CN102213755A - Ultra wide band location method and system in coal mine well - Google Patents
Ultra wide band location method and system in coal mine well Download PDFInfo
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Abstract
The invention discloses an ultra wide band location method and an ultra band location system in a coal mine well. The method is a banded cell two-step locating method and comprises the following steps of: dividing a plurality of continuously-overlapped banded locating service cells along a roadway; calculating nominal intervals of all reference points; filtering according to received signal strength (RSS) data by an object; measuring and calculating an area coverage in which the object is located; and obtaining the accurate position of the object by a hybrid location method based on cumulative average weighted processing. The system comprises an upper-layer terminal, a data locating server, a ground monitoring terminal, a switchboard, an intrinsically safe gateway, an intrinsically safe wireless relay, an intrinsically safe reference point terminal and an intrinsically safe location terminal. The ultra wide band location method and the ultra wide band location system have strong anti-reference capability, accurate location, a simple structure of system equipment and low power consumption, are more suitable for the roadway working environment, and meet the requirements of the coal mine well for specific operating environment and safety demand.
Description
Technical field
The present invention relates to a kind of localization method and system, specifically, relate to ultra broadband accurate positioning method and system under a kind of coal mine.
Background technology
Coal is the main energy sources of China, but because the coal field geology complicated condition of China, working condition is abominable, the production technique level is backward relatively, producers' quality is lower, and the accident that causes China's coal-mine to be produced takes place frequently, and the mine safety problem has seriously restricted the sound development of coal in China industry.In case have an accident, the ground staff is difficult in time dynamically grasp personnel in the pit's distribution and operation situation, and the efficient of rescue and relief work, safety rescue is low, searches and rescues weak effect.Therefore be necessary to study target accurate positioning method and system under the coal mine, this is important leverage and emergency management and rescue necessary means that mine safety is produced, all has crucial meaning in time suing and labouring and save oneself after the safety of enhancing productivity, ensure the personnel in the pit, the calamity simultaneously.
The China's coal-mine down-hole is a special constrained environment, it is made up of various tunnels crisscross, that shape is different, different in size, its length can reach tens to kilometers up to a hundred, and the length in tunnel, workplace place changes, therefore the mine laneway target localization with in the general buildings, the target localization of restriceted envelopes such as highway, railway tunnel compares, its service radius is bigger.Have inflammable gas and coal dusts such as methane under the coal mine, therefore, positioning equipment must be an electric apparatus for explosive gas, and should take the good inbeing safe explosion prevention measure of security performance.Wireless signal transmits phenomenons such as existing a large amount of reflections, scattering, diffraction and transmission in the tunnel.The mine laneway space is narrow and small, and the volume of positioning equipment, particularly antenna volume can not be very big.The peak power output of inbeing safe explosion prevention electrical equipment is about 25W, and for the mine positioning equipment is made the inbeing safe explosion prevention electrical equipment, the emissive power of equipment is generally less.Because the tunnel is airtight relatively, can not come location under the slab hole by the existing satnav in ground such as GPS.This shows that the localization method of ground maturation can't directly apply to the down-hole.
Localization method mainly is divided three classes at present: proximity location, piloting and radiolocation.Preceding two kinds of methods are based on the localization method of non-range finding, and the wireless location algorithm is based on the localization method of range finding, and it has more reliability by distance or angle information computing node position between measured node.Radiolocation can be divided into satelline radio location and terrestrial radio location again.Satnav then utilizes a plurality of satellites of the satellite systems such as double satellite receiver of GPS, GLNOASS, Galileo, China to realize the three-positional fix of moving target; The terrestrial wireless location is by measuring radiowave is implemented moving target from the parameter of transmitted from transmitter to receiver location.Traditional radiolocation method according to the difference of the pattern measurement value that is detected, is divided into following several: arrive angle orientation (AOA), received signal intensity localization method (RSS), location time of arrival (TOA), difference location time of arrival (TDOA).RSS is an intensity level of measuring received signal, calculates distance between reference point and the impact point according to known channel fading model and the field intensity value that transmits then, and then realizes the location.TOA measures the signal propagation time between two (or a plurality of) known reference point and the impact point exactly, draw the distance between impact point and the reference point respectively, be the center of circle with each reference point locations then, with the distance that records is that radius is drawn circle, can obtain two (or a plurality of) circle, the intersection point of these circles just should be the position of destination node at two dimensional surface theoretically.TDOA has adopted measuring target point to transmit to arrive neither and has realized the location with the mistiming of known reference point receiver.By measuring the difference of the time of arrival between two reference point and the impact point, thereby draw the distance between impact point and the reference point.AOA utilizes the array antenna on the reference point receiver to come the angle of measuring target point transmitter arriving signal to realize locating.
