CN101917667A - Locating method for determining position of staff in tunnel and locating system thereof - Google Patents
Locating method for determining position of staff in tunnel and locating system thereof Download PDFInfo
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- CN101917667A CN101917667A CN201010248724XA CN201010248724A CN101917667A CN 101917667 A CN101917667 A CN 101917667A CN 201010248724X A CN201010248724X A CN 201010248724XA CN 201010248724 A CN201010248724 A CN 201010248724A CN 101917667 A CN101917667 A CN 101917667A
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Abstract
The invention relates to a method for determining the position of a staff in a tunnel, comprising a plurality of base stations arranged at specified positions in the construction zone of the tunnel and comprising the following steps that the plurality of base stations respectively respond to request signals periodically sent out by a terminal carried by the staff in the tunnel within the action range of the base stations, and send answer signals to the terminal; the terminal calculates the time difference of the request signals and the answer signals to obtain the distance from the terminal to the base stations; the terminal leads the distance, an identification code of the terminal and the identification codes of the base stations to form distance signals and sends the distance signals to the base stations; the base stations send the distance signals to a server; and the server obtains the position of the terminal. The invention also relates to a locating system. The locating method for determining the position of the staff in the tunnel and the locating system thereof have the advantages of being capable of accurately obtaining the position of the terminal and not easy to be influenced by environments.
Description
Technical field
The position that the present invention relates in the appointed area is determined, more particularly, relates to a kind of localization method and navigation system thereof of measuring position of staff in tunnel.
Background technology
Existing staff in tunnel and equipment location generally all are to adopt the active RFID technology to carry out fuzzy region identification, as: based on 433MHz active RFID recognition system and based on 2.4GHz active RFID recognition system.In these prior aries, adopt 433MHz/2.4GHz wireless chips such as Nordic, TI usually, constitute RFID card reader, positioning label of maximum 0-10dbm radio-frequency power etc.; Wherein, the RFID card reader is installed on tunnel top or side according to distributing between the directorial area of actual needs, and links to each other with control centre by fieldbus (or wireless network).When staff in tunnel carries positioning label through RFID card reader point, system's automatic tag identification, go forward side by side line item and passback center show.In actual use, prior art has following shortcoming: in the identified region scope, for example in the 60 meters scopes in card reader front and back, all can only provide the information of " whether personnel exist "; Usually, these systems judge roughly that by the mode of RSSI (Received Signal Strength Indicator) identification even directional antenna personnel put distance from Card Reader, but because uncertainty and the vulnerability to jamming of RSSI, this function can't effectively realize; Especially under the situation that ambient temperature and humidity changes, personnel increase, RSSI can't accurately indicate especially; Because fuzzy location causes determining having how many workmans in certain section tunnel, but can not determine actual position, this brings the workload that is difficult to predict to disaster relief work, especially under the more situation of distributed points, directly has influence on the rescue decision-making.
Summary of the invention
The technical problem to be solved in the present invention is, at prior art above-mentioned can't accurately locate, easy defective affected by environment, a kind of method and the navigation system thereof that can accurately locate and not be vulnerable to the mensuration position of staff in tunnel of environmental impact is provided.
The technical solution adopted for the present invention to solve the technical problems is: construct a kind of localization method of measuring position of staff in tunnel, comprise a plurality of base stations that are set in assigned address in the described constructing tunnel district, comprise the steps:
A) described a plurality of base station responds the request signal that the entrained terminal of personnel is regularly sent in its sphere of action inner tunnel respectively, sends answer signal to described terminal;
B) described terminal is calculated the time difference of described request signal and described answer signal, obtains the distance of described terminal to described base station;
C) described terminal forms described distance, its oneself identification code and base station identity code distance signal and sends to described base station;
D) described base station directly sends to server with its distance that receives or sends to other base stations and send to server by other base stations;
E) distance of this terminal of recording according to a plurality of base stations of described server and each base station obtains the position of described terminal.
