CN102186243A - Underground personnel positioning method - Google Patents
Underground personnel positioning method Download PDFInfo
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- CN102186243A CN102186243A CN2011101372915A CN201110137291A CN102186243A CN 102186243 A CN102186243 A CN 102186243A CN 2011101372915 A CN2011101372915 A CN 2011101372915A CN 201110137291 A CN201110137291 A CN 201110137291A CN 102186243 A CN102186243 A CN 102186243A
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Abstract
The invention provides an underground personnel positioning method which comprises the following steps: pre-setting at least a first wireless routing node and a second wireless routing node which are spaced from each other, and measuring the position information of the first wireless routing node and the second wireless routing node; passing a wireless device through at least one of the first wireless routing node and the second wireless routing node; based on the acceleration value of the wireless device at the present moment in passing through one of the routing nodes, calculating the distance of the wireless device relative to the routing node; based on the position information of the first wireless routing node and the second wireless routing node as well as the wireless signal strength variation of the wireless device and the other routing node, calculating the distance between the wireless device and the other routing node. The underground personnel positioning method provided by the invention has advantages of accurate positioning and little error. Moreover, the method carries out data communication via the wireless device, and improves the reliability of the method.
Description
Technical field
The present invention relates to wireless communication technology field, particularly a kind of personnel in the pit's localization method.
Background technology
Continuous development along with society, people constantly increase the demand of resource, especially increasing to the demand of resources such as colliery, therefore, more colliery is developed significantly, like this, carries out work with regard to the more coal miner of needs under coal mine, yet owing to continuous exploitation to the colliery, cause coal mine to be easy to cave in, in a single day coal mine caves in, and the personal safety that is in the coal miner of colliery underground work will face a danger, simultaneously, caving in of coal mine is difficult to estimate the particular location of the coal miner under the coal mine, therefore, bring difficulty to carrying out rescue work, these bring hidden danger also all for coalman people's personal safety.
Therefore, how real-time the definite position that navigates to coal miner so that can guarantee the personal safety of coal miner, be a ubiquitous difficult problem.Realize by carrying positioner at the coal miner health position of the coal miner under traditional measurement coal mine, yet this locate mode is unstable usually, in case coal mine is caved in, signal is easy to interrupt, therefore, can't orient the position of coal miner in time, thus, bring hidden danger for everybody body safety of coalman.
Moreover, in case the colliery caves in, the wired mode of traditional positioning system using is carried out the signal transmission, like this, owing to caving in, the colliery is easy to cause line interruption, therefore, can not judge the definite position of the coal miner in the coal mine, and then cause inconceivable disaster.
Summary of the invention
The present invention is intended to one of solve the problems of the technologies described above at least.
For this reason, one object of the present invention is to propose a kind of personnel in the pit's localization method, and this personnel in the pit's localization method adopts communication, reliability height.In addition, this personnel in the pit's localization method accurate positioning, energy consumption is low.
To achieve these goals, personnel in the pit's localization method that embodiments of the invention propose, may further comprise the steps: set in advance at least two isolated first wireless routing nodes and second wireless routing node, and measure the positional information of described first wireless routing node and second wireless routing node; Judge whether wireless device passes through at least one of described first wireless routing node and second wireless routing node on the line direction of described first wireless routing node and second wireless routing node; If described wireless device passes through described first wireless routing node and second wireless routing node at least one, then according to the positional information of described first wireless routing node and second wireless routing node, and the wireless signal strength of described wireless device during by one of them of described first wireless routing node and second wireless routing node changes peak value and calculates the reference position, and calculate described wireless device with respect to the distance between first wireless routing node that passes through or second wireless routing node, and according to the positional information of described first wireless routing node and second wireless routing node according to the time integral of the accekeration that begins from described reference position, and and described wireless device and described first wireless routing node and second wireless routing node in another wireless routing node between the wireless signal strength variable quantity calculate described current location with respect to the distance between described another wireless routing node.