Said method can utilize different media to realize.At present, personnel in the pit's wireless location system of China mainly realizes with radio frequency discrimination RFID or PHS technology, and it is that a kind of monitoring system of secondary collecting and distributing type realizes the down-hole personnel position monitoring is shown information such as personnel identity.Also have both at home and abroad: WiFi, ZigBee, and infrared, ultrasound wave, bluetooth etc. at localization method under the coal mine and system.But all there are this following problem in said method and system: RFID method jitter, skip itself have determined bearing accuracy to depend on the density of base station, and this has just limited the raising of bearing accuracy; Infrared penetration is poor, only suitable short-distance transmission, and disturbed by fluorescent light or direct light easily; Ultrasound wave is weak effect under multi-path environment; The object that wireless local area network technology requires to be positioned must be supported WLAN (wireless local area network), and bearing accuracy is low; Bluetooth technology cost height, less stable in the complex environment; Positioning system based on the calculating electromagnetic wave energy of technology such as Zigbee, WiFi, at present domestic existing Related product occurs, as KJ361 etc., because the characteristics of these technology self decision, this type systematic is difficult to reach excellent precision when being used for position probing, and is also undesirable in the applicable cases of ground indoor environment based on the positioning system of technology such as Zigbee, WiFi.
Super-broadband tech adopts extremely wide frequency spectrum or ultra-narrow pulse to transmit information, has very strong time resolution, especially when the localization method that uses based on time of arrival, can reach very high precision, therefore super-broadband tech is the advantage that " natural " arranged as the location, and consider wide spectrum can to around closely other wireless signals cause interference, be exactly target localization in the main application fields of ground ultra broadband.The main ultra broadband positioning system in ground has at present: the LocahzerS system is by U.S. AETHERWIRE﹠amp; The indoor locating system of LOCATION exploitation, measurement range is 30-60m, distance accuracy is 1cm; The Sapphire system is that Measurement Resolution is 1ns by the UWB indoor positioning system of MultisPeetralsolutions company exploitation, and bearing accuracy is 0.3m, can arrive 0.1m through after the data smoothing; The Unbise indoor locating system is that bearing accuracy is 15cm by the indoor locating system of the Unbise company exploitation of the U.S..Tang's grace scientific and technological development goes out the seamless positioning system of the domestic first civilian UWB positioning system iLocateTM of cover, and bearing accuracy is 15cm.
Methods such as ultra broadband is infrared relatively, ultrasound wave, bluetooth do not need to produce sinusoidal carrier, and are simple in structure, realize that cost is low; What ultra-broadband radio was launched is that extremely short monocycle impulse and dutycycle of duration is extremely low, and multipath signal is separable in time, and antijamming capability is strong; Generally between 0.20ns～2ns, there is very low dutycycle the duration of radio ultra wide band system use pulse, and the power consumption of system only is hundreds of uW to tens mW when high-speed communication, and is low in energy consumption.And the down-hole enclosed environment is not subjected to the restriction of frequency use.Therefore, also should be highly suitable under the coal mine based on the location technology of ultra broadband and use.
Existing ultra broadband localization method and system mostly adopt single based on the time localization method, perhaps in conjunction with based on the time with based on the localization method of angle.But have a large amount of steam, dust etc. in the tunnel, phenomenons such as each pulse that emitting antenna sends all can be reflected, scattering, diffraction arrive receiving end along different path, this just to positioning time parameter measuring and calculating bring very big difficulty.Moreover, because the restriction of the constraint of the geometric configuration in tunnel and location cost, the position reference node can not deployment at random, intensive in a plane space, can only dispose along roadway direction, and the degree of accuracy of single time-based localization method requires the reference point more than at least three to guarantee.In addition, the AOA localization method need be by array antenna, and system equipment is relatively more expensive, complicated, and equipment volume is huger, is not suitable for mine laneway and uses.So the existing ultra broadband positioning system in ground can not directly apply to mine laneway.
Summary of the invention
For overcoming above deficiency, particularly mine positioning system coverage is little in order to overcome, poor anti jamming capability, setting accuracy are low, in the tunnel location reference point layout quantity and arrange that density is limited, mine positioning equipment volume is limited, problems such as multipath effect was serious when ultra-broadband signal transmitted in mine laneway the invention provides ultra broadband localization method and system under a kind of accurately real-time coal mine.These method and system make full use of characteristics such as the super-broadband tech antijamming capability is strong, the location is accurate, system equipment is simple in structure, low in energy consumption, and in conjunction with the mine laneway actual working environment, utilize limited reference point, realize in real time accurately target localization, satisfied after mine production scheduling and the calamity needs of rescue in time.