In localization method of the present invention, described steps A) further comprise the steps:
A1) whether described terminal judges reaches setting-up time, in this way, carries out next step; As not, repeat this step;
A2) described terminal sends request signal;
A3) described base station sends answer signal after receiving the described request signal.
In localization method of the present invention, described step B) further comprises the steps: in
B1) described terminal receives described answer signal, judges whether to issue oneself, in this way, carries out next step; Otherwise, return steps A);
B2) described terminal obtains the time difference of last sent request signal and answer signal according to the time of reception of described answer signal;
B3) calculate distance between described terminal and the base station.
In localization method of the present invention, described step C) further comprise the steps:
C1) described terminal is squeezed into packet with self identification code, the identification code of base station of responding request signal and the distance value between described terminal that obtains and the base station, forms distance signal;
C2) described distance signal is sent to described base station of sending back-signalling.
In localization method of the present invention, described step e) further comprise the steps:
E1) described server is obtained the distance between described terminal and the one or more base station;
E2) determine described terminal location and demonstration according to the base station location that is stored in the described server.
The invention still further relates to a kind of staff in tunnel navigation system, comprise a plurality of base stations that are arranged on assigned address in the described tunnel, and the server that is connected with described base station, also comprise the terminal of carrying by the personnel that enter described tunnel, it is used for regularly sending request signal, and after receiving the answer signal that sends described base station, calculate described answer signal time of reception, form distance signal, and send it to described base station; Described base station is arranged on the assigned address in the described tunnel, be used for the terminal that enters its sphere of action is sent answer signal, and the distance signal that described terminal is sent sends or sends to server by other base stations; Described server is connected with described base station, receives the distance signal that described terminal is sent, and the base station location contrast with its storage obtains the particular location of described terminal in described tunnel.
In navigation system of the present invention, described terminal further comprises:
Timing unit: be used to set timing, and when described timing arrives, enable the request signal transmitting element;
Request signal transmitting element: be used to produce concurrent sending request signal;
Answer signal receiving element: be used to receive answer signal;
Time difference and distance obtain the unit: be used to measure the time difference between last request signal and the answer signal, and obtain distance value by the described time difference;
Distance signal forms the unit: be used for the base station identity code packing of above-mentioned distance value, this terminal recognition sign indicating number and the answer signal that receives is formed distance signal.
In navigation system of the present invention, described terminal also comprises:
The answer signal judging unit: whether the destination address of the answer signal that is used to judge that described terminal receives is the identification code of this terminal.
In navigation system of the present invention, described base station further comprises:
The answer signal generation unit: produce identification code with this terminal when being used for terminal is sent in receiving its sphere of action request signal and be destination address, be the answer signal of source address with described base station identity code;
Signal receives retransmission unit: be used to receive the distance signal that described terminal is sent, and the described distance signal that receives is sent to described server or other base stations.
In navigation system of the present invention, described server comprises:
Distance obtains the unit: be used to obtain each terminal to one or divide and be clipped to a plurality of base station distance;
The position is determined and display unit: be used for obtaining this terminal of distance calculation that a terminal to obtaining the unit or terminal branch be clipped to a plurality of base stations one dimension or two-dimensional position and show this position in described tunnel according to described distance.
Implement the localization method and the navigation system thereof of mensuration position of staff in tunnel of the present invention, has following beneficial effect: owing to adopt the request signal and the time difference of answer signal and the electromagnetic transmission speed that can not change under normal conditions to come the distance of computing terminal to the base station, determine in advance in the position of a plurality of base stations and obtain under the situation of distance of terminal and each base station, can obtain terminal location exactly and not be vulnerable to the influence of environment.
Description of drawings
Fig. 1 is that the present invention measures method flow diagram among the localization method of position of staff in tunnel and the navigation system embodiment thereof;
Fig. 2 is a system configuration schematic diagram among the described embodiment;
Fig. 3 is a terminal structure schematic diagram among the described embodiment;
Fig. 4 is an architecture of base station schematic diagram among the described embodiment;
Fig. 5 is a server architecture schematic diagram among the described embodiment.