Personnel in the pit's localization method according to the embodiment of the invention, the wireless device that the personnel in the pit carries along with the personnel in the pit on two first pre-fixed wireless routing nodes and the line direction between second wireless routing node when mobile, this wireless device carries out radio communication with first wireless routing node and second wireless routing node in real time, according to distance is far away more between the two, weak more this notion of wireless signal, the signal that can judge in real time between the wireless device and first wireless routing node and second wireless routing node changes, as can be known, when wireless device overlaps with one of them wireless routing node, wireless signal reaches peak value, at this moment, with this routing node is datum mark, write down a plurality of time points and relevant acceleration value in the after this a certain predetermined amount of time, by a plurality of time points and relevant acceleration value are carried out integral operation, obtain the position of real-time wireless device then with respect to this datum mark.In this process, simultaneously determine that according to the signal transformation amount between wireless device and another routing node this wireless device is between first wireless routing node and second wireless routing node, still be at the opposite side of datum mark, and then obtain the exact position of wireless device.If wireless device moves through another routing node from datum mark, will be datum mark then with another routing node, with accekeration zero clearing before, then calculate the relative position of wireless device once more with respect to this datum mark.
In addition, personnel in the pit's localization method according to the present invention can also have following additional technical characterictic:
In one embodiment of the invention, described first wireless routing node, described second wireless routing node and described wireless device comprise with extraneous mode of carrying out radio communication: one of them communication of Zigbee, WiFi or Bluetooth wireless communication mode.
According to one embodiment of present invention, described first wireless routing node, described second wireless routing node and described wireless device are Zigbee with extraneous mode of carrying out radio communication.
In one embodiment of the invention, judge variable in distance amount between another wireless routing node of described wireless device and described first wireless routing node and second wireless routing node according to the wireless signal strength variable quantity between another wireless routing node in described wireless device and described first wireless routing node and second wireless routing node.
According to one embodiment of present invention, when described wireless device passed through described first wireless routing node or second wireless routing node, the wireless signal between described wireless device and described first wireless routing node or second wireless routing node reached peak value.
According to one embodiment of present invention, described first wireless routing node that passes through with respect to described wireless device of the wireless device that obtains current time by accelerometer or the accekeration of second wireless routing node.
According to one embodiment of present invention, described accelerometer is a three axis accelerometer.
According to one embodiment of present invention, when another wireless routing node by described first wireless routing node and second wireless routing node of described wireless device, with described accekeration zero clearing and calculate described wireless device at the accekeration of current time with respect to described another wireless routing node.
Additional aspect of the present invention and advantage part in the following description provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Description of drawings
Above-mentioned and/or additional aspect of the present invention and advantage are from obviously and easily understanding becoming the description of embodiment in conjunction with following accompanying drawing, wherein:
Fig. 1 is the flow chart of personnel in the pit's localization method of the embodiment of the invention; With
Fig. 2 is an exemplary plot of personnel in the pit's localization method of the application embodiment of the invention.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein identical from start to finish or similar label is represented identical or similar elements or the element with identical or similar functions.Below by the embodiment that is described with reference to the drawings is exemplary, only is used to explain the present invention, and can not be interpreted as limitation of the present invention.
In description of the invention, it will be appreciated that, term " " center "; " vertically "; " laterally "; " on "; D score; " preceding ", " back ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", close the orientation of indications such as " outward " or position is based on orientation shown in the drawings or position relation, only be that the present invention for convenience of description and simplification are described, rather than the device or the element of indication or hint indication must have specific orientation, therefore orientation structure and operation with specific can not be interpreted as limitation of the present invention.In addition, term " first ", " second " only are used to describe purpose, and can not be interpreted as indication or hint relative importance.
In description of the invention, need to prove that unless clear and definite regulation and qualification are arranged in addition, term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be fixedly connected, also can be to removably connect, or connect integratedly; Can be mechanical connection, also can be to be electrically connected; Can be directly to link to each other, also can link to each other indirectly by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can concrete condition understand above-mentioned term concrete implication in the present invention.
Below in conjunction with the personnel in the pit localization method of accompanying drawing 1-2 description according to the embodiment of the invention.
As shown in Figure 1, be the flow chart of personnel in the pit's localization method of the embodiment of the invention.
Personnel in the pit's localization method according to the embodiment of the invention may further comprise the steps:
Step S101 sets in advance at least two isolated first wireless routing nodes and second wireless routing node, and measures the positional information of described first wireless routing node and second wireless routing node.
In conjunction with Fig. 2, in one embodiment of the invention, for example can be according to measuring and actual conditions, (n is the integer greater than 1 to the well fixing routing node R1 of layout to Rn, represent n routing node), the relative position between the node provides by measurement, and draws corresponding routing node layout, like this, can determine the accurate location information of routing node R1 to Rn.