To achieve these goals, the invention provides a kind of two step of ultra broadband localization method: according to colliery underworkings environment based on banded sub-district, with continuous one by one banded little area overlapping and to string together the covering whole tunnel, and according to the nominal interval of each sub-district calculating reference point; During target localization, at first according to the nominal interval to received signal intensity data carry out filtering, and determine to participate in the accurate location reference point of target according to the filtering result, think the overlapping region of target in the positioning service sub-district of selected reference point; In the target region scope of measuring and calculating, with the mode of cumulative mean obtain selected each reference point the received signal intensity data and time of arrival data, and calculate two groups of distance values, determine the exact position of target by weighted calculation.
Ultra broadband localization method under the described coal mine may further comprise the steps:
A. distribute and working environment according to the tunnel, lay location reference point, move towards to divide the positioning service zone of each reference point along the tunnel, the nominal interval of calculating each reference point;
B. collect the received signal intensity data of the positioning signal of each reference point emission, according to described nominal interval to received signal intensity data carry out filtering;
C. according to the filtering result, determine to participate in the pinpoint reference point of target, and according to selected reference point positioning service zone measuring and calculating target region scope;
D. collect the data and received signal intensity data time of arrival of the positioning signal of selected reference point emission, utilize hybrid locating method to calculate the exact position of described target.
Described steps A comprises the following steps:
A1. in the certain distance in sustained height upper edge, the same side in tunnel, lay location reference point, and arrange a bend reference point in the corner, tunnel;
A2. be the center with each reference point, divide overlapping banded sub-district continuously along the tunnel, think that described sub-district is the positioning service zone of each center reference point;
A3. according to described positioning service regional extent, calculate ultimate range and the minor increment of each sub-district internal object to center reference point, promptly target to center reference point apart from interval;
A4. the intensity that transmits according to each reference point and described each apart from interval, calculate the received signal intensity data interval that each sub-district internal object receives the positioning signal of center reference point emission, think that described received signal intensity data interval is the nominal interval of center reference point.
Described time of arrival, data and received signal intensity data were to obtain from the ultra-broadband signal of described reference point emission.
Among the described step B, each received signal intensity data is filtered the exceptional value in the described received signal intensity data of filtering according to the nominal interval of described each reference point.
Described exceptional value is the caused received signal intensity data that will cause positioning error of signal reflex, and because the reference point distance objective causes the received signal intensity data that received signal comprises multipath signal than long-range guided missile.
Described step C comprises the following steps:
C1. according to the filtering result, determine to participate in the pinpoint reference point of target;
C2. according to the positioning service zone of selected reference point, measuring and calculating target region scope is thought the overlapping region of target in selected reference point positioning service sub-district.
Hybrid locating method comprises the following steps: among the described step D
D1. target sends the location token information to selected each reference point, and record transmitting time t
0
D2. after selected reference point receives described information, delay time T
1, time delay and described information are sent it back target;
D3. after target receives the return information of selected reference point emission, extract the received signal intensity data, and send location token information, repeating step D2 and D3 to selected reference point once more, and N time and so forth, corresponding selected each reference point obtains a received signal intensity data sequence P
Ij(i=0,1 ..., N), and record object receives the time t of the return information of reference point emission for the last time
1j, wherein j represents selected j reference point, i represents cumulative frequency;
D4. work as a plurality of received signals from same reference point, think that the bigger signal of received signal intensity data is a positioning signal;
D5. according to described writing time of t
0, t
1j, data time of arrival of selected each reference point of calculating:
Wherein j represents selected j reference point;
D6. according to described each received signal intensity data sequence P
Ij(i=0,1 ..., N), calculate the received signal intensity data of selected each reference point:
Wherein j represents selected j reference point, and i represents cumulative frequency;
D7. according to the data and received signal intensity data time of arrival of selected each reference point, calculate the distance value d of two groups of targets and selected each reference point
TOAj=c* τ
jWith
Wherein c is ultra-broadband signal transmission speed in the tunnel, and k is a channel parameter, and j represents selected j reference point;
D8. according to the actual measurement tunnel in the ultra wideband transmissions data, determine received signal intensity localization method and time of arrival localization method probability of error distribution f
RSSAnd f
TOA, utilize
Determine the distance value d of target and selected each reference point
j, wherein j represents selected j reference point;
D9. the position according to selected each reference point obtains system of equations
Determine the target position, wherein j represents selected j reference point, and (x y) is the target location, (x
j, y
j) be the position of selected j reference point.
Described method realizes by a direct sequence impulse radio ultra wide band system.