Embodiment
Embodiments of the present invention is further illustrated below in conjunction with accompanying drawing.
As shown in Figure 1, measure in the localization method and navigation system embodiment thereof of position of staff in tunnel in the present invention, its method of measuring position of staff in tunnel comprises the steps:
Whether the time of its setting of step S11 terminal judges arrives, as arriving, carries out next step; As not arriving setting-up time, then repeat this step; In the present embodiment, above-mentioned terminal is entered the tunnel personnel and is carried, and for example, this terminal can be arranged on above-noted persons' the safety cap or on employee's identification card; When the personnel of above-mentioned carried terminal did not enter above-mentioned tunnel, this terminal can enter the sphere of action of the base station that is arranged on the tunnel face, and afterwards, this terminal is received above-mentioned signal of base station and is activated; If this terminal does not enter the sphere of action of any one base station all the time, it can not be activated, so that reduce electrical source consumption; After terminal was activated, it can send request signal; Because terminal adopts powered battery, so can not all send request signal at any time; In fact, as long as above-mentioned terminal sends request signal off and on, regularly.Therefore one side timing of the terminal that is activated waits for that setting-up time arrives; After above-mentioned setting-up time arrives, send request signal, wait for the response of base station, simultaneously,, wait for setting-up time next time still in timing.
Step S12 sends request signal: in this step, because setting-up time arrives, terminal is sent request signal, Yi Bian and beginning wait for the signal of the response of base station, Yi Bian timing; If setting-up time is not arrived in timing, received the back-signalling of base station, then begin to handle the back-signalling of base station; If also do not receive the back-signalling of base station to the timing setting-up time, the request signal that then begins next round sends.
Step S13 sends answer signal: in this step, the request signal that described terminal is sent is received in the base station, produces answer signal and sends to above-mentioned terminal; Because in above-mentioned request signal, carry that terminal has, unique identification code (with regard to network, this identification code is actually the network address of this terminal), so in answer signal, except that identification code with above-mentioned terminal, the identification code that had, unique that also has this base station is (with regard to network, this identification code is actually the network address of this base station), can understand like this: above-mentioned answer signal be one with the base station identity code be source address, with the terminal recognition sign indicating number be destination address, Frame or packet by the radio network information channel transmission; Usually, the time that above-mentioned terminal forms this answer signal is roughly constant.Predictable.In addition, under the situation that the request signal that above-mentioned terminal is sent is received by a plurality of base stations, above-mentioned answer signal also can be a plurality of a plurality of answer signals that sent by different base stations, these answer signals transmit on different wireless channels, terminal receives these different answer signals respectively, and makes the processing of step S14-S18 respectively.
Step S14 obtains the time difference: in this step, terminal receives an answer signal, obtain this answer signal and the request signal that sends recently between time difference.Because the transmission of above-mentioned request signal is to have periodically, and request signal is after sending, terminal always in timing so that send next request signal, so, obtaining of above-mentioned time difference is fairly simple, as long as read the reading in the above-mentioned timer when acknowledging receipt of answer signal.
Step S15 obtains distance and forms distance signal: the above-mentioned time difference of obtaining is deducted setting, known base station form the needed time of answer signal, obtain wireless signal transmits twice between above-mentioned terminal and base station time, with this time divided by 2 again divided by the transmission speed of wireless signal, can obtain the distance between above-mentioned base station and the terminal.After obtaining above-mentioned distance, also need to form distance signal, again in this distance signal, not only comprised above-mentioned distance value, also need to indicate the base station of this distance value indication and the identification code of terminal (network address), like this can be so that receive base station and the terminal that the server of this distance signal can be learnt this distance value indication; Otherwise an independent distance value is skimble-skamble.
Step S16 transmission range signal: in this step, terminal sends to the base station with the distance signal of its formation; Adopt wireless channel and the mechanism different when above-mentioned distance signal sends, do not need to wait for timing time, like this, when terminal forms distance signal, just can send at once with above-mentioned request signal; Simultaneously, to make that also the base station receives the part of this distance signal different with the part that receives request signal for different wireless channel.Any processing can not made after receiving above-mentioned distance signal in the base station yet, but this distance signal is directly sent to server or is forwarded to server by other base stations.
