method based on the Zigbee network platform; It is characterized in that: this method comprises the steps: 1) layout track and localization node; 2) track and localization node self poisoning, 3) wireless identity module is set, 4) wireless identity module is positioned;
The method of described track and localization node self poisoning comprises: choose a track and localization node as anchor node, this anchor node emissive power, particular location are known; Measure received power at track and localization node to be positioned place, according to computes anchor node and track and localization euclidean distance between node pair to be positioned:
Pr(d)=PtGtGrλ 2/(4π) 2d 2L
In the formula: Pt is the anchor node emissive power;
Pr (d) is the received power at track and localization node to be positioned place;
Gt is a transmitter antenna gain (dBi);
Gr is a receiving antenna gain;
D is anchor node and track and localization euclidean distance between node pair to be positioned, unit: rice;
L is and propagates the irrelevant system loss factor;
λ is a wavelength, unit: rice;
Repeat above-mentioned steps, try to achieve the distance of track and localization node to 3 an above anchor node to be positioned, can obtain track and localization node location coordinate to be positioned with trilateration;
Described step 1) is arranged the track and localization node, comprising: arrange the track and localization node along the tunnel, make that spacing is a 100-400 rice between per two track and localization nodes; The method that wireless identity module is positioned is: will receive the received power substitution computes of the track and localization node that wireless identity module transmits,
Pr(m)=PtGtGrλ 2/(4π) 2m 2L
In the formula: Pt is the wireless identity module emissive power;
Pr (m) is the received power at track and localization node place;
Gt is a transmitter antenna gain (dBi);
Gr is a receiving antenna gain;
M is wireless identity module and track and localization euclidean distance between node pair, unit: rice;
L is and propagates the irrelevant system loss factor;
λ is a wavelength, unit: rice;
Repeat above-mentioned steps, try to achieve the distance of wireless identity module to 3 an above track and localization node, can obtain the wireless identity module position coordinates, can try to achieve moving target position with trilateration;
Perhaps, make that spacing is a 50-100 rice between per two track and localization nodes; The method that wireless identity module is positioned is: any one receives the track and localization node location that wireless identity module transmits, and is moving target position; A plurality of track and localization nodes that wireless identity module transmits that receive are arranged, receive the strong track and localization node location of signal, be moving target position.
CN2008100698944A 2008-06-27 2008-06-27 Method and system for tracking and positioning downhole personnel based on Zigbee network platform CN101349744B (en)

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