Ultra broadband positioning system under a kind of coal mine comprises uphole equipment and underground equipment, and described uphole equipment comprises the upper strata terminal, locator data server, ground monitoring terminal, switch; Described underground equipment comprises the essential safe type gateway, intrinsically safe wireless relaying, essential safe type reference point terminal, and essential safe type locating terminal; Locator data server and ground monitoring terminal constitute spider lines by switch and essential safe type gateway, and send the real-time positioning data to the upper strata terminal by the Internet network; The essential safe type gateway is articulated on the switch by bus in the tunnel; The essential safe type locating terminal is carried by underground operators or mechanical hook-up; The essential safe type locating terminal, essential safe type reference point terminal, intrinsically safe wireless relaying and essential safe type gateway constitute pulse ultra-broad band wireless location network;
Described locator data server receives and the store location location data of terminals;
Described ground monitoring terminal, record essential safe type reference point location information of terminals; Divide the positioning service sub-district; Calculate each essential safe type reference point terminal nominal interval, and send to essential safe type reference point terminal; Calculate received signal intensity localization method and localization method probability of error distribution time of arrival; Receive the essential safe type locating terminal that send with two groups of range informations selected each essential safe type reference point terminal, according to received signal intensity localization method and time of arrival the localization method probability of error distribute to its weighted calculation, and according to selected each essential safe type reference point terminal positional information calculating essential safe type locating terminal position, and send to locator data server and upper strata terminal;
Described switch and described intrinsically safe wireless relaying are transmitted nominal block information and real-time range information;
Described essential safe type gateway receives the super wideband wireless data that the intrinsically safe wireless relaying sends, and converts thereof into cable data and send to switch; The cable data that desampler sends, and convert thereof into the super wideband wireless data and send to the intrinsically safe wireless relaying;
Described essential safe type reference point terminal distribution unique identification code; Obtain its nominal block information from the ground monitoring terminal; Receive the location token information that the essential safe type locating terminal sends, and postpone certain hour, its identification code, nominal interval, time delay and described information are sent it back the essential safe type locating terminal;
Described essential safe type locating terminal distributes unique identification code; Token information is located in broadcasting at set intervals, and the locating information of reception essential safe type reference point terminal answer, extract the received signal intensity data, the identification code of essential safe type reference point terminal and nominal interval in the resolving information, filter each received signal intensity data, determine to participate in the pinpoint essential safe type reference point of target terminal; To selected essential safe type reference point terminal N continuous time transmission location token information, record transmitting time, each received signal intensity, and the time that receives the last item location token information of selected each essential safe type reference point terminal answer; Calculate two groups of distance values according to hybrid locating method, send it to the ground monitoring terminal.
Described ground monitoring terminal comprises: processor unit, reference point sign storage unit, power interface, probability of error distributed store unit, reference point locations storage unit and wireline interface.
Described essential safe type gateway comprises: CAN bus interface, PROFIBUS bus interface, LONWORKS bus interface, FF bus interface, interface conversion unit, power interface, radio interface unit, ultra-wideband antenna and on-off circuit.
Described intrinsic safety reference point terminal comprises: processor, identification code storage unit, battery, the interval storage unit of nominal, delayer, ultra-broadband signal generation unit, ultra broadband receiving element, ultra-wideband antenna and on-off circuit.
Described essential safe type locating terminal comprises: processor, identification code storage unit, battery, user interface section, signal intensity filtering circuit, ultra-broadband signal generation unit, ultra broadband receiving element, signal characteristic storage unit, signal characteristic collector, ultra-wideband antenna and on-off circuit.
Described underground equipment all adopts inbeing safe explosion prevention equipment.
Beneficial effect of the present invention is:
1. by adopting the ultra-broadband signal of strong time resolution, because signal dutyfactor is extremely low, multipath signal is separable in time, has improved the antijamming capability of localization method and system greatly.The use of super-broadband tech significantly reduces power consumption of terminal equipment simultaneously.And because do not need to adopt complicated modulation-demodulation technique, make system equipment simple in structure, volume is little, is fit to the use of down-hole particular surroundings.
2. the positioning service zone of each reference point during the scope of first step measuring and calculating target region, is divided by adopting continuously overlapping banded structure in the accurate location of realizing target by two step localization methods, makes localization method meet the long and narrow characteristics in tunnel more.Utilize simultaneously the received signal intensity method with target lock-on in the positioning service zone of the reference point of close together, greatly reduce the influence of the multipath effect that produces because of signal long-distance transmission to bearing accuracy, thereby weakened to the dependence of reference point locations precision, not high to the layout density requirements of reference point.
3. when second step, target was accurately located, obtain the data and received signal intensity data time of arrival of selected each reference point by N average disposal route in accumulation back, reduce nonideal channel circumstance and caused deviation of measuring value, make that two groups of distance values that calculate are more accurate, wherein the numerical value of N is chosen flexibly according to positioning accuracy request.
4. by analyzing the source of error of localization method time of arrival, and the path loss model of ultra-broadband signal in the tunnel, determine received signal intensity localization method and time of arrival localization method the probability of error distribute, and to two groups of distance value weighted, reduced the error of single distance-finding method in computation process, made that final positioning result is more accurate.
5. be main network structure by adopting, when a certain end-equipment of system breaks down, can not influence the normal operation of other parts of system, improved the change ability of combating a natural disaster of system in conjunction with bus-type with tree-like.Simultaneously, different with branches at different mine laneway layouts, this system architecture provides more convenient expansion means.