Step S17 transmits distance signal: in this step, the base station receives above-mentioned distance signal and it is forwarded to server; Under the situation that can not directly connect with server in above-mentioned base station, for example, possible tunnel is darker, its inner base station can not directly be connected with above-mentioned server, the base station that receives above-mentioned distance signal is forwarded to its distance signal that receives other, on the base station of more close server, by other base station this distance signal is sent on the server.What deserves to be mentioned is that the part of above-mentioned base station transmits distance signal is relatively independent with the hop of above-mentioned request/answer signal in each base station.
Step S18 obtains terminal location and shows: in this step, the distance of a plurality of terminals and each base station all directly or by other base stations is forwarded in the server, server is obtained these distance values, adding the position of above-mentioned each base station all stores well in server in advance, therefore, know each terminal apart from each base station apart from the time, just can obtain the position of each terminal.In this step, server may receive the distance of a terminal corresponding to a plurality of base stations, also may receive only the distance of a terminal for a base station, with regard to the location, terminal have with many more base stations apart from the time, its location is accurate more, can on the plan view in tunnel the coordinate of its directions X and Y direction be made; If terminal has only the distance with a base station, then can only on an above-mentioned direction, make its position, its location is comparatively fuzzy; In the present embodiment, the method for a plurality of by being provided with in the pinpoint construction area of needs (be provided with 4 in the present embodiment, promptly respectively set one in 4 corners of construction area) base station reaches pinpoint purpose; And do not needing pinpoint tunnel double-lining district, and then take the linear method that the base station is set in Yan Qi district, on the one hand the distance signal of base station, construction area is forwarded to the server outside the tunnel.On the other hand, realize the roughly location of terminal in the above-mentioned two lining districts.In addition, constantly receive,, promptly constantly refresh the position location that above-mentioned terminal shows on server so above-mentioned server also upgrades its data constantly owing to above-mentioned distance signal.
Fig. 2 shows the structural representation of navigation system in the present embodiment.In Fig. 2, described navigation system comprise the server that is arranged on outside the tunnel, a plurality of be arranged in the tunnel the base station and by entering the terminal that the tunnel personnel carry.Wherein, the tunnel comprises that two linings of finishing driving are distinguished and the construction area of hot work in progress, and according to general situation, the personnel of construction area are the most concentrated, and therefore the easiest dangerous situation that occurs, needs accurately location for the personnel in the construction area; And two linings are distinguished the obvious situation that a lot of people can not occur, and the possibility that dangerous situation takes place is less, and personnel can not stop the two lining heads of district for a long time yet, and therefore, interior personnel's the location of requirement distinguish to(for) two linings is not too high just, and fuzzy positioning instant can; So, in the present embodiment, being respectively arranged with a base station in 4 corners of construction area, its sphere of action is overlapped, makes the personnel that are positioned at the construction area to be accurately positioned; And in two lining districts, it is along the side line setting of its bearing of trend in the tunnel double-lining district that its base station is provided with, and it extends to tunnel portal by above-mentioned construction area always, and the base station that tunnel portal is provided with is connected with above-mentioned server by network; Above-mentioned terminal of being carried by the personnel that enter the tunnel is when the sphere of action by the tunnel portal base station, by this base station activation, regularly send request signal, and receiving the base station (at this moment, this terminal is positioned at the sphere of action of this base station certainly) calculate above-mentioned answer signal time of reception after the answer signal that sends, form distance signal, and this distance signal is sent to above-mentioned base station; Described base station is arranged on the assigned address in the described tunnel, be used for the terminal that enters its sphere of action is sent answer signal, and the distance signal that described terminal is sent is sent (when this base station is the base station of above-mentioned tunnel portal) or sends to server (when this base station is not the base station of above-mentioned tunnel portal) by other base stations; In addition, above-mentioned server is connected with above-mentioned base station, receives the distance signal that above-mentioned terminal is sent, and with the contrast of the base station location of its storage, obtains covering and states the particular location (tunnel double-lining district be fuzzy location, construction area be accurate location) of terminal in the tunnel.When the base station that terminal connects be not above-mentioned tunnel portal be provided with directly with base station that server is connected the time, this base station is forwarded to other base stations (these base stations as the destination address of transmitting are setting in advance, distance nearer base station, above-mentioned tunnel portal base station) with distance signal.In the present embodiment, being connected between between the above-mentioned base station and base station and the server all by wireless connections, so, on the base station, has corresponding wireless connections module, but, between these link blocks between used wireless channel and above-mentioned each base station and the terminal wireless channel of transmission signals be inequality, interference each other can not appear.In other embodiments, also can be connected by cable between between the above-mentioned base station or base station and the server, for example connect by optical fiber, at this moment, the link block on each base station is exactly the link block of cable, for example optical link module.