Step S102 judges whether wireless device passes through at least one of described first wireless routing node and second wireless routing node on the line direction of described first wireless routing node and second wireless routing node.
As a concrete example, as shown in Figure 2, when for example wireless device Tn is through each routing node Rx (x is the integer between 1 to n), wireless device Tn reaches maximum to the signal strength signal intensity of routing node Rx, and Tn is a smaller value to the signal strength signal intensity of all the other R, and not peak value.Judge that the position of Tn is the Rx at current place, routing node R1 for example shown in Figure 2 this moment.Like this, wireless device Tn can be judged and at least one routing node must be passed through.
Step S103, if described wireless device passes through described first wireless routing node and second wireless routing node at least one, then according to the positional information of described first wireless routing node and second wireless routing node, and the wireless signal strength of described wireless device during by one of them of described first wireless routing node and second wireless routing node changes peak value and calculates the reference position, and calculate described wireless device with respect to the distance between first wireless routing node that passes through or second wireless routing node, and according to the positional information of described first wireless routing node and second wireless routing node according to the time integral of the accekeration that begins from described reference position, and and described wireless device and described first wireless routing node and second wireless routing node in another wireless routing node between the wireless signal strength variable quantity calculate described current location with respect to the distance between described another wireless routing node.
Particularly, once more in conjunction with Fig. 2, at first wireless device Tn from a known Rx (as the routing node R1 the step S102) to another known R (as R2), wireless device Tn is a datum mark with R1 in this process, then this wireless device Tn is carried out the relative displacement that integration obtains this wireless device Tn this moment and R1 with respect to the accekeration of this datum mark R1, and data are issued R1.R1 further calculates the particular location of Tn then, and sends in the ancillary equipment step by step, thereby finally obtains the exact position of wireless device Tn.
When wireless device Tn passes through R2, be datum mark then with the accekeration zero clearing that obtain before, and with R2, repeat aforesaid operations.And then obtain the exact position of the Tn of any time.
Personnel in the pit's localization method according to the embodiment of the invention, the wireless device that the personnel in the pit carries along with the personnel in the pit on two first pre-fixed wireless routing nodes and the line direction between second wireless routing node when mobile, this wireless device carries out radio communication with first wireless routing node and second wireless routing node in real time, according to distance is far away more between the two, weak more this notion of wireless signal, the signal that can judge in real time between the wireless device and first wireless routing node and second wireless routing node changes, as can be known, when wireless device overlaps with one of them wireless routing node, wireless signal reaches peak value, at this moment, with this routing node is datum mark, write down a plurality of time points and relevant acceleration value in the after this a certain predetermined amount of time, by a plurality of time points and relevant acceleration value are carried out integral operation, obtain the position of real-time wireless device then with respect to this datum mark.In this process, simultaneously determine that according to the signal transformation amount between wireless device and another routing node this wireless device is between first wireless routing node and second wireless routing node, still be at the opposite side of datum mark, and then obtain the exact position of wireless device.If wireless device moves through another routing node from datum mark, will be datum mark then with another routing node, with accekeration zero clearing before, then calculate the relative position of wireless device once more with respect to this datum mark
In one embodiment of the invention, for example first wireless routing node, second wireless routing node and wireless device and extraneous mode of carrying out radio communication can be one of them of Zigbee, WiFi or Bluetooth wireless communication mode.Preferably, can adopt the Zigbee communication, the Zigbee communication has low-power consumption, low cost, intelligentized advantage.
In one embodiment of the invention, for example also can be according to the variable in distance amount between another wireless routing node of the judgement wireless device of the wireless signal strength variable quantity between another wireless routing node in wireless device and first wireless routing node and second wireless routing node and first wireless routing node and second wireless routing node.In other words, distance is short more between the two, and signal strength signal intensity is big more.Otherwise then a little less than the moon.Therefore, can determine the gradual change situation of distance between two according to change in signal strength.
According to the foregoing description as can be known, when wireless device passed through first wireless routing node or second wireless routing node, the wireless signal between the wireless device and first wireless routing node or second wireless routing node was the strongest, reaches peak value.
Advantageously, as a concrete example, for example first wireless routing node that passes through with respect to wireless device of the wireless device that can obtain current time by accelerometer or the accekeration of second wireless routing node.Like this, acquisition speed is fast, and more accurate, and the accelerometer cost is low simultaneously, long service life.More advantageously, for example accelerometer can adopt three axis accelerometer.