Description of drawings
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Fig. 1 is a first step measuring and calculating target of the present invention region scope method schematic diagram;
Fig. 2 is a positioning system composition frame chart of the present invention;
Fig. 3 is a localization method process flow diagram of the present invention;
Fig. 4 is a ground monitoring terminating circuit block diagram of the present invention;
Fig. 5 is an essential safe type gateway circuit block diagram of the present invention;
Fig. 6 is an essential safe type reference point terminating circuit block diagram of the present invention;
Fig. 7 is an essential safe type locating terminal circuit block diagram of the present invention;
Among the figure, 1, the locator data server; 2, ground monitoring terminal; 3, switch; 4, upper strata terminal; 5, essential safe type gateway; 6, intrinsically safe wireless relaying; 7, essential safe type reference point terminal; 8, essential safe type locating terminal.
Embodiment
Below in conjunction with embodiment listed in the above-mentioned accompanying drawing the present invention is further specified.At first first step measuring and calculating target region scope method in the method provided by the invention is described.With reference to Fig. 1, at first according to the mine working environment,, on the sustained height of the same side, tunnel, lay location reference point along the tunnel trend, be the center with each reference point, the tunnel is divided into a plurality of overlapping banded sub-districts continuously.The division of sub-district must guarantee the seamless covering in tunnel, and participates in the second step target pinpoint reference point quantity and be at least two, and each sub-district is the positioning service zone of center reference point.As shown in Figure 1, each circle is a sub-district, according to the scope of each sub-district, and in the time of can calculating target and enter this sub-district, the scope [d of distance between center reference point and the target
Jmin, d
Jmax] (d
Jmin, d
JmaxBe respectively center reference point and target distance in j the sub-district from minimum value and maximal value).Under the prerequisite of known reference point transmit signal power,, in the time of can calculating target and enter this sub-district, receive received signal strength measurement interval [P from the positioning signal of center reference point based on received signal intensity localization method
Jmin, P
Jmax] (P
Jmin, P
JmaxBe respectively target and receive the minimum value and the maximal value of j reference point positioning signal intensity), then this received signal strength measurement interval is the nominal interval of center reference point.When target localization, at first measure received signal intensity level P from the positioning signal of a plurality of reference point
j, and respectively with the nominal interval [P of corresponding reference point
Jmin, P
Jmax] relatively, if P
j∈ [P
Jmin, P
Jmax], then represent target within the positioning service zone of j reference point, and select this reference point to participate in next step target and accurately locate, can calculate the position range at target place according to selected reference point and corresponding positioning service sub-district like this.As shown in Figure 1, by the method for first step measuring and calculating target position scope, determine that participating in the pinpoint reference point of next step target is reference point 1 and reference point 2, then target is in the overlapping region of reference point 1 and reference point 2 positioning service sub-districts; If target enters the diagonal line hatches zone, then according to the method for first step measuring and calculating target region scope, can determine to participate in the pinpoint reference point of target is reference point 1, reference point 2 and reference point 3.
Fig. 2 is a positioning system composition frame chart of the present invention.As shown in Figure 2, radio ultra wide band system comprises uphole equipment and underground equipment two parts under the coal mine of the present invention.Uphole equipment comprises upper strata terminal 4, locator data server 1, ground monitoring terminal 2, switch 3; Underground equipment comprises essential safe type gateway 5, intrinsically safe wireless relaying 6, essential safe type reference point terminal 7, and essential safe type locating terminal 8.Locator data server and ground monitoring terminal constitute spider lines by switch and essential safe type gateway, and send the real-time positioning data to the upper strata terminal by the Internet network; The essential safe type gateway is articulated on the switch by bus in the tunnel; The essential safe type locating terminal is carried by underground operators or mechanical hook-up; The essential safe type locating terminal, essential safe type reference point terminal, intrinsically safe wireless relaying and essential safe type gateway constitute pulse ultra-broad band wireless location network.