In addition, in the present embodiment, also comprise the audio playing module (not shown) that is used for the audio signal that Play Server sends on above-mentioned each base station, in the present embodiment, the used audio signal of above-mentioned each audio playing module is to transmit by being connected between between the above-mentioned base station or base station and the server, that is to say that what the transfer of data between the audio signal that server sends and above-mentioned server and the terminal was used is same delivering path.In other embodiments, server is output audio signal separately also, and by the audio-frequency module of independent cable transmission to described each base station.
Fig. 3 shows the structural representation of terminal in the present embodiment.Among Fig. 3, be used to set timing, and when described timing arrives, the terminal that enables the request signal transmitting element comprises timing unit 31, be used to produce the request signal transmitting element 32 of concurrent sending request signal, be used to receive the answer signal receiving element 33 of answer signal, be used to measure the time difference between last request signal and the answer signal, and obtain the unit and be used for above-mentioned distance value by time difference and the distance that the described time difference is obtained distance value, the distance signal that base station identity code packing in this terminal recognition sign indicating number and the answer signal that receives forms distance signal forms unit 34; Above-mentioned each unit combines and realizes the function of terminal step by step.In the present embodiment, above-mentioned terminal is arranged on employee's identification card, carries this employee's identification card as long as enter the personnel in tunnel, just can locate in the tunnel.In other embodiments, above-mentioned terminal also can be arranged in the safety cap.In addition, in the present embodiment, whether the destination address that also comprises the answer signal that is used to judge that described terminal receives in the terminal is the answer signal judging unit 35 of the identification code of this terminal, if it is not to be the request-reply that sends for oneself that this unit determines a certain answer signal, then lose this answer signal, it is not handled.
Fig. 4 shows the structural representation of base station in the present embodiment.In Fig. 4, above-mentioned base station comprises that the identification code that produces when being used for terminal is sent in receiving its sphere of action request signal with this terminal is the answer signal generation unit 41 of answer signal destination address, that be source address with described base station identity code and is used to receive the distance signal that described terminal is sent, and the described distance signal that receives is sent to described server or other signal of base station reception retransmission unit 42.
Fig. 5 shows the general configuration of server in the present embodiment, in Fig. 5, server comprises and is used to obtain each terminal to one or divides the distance that is clipped to a plurality of base station distance to obtain unit 51 and be used for obtaining this terminal of distance calculation that a terminal to obtaining the unit or terminal branch be clipped to a plurality of base stations one dimension or two-dimensional position and show that the position of this position determines and display unit 52 in described tunnel according to described distance.
The above embodiment has only expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a method of measuring position of staff in tunnel comprises a plurality of base stations that are set in assigned address in the described constructing tunnel district, it is characterized in that, comprises the steps:
A) described a plurality of base station responds the request signal that the entrained terminal of personnel is regularly sent in its sphere of action inner tunnel respectively, sends answer signal to described terminal;
B) described terminal is calculated the time difference of described request signal and described answer signal, obtains the distance of described terminal to described base station;
C) described terminal forms described distance, its oneself identification code and base station identity code distance signal and sends to described base station;
D) described base station directly sends to server with its distance signal that receives or sends to other base stations and send to server by other base stations;
E) distance of this terminal of recording according to a plurality of base stations of described server and each base station obtains the position of described terminal.