According to one embodiment of present invention, when wireless device passed through another wireless routing node of first wireless routing node and second wireless routing node, the zero clearing of degree of will speed up value was also calculated described wireless device at the accekeration of current time with respect to another wireless routing node.Thus, obtain the real-time position of wireless device.
Personnel in the pit's localization method according to the embodiment of the invention has accurate positioning, in real time the advantage of location.
In the description of this specification, concrete feature, structure, material or characteristics that the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example description are contained at least one embodiment of the present invention or the example.In this manual, the schematic statement to above-mentioned term not necessarily refers to identical embodiment or example.And concrete feature, structure, material or the characteristics of description can be with the suitable manner combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple variation, modification, replacement and modification to these embodiment under the situation that does not break away from principle of the present invention and aim, scope of the present invention is by claim and be equal to and limit.
Claims (8)
1. personnel in the pit's localization method is characterized in that, may further comprise the steps:
Set in advance at least two isolated first wireless routing nodes and second wireless routing node, and measure the positional information of described first wireless routing node and second wireless routing node;
Judge whether wireless device passes through at least one of described first wireless routing node and second wireless routing node on the line direction of described first wireless routing node and second wireless routing node; With
If described wireless device passes through described first wireless routing node and second wireless routing node at least one, then according to the positional information of described first wireless routing node and second wireless routing node, and the wireless signal strength of described wireless device during by one of them of described first wireless routing node and second wireless routing node changes peak value and calculates the reference position, and calculate described wireless device with respect to the distance between first wireless routing node that passes through or second wireless routing node, and according to the positional information of described first wireless routing node and second wireless routing node according to the time integral of the accekeration that begins from described reference position, and and described wireless device and described first wireless routing node and second wireless routing node in another wireless routing node between the wireless signal strength variable quantity calculate described current location with respect to the distance between described another wireless routing node.
2. personnel in the pit's localization method according to claim 1 is characterized in that, described first wireless routing node, described second wireless routing node and described wireless device comprise with extraneous mode of carrying out radio communication:
One of them of Zigbee, WiFi or Bluetooth wireless communication mode.
3. personnel in the pit's localization method according to claim 2 is characterized in that, described first wireless routing node, described second wireless routing node and described wireless device are Zigbee with extraneous mode of carrying out radio communication.
4. personnel in the pit's localization method according to claim 1, it is characterized in that, judge the variable in distance amount between another wireless routing node of described wireless device and described first wireless routing node and second wireless routing node according to the wireless signal strength variable quantity between another wireless routing node in described wireless device and described first wireless routing node and second wireless routing node.
5. personnel in the pit's localization method according to claim 4, it is characterized in that, when described wireless device passed through described first wireless routing node or second wireless routing node, the wireless signal between described wireless device and described first wireless routing node or second wireless routing node reached peak value.
6. personnel in the pit's localization method according to claim 4 is characterized in that, described first wireless routing node that the wireless device that obtains current time by accelerometer passes through with respect to described wireless device or the accekeration of second wireless routing node.
7. personnel in the pit's localization method according to claim 6 is characterized in that, described accelerometer is a three axis accelerometer.
8. personnel in the pit's localization method according to claim 7, it is characterized in that, when another wireless routing node by described first wireless routing node and second wireless routing node of described wireless device, with described accekeration zero clearing and calculate described wireless device at the accekeration of current time with respect to described another wireless routing node.
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| CN2011101372915A CN102186243A (en) | 2011-05-23 | 2011-05-23 | Underground personnel positioning method |
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| CN2011101372915A CN102186243A (en) | 2011-05-23 | 2011-05-23 | Underground personnel positioning method |
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| CN102571164A (en) * | 2012-01-31 | 2012-07-11 | 鞍山凯信环保节能工程技术有限公司 | Bluetooth wireless management system applied to location of underground person and gas alarming |
| CN110300369A (en) * | 2019-06-28 | 2019-10-01 | 京东方科技集团股份有限公司 | Localization method and system based on bluetooth technology with low power consumption |
| CN111813119A (en) * | 2020-07-11 | 2020-10-23 | 广东翼景信息科技有限公司 | High-precision navigation method for inspection robot |
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Application publication date: 20110914 |