Locator data server 1 is connected with ground monitoring terminal 2, receives and store the target position data from ground monitoring terminal 2.Ground monitoring terminal 2, installation site and tunnel according to each essential safe type reference point terminal distribute, determine the position data of each essential safe type reference point terminal, again according to the positioning service sub-district of each essential safe type reference point terminal 7 of division shown in Figure 1, and calculate each nominal interval according to essential safe type reference point terminal 7 emissive powers, by switch 3, essential safe type gateway 5 and intrinsically safe wireless relaying 6 send the nominal block information to each essential safe type reference point terminal 7; According to ultra-broadband signal transmission data in the actual measurement tunnel, determine received signal intensity localization method and localization method probability of error distribution time of arrival; Receive essential safe type locating terminal 8 that send with two groups of range informations selected each essential safe type reference point terminal, according to received signal intensity localization method and time of arrival the localization method probability of error distribute to its weighted calculation, and according to essential safe type reference point terminal 7 positional information calculation essential safe type locating terminals 8 positions, and send to locator data server 1; By the Internet network essential safe type locating terminal position data is sent to upper strata terminal 4.Switch 3 is connected with intrinsically safe wireless relaying 5, exchange nominal block information and range information in real time between ground monitoring terminal 2 and essential safe type reference point terminal 7, essential safe type locating terminal 8.Essential safe type gateway 5 is responsible for data and is changed between heterogeneous networks, receives the super wideband wireless data that intrinsically safe wireless relaying 5 sends, and converts thereof into cable data and send to switch 3; The cable data that desampler 3 sends converts thereof into ultra wide band radio signal and sends to intrinsically safe wireless relaying 5.Essential safe type reference point terminal 7 is distributed unique identification code, and monitor terminal 2 sends its identification code earthward, and obtains its nominal block information from ground monitoring terminal 2; Set up wireless connections with essential safe type locating terminal 8, receive the location token information of its transmission, and postpone certain hour, its identification code, its nominal interval, time delay and described information are sent it back essential safe type locating terminal 8.Essential safe type locating terminal 8 distributes unique identification code; Token information is located in broadcasting towards periphery at set intervals, and receive the locating information that each essential safe type reference point terminal 7 sends, extract the received signal intensity data, resolve the identification code and the nominal interval of essential safe type reference point terminal in the locating information, according to each nominal interval each is received data filtering, determine to participate in the pinpoint essential safe type reference point of target terminal; To selected essential safe type reference point terminal 7 N continuous time transmission location token information, record transmitting time, each received signal intensity, and the time that receives selected each essential safe type reference point terminal 7 the last item location token information; Calculate two groups of distance values according to hybrid locating method, send it to the ground monitoring terminal.
Fig. 3 is a localization method process flow diagram of the present invention.As shown in Figure 3, the ultra broadband localization method may further comprise the steps under the coal mine of the present invention:
A. distribute and working environment according to the tunnel, lay essential safe type reference point terminal, the ground monitoring terminal is determined each essential safe type reference point terminal location, divide the positioning service sub-district of each essential safe type reference point terminal as shown in Figure 1, and calculate each reference point nominal interval, and send it to each essential safe type reference point terminal; Calculate received signal intensity localization method and localization method probability of error distribution time of arrival according to ultra broadband propagation data in the actual measurement tunnel;
B. the essential safe type locating terminal is collected the received signal intensity data of the positioning signal of each essential safe type reference point terminal emission, according to described each nominal interval to received signal intensity data carry out filtering;
C. according to the filtering result, determine to participate in the pinpoint essential safe type reference point of target terminal, and according to measuring and calculating target region, selected reference point terminal positioning coverage scope;
D. the essential safe type locating terminal is collected the data and received signal intensity data time of arrival of the positioning signal of selected essential safe type reference point terminal emission, utilizes hybrid locating method to calculate the exact position of described target.
Steps A comprises the following steps:
A1. on the sustained height of the same side in tunnel, along certain distance, arrange essential safe type reference point terminal, and will arrange a bend reference point that the ground monitoring terminal is demarcated each reference point terminal location in the corner, tunnel;
A2. be the center with each essential safe type reference point terminal, the ground monitoring terminal is divided overlapping banded sub-district continuously along the tunnel, thinks that described sub-district is the positioning service zone of each center reference point terminal;
A3. the ground monitoring terminal is according to described positioning service regional extent, calculates in each sub-district the essential safe type locating terminal to the ultimate range and the minor increment of center essential safe type reference point terminal, promptly target to center reference point apart from interval;
A4. the intensity that transmits according to each reference point terminal of ground monitoring terminal and each is apart from interval, calculate the received signal intensity data interval of the positioning signal of locating terminal reception reference point terminal emission in each sub-district, and with the nominal interval of each received signal intensity data interval as each reference point terminal.Simultaneously, calculate received signal intensity localization method and localization method probability of error distribution time of arrival according to ultra broadband propagation data in the actual measurement tunnel.
Among the step B, essential safe type reference point terminal is at first obtained its nominal interval from the ground monitoring terminal, after the essential safe type locating terminal enters the tunnel, every interval certain hour is broadcasted the location token signal towards periphery, after essential safe type reference point terminal receives described signal, with its identification code, nominal location token signal packing interval and that receive sends to locating terminal, after locating terminal receives return information, the exceptional value in the described received signal intensity data of filtering is filtered in nominal interval according to each reference point terminal of extracting to each received signal intensity data.Described exceptional value is the caused received signal intensity data that will cause positioning error of signal reflex, and because the reference point terminal far may cause received signal to comprise the received signal intensity data of multipath signal apart from locating terminal.