2. the localization method of mensuration position of staff in tunnel according to claim 1 is characterized in that, described steps A) further comprise the steps:
A1) whether described terminal judges reaches setting-up time, in this way, carries out next step; As not, repeat this step;
A2) described terminal sends request signal;
A3) described base station sends answer signal after receiving the described request signal.
3. the localization method of mensuration position of staff in tunnel according to claim 2 is characterized in that, described step B) in further comprise the steps:
B1) described terminal receives described answer signal, judges whether to issue oneself, in this way, carries out next step; Otherwise, return steps A);
B2) described terminal obtains the time difference of last sent request signal and answer signal according to the time of reception of described answer signal;
B3) calculate distance between described terminal and the base station.
4. the localization method of mensuration position of staff in tunnel according to claim 3 is characterized in that, described step C) further comprise the steps:
C1) described terminal is squeezed into packet with self identification code, the identification code of base station of responding request signal and the distance value between described terminal that obtains and the base station, forms distance signal;
C2) described distance signal is sent to described base station of sending back-signalling.
5. the localization method of mensuration position of staff in tunnel according to claim 4 is characterized in that, described step e) further comprise the steps:
E1) described server is obtained the distance between described terminal and the one or more base station;
E2) determine described terminal location and demonstration according to the base station location that is stored in the described server.
6. navigation system of measuring position of staff in tunnel, comprise a plurality of base stations that are arranged on assigned address in the described tunnel, and the server that is connected with described base station, it is characterized in that, also comprise the terminal of being carried by the personnel that enter described tunnel, it is used for regularly sending request signal, and calculates described answer signal time of reception after receiving the answer signal that sends described base station, form distance signal, and send it to described base station; Described base station is arranged on the assigned address in the described tunnel, be used for the terminal that enters its sphere of action is sent answer signal, and the distance signal that described terminal is sent sends or sends to server by other base stations; Described server is connected with described base station, receives the distance signal that described terminal is sent, and the base station location contrast with its storage obtains the particular location of described terminal in described tunnel.
7. the navigation system of position of staff in tunnel according to claim 6 is characterized in that, described terminal further comprises:
Timing unit: be used to set timing, and when described timing arrives, enable the request signal transmitting element;
Request signal transmitting element: be used to produce concurrent sending request signal;
Answer signal receiving element: be used to receive answer signal;
Time difference and distance obtain the unit: be used to measure the time difference between last request signal and the answer signal, and obtain distance value by the described time difference;
Distance signal forms the unit: be used for the base station identity code packing of above-mentioned distance value, this terminal recognition sign indicating number and the answer signal that receives is formed distance signal.
8. the navigation system of position of staff in tunnel according to claim 7 is characterized in that, described terminal also comprises:
The answer signal judging unit: whether the destination address of the answer signal that is used to judge that described terminal receives is the identification code of this terminal.
9. the navigation system of position of staff in tunnel according to claim 8 is characterized in that, described base station further comprises:
The answer signal generation unit: produce identification code with this terminal when being used for terminal is sent in receiving its sphere of action request signal and be destination address, be the answer signal of source address with described base station identity code;
Signal receives retransmission unit: be used to receive the distance signal that described terminal is sent, and the described distance signal that receives is sent to described server or other base stations.
10. the navigation system of position of staff in tunnel according to claim 9 is characterized in that, described server comprises:
Distance obtains the unit: be used to obtain each terminal to one or divide and be clipped to a plurality of base station distance;
The position is determined and display unit: be used for obtaining this terminal of distance calculation that a terminal to obtaining the unit or terminal branch be clipped to a plurality of base stations one dimension or two-dimensional position and show this position in described tunnel according to described distance.
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Application publication date: 20101215 |