Step C comprises the following steps:
C1. according to the filtering result, the essential safe type locating terminal extracts the identification code of each essential safe type reference point terminal in the remaining received signal, thinks that then these essential safe type reference point terminals are the pinpoint reference point terminal of participation target;
C2. according to the positioning service zone of selected essential safe type reference point terminal, measuring and calculating target region scope is thought the overlapping region of target in the positioning service sub-district of selected reference point terminal.
Hybrid locating method comprises the following steps: among the step D
D1. the essential safe type locating terminal sends the location token information to selected each essential safe type reference point terminal, and record transmitting time t
0
D2. after selected each essential safe type reference point terminal receives the location token information, delay time T
1, with described location token information together with its identification code, nominal interval and send to the essential safe type locating terminal time delay;
D3. after the essential safe type locating terminal is received return information, extract the essential safe type reference point host ID and the received signal intensity data that respectively receive information, repeating step D2 and D3, and N time and so forth, corresponding selected each essential safe type reference point terminal obtains a received signal intensity data sequence P
Ij(i=0,1 ..., N), and record essential safe type locating terminal receives the time t of the return information of selected each essential safe type reference point terminal emission for the last time
1j, wherein j represents selected j reference point, and i represents cumulative frequency, and the numerical value of N is chosen flexibly according to positioning accuracy request;
D4. when the corresponding same essential safe type reference point terminals of many received signals, think that then the bigger signal of received signal intensity data is as positioning signal;
D5. according to t writing time
0, t
1j, calculate data time of arrival of selected each essential safe type reference point terminal:
Wherein j represents selected j reference point;
D6. according to each received signal intensity data sequence P
Ij(i=0,1 ..., N), calculate the received signal intensity data of selected each essential safe type reference point terminal:
Wherein j represents selected j reference point, and i represents cumulative frequency;
D7. according to the data and received signal intensity data time of arrival of selected each essential safe type reference point terminal, obtain the distance value d of two groups of essential safe type locating terminals and selected each essential safe type reference point terminal respectively
TOAj=c* τ
jWith
And send to the ground monitoring terminal, and wherein c is ultra-broadband signal transmission speed in the tunnel, and k is a channel parameter, and wherein j represents selected j reference point;
D8. the ground monitoring terminal according to received signal intensity localization method and time of arrival localization method probability of error distribution f
RSS, f
TOA, utilize
Obtain the distance value of essential safe type locating terminal and selected each essential safe type reference point terminal, and list system of equations according to selected each essential safe type reference point terminal location
Calculate the exact position of essential safe type locating terminal, wherein j represents selected j reference point, and (x y) is the target location, (x
j, y
j) be the position of selected j reference point.
Fig. 4 is a ground monitoring terminating circuit block diagram of the present invention.As shown in Figure 4, ground monitoring terminal 2 comprises processor unit 20, probability of error distributed store unit 21, power interface 22, reference point sign storage unit 23, reference point locations storage unit 24 and wireline interface 25.Probability of error distributed store unit 21, power interface 22, reference point sign storage unit 23, reference point locations storage unit 24 all link to each other with processor unit 20 with wireline interface 25.Ground monitoring end error probability distribution storage unit 21, reference point sign storage unit 23 and reference point locations storage unit 24 comprise SDRAM and FLASH.Ground monitoring terminal wireline interface links to each other with locator data server and switch, and links to each other with the upper strata terminal by Internet, constitutes spider lines.The ground monitoring terminal distributes according to the installation site and the tunnel of each essential safe type reference point terminal, determine the position data of each essential safe type reference point terminal, and deposit it in reference point locations storage unit, and deposit each reference point identification code of correspondence in reference point sign storage unit.Calculate each nominal interval again according to the positioning service sub-district of dividing each essential safe type reference point terminal along the tunnel shown in Figure 1, and by processor unit, and in the reference point sign storage unit of depositing.According to time of arrival the localization method principle as can be known, its error comprises the error that measuring error and non line of sight situation produce, measuring error is generally obeyed the zero-mean gaussian random and is distributed.According to received signal intensity localization method principle, its error is by the path loss model decision of ultra-broadband signal, and promptly received signal power can be expressed as by emissive power, large scale decline, shadow fading and small scale decline decision:
Wherein, P
RBe received signal power; P
TBe transmit signal power;
Be large scale decline value, and
K is a channel parameter;
Be the shadow fading value;
Be small scale decline value.Therefore, before location work begins, the essential safe type locating terminal receives the data and received signal power value time of arrival of the ultra-broadband signal of essential safe type reference point terminal emission in the actual measurement tunnel, and determine non line of sight error profile, shadow fading and small scale decline error profile according to measured data and essential safe type reference point terminal transmit power, finally calculate time of arrival localization method and the probability of error of received signal intensity localization method distribute, and deposit probability of error distributed store unit in.The ground monitoring terminal receives the information that essential safe type reference point terminal sends by wireline interface, identification code in the processor unit information extraction, and with reference point sign storage unit in the comparison of reference point host ID, inquire corresponding nominal interval in the reference point sign storage unit, it is sent it back the reference point terminal by wireline interface; During the location, from wireline interface obtain each essential safe type locating terminal of down-hole that send with two groups of range informations selected each essential safe type reference point terminal, processor unit is according to two kinds of localization method probabilities of error distributed intelligence of probability of error distributed store unit storage, to two groups of range information weightings, and finally obtain the distance value of each essential safe type locating terminal and selected each essential safe type reference point terminal; According to the identification code of reference point terminal in the described information, inquire about the reference point locations storage unit simultaneously, the compute location terminal location, and send it to the locator data server, and target position data is sent to the upper strata terminal by the Internet network.
Fig. 5 is an essential safe type gateway circuit block diagram of the present invention.Down-hole essential safe type gateway is articulated on the switch by bus.The essential safe type gateway is finished data-switching between cable network and the wireless network, and it receives the super wideband wireless data that the intrinsically safe wireless relaying sends, and sends the data to switch; The cable data that desampler sends converts thereof into ultra wide band radio signal and sends to the intrinsically safe wireless relaying.As shown in Figure 5, essential safe type gateway 5 comprises interface conversion unit 50, wired interface unit 51, power interface 52, radio interface unit 53, ultra-wideband antenna 54A and on-off circuit 54B.Wherein, wired interface unit 51 comprises FF bus interface 51A, LONWORKS bus interface 51B, PROFIBUS bus interface 51C, CAN bus interface 51D, and it links to each other with interface conversion unit 50 respectively; Radio interface unit 53 comprises ultra-broadband signal generation unit 53A, ultra broadband receiving element 53B, and it links to each other with interface conversion unit 50 respectively.On-off circuit is the antenna mode switch, is used for the conversion of ultra-broadband signal between transmitting and receiving.Ultra-broadband signal generation unit 53A comprises that DS-UWB coding circuit and burst pulse produce circuit, are used for data-switching to be launched is become the direct sequence impulse ultra-wideband signal; Ultra broadband receiving element 53B comprises correlator and DS-UWB decoding circuit, is used for extracting data from the direct sequence impulse ultra-wideband signal that receives.Ultra-wideband antenna 54A links to each other with radio interface unit 53 with on-off circuit 54B, finishes the wireless transmit and the reception of data.Interface conversion unit is mainly finished protocol conversion, realizes the exchanges data between cable network and the wireless network.
Fig. 6 is an essential safe type reference point terminating circuit block diagram of the present invention.As shown in Figure 6, essential safe type reference point terminal 7 comprises processor 70, identification code storage unit 71, battery 72, the interval storage unit 73 of nominal, delayer 74, ultra-broadband signal generation unit 75, ultra broadband receiving element 76, ultra-wideband antenna 77A and on-off circuit 77B.Identification code storage unit 71, battery 72, the interval storage unit 73 of nominal, delayer 74, ultra-broadband signal generation unit 75, ultra broadband receiving element 76 all link to each other with processor unit 70.The interval storage unit 73 of essential safe type reference point terminal iidentification code memory unit 71 and nominal and comprise SDRAM and FLASH.On-off circuit is the antenna mode switch, is used for the conversion of ultra-broadband signal between transmitting and receiving.Ultra-broadband signal generation unit 75 comprises that DS-UWB coding circuit and burst pulse produce circuit, are used for data-switching to be launched is become the direct sequence impulse ultra-wideband signal; Ultra broadband receiving element 76 comprises correlator and DS-UWB decoding circuit, is used for extracting data from the direct sequence impulse ultra-wideband signal that receives.Ultra-wideband antenna 77A links to each other with processor 70 with on-off circuit 77B, finishes the wireless transmit and the reception of data.Delayer 74 is used to produce the emission delay of essential safe type reference point terminal.Essential safe type reference point terminal obtains unique identification code by the identification code storage unit, and by ultra-broadband signal generation unit, on-off circuit and ultra-wideband antenna earthward monitor terminal send its identification code, and obtain its nominal block information from the ground monitoring terminal by ultra-wideband antenna, on-off circuit and ultra broadband receiving element, deposit it in nominal interval storer.Essential safe type reference point terminal is set up super wideband wireless with on-off circuit with the essential safe type locating terminal by ultra-wideband antenna and is connected, receive the location token information of its transmission by ultra-wideband antenna and ultra broadband receiving element, and postpone certain hour by delayer, with described information, time delay with and identification code and nominal interval send to the essential safe type locating terminal by ultra-broadband signal generation unit and ultra-wideband antenna.Simultaneously, essential safe type reference point terminal also is equipped with explosion-resistant enclosure, and battery.
Fig. 7 is an essential safe type locating terminal circuit block diagram of the present invention.As shown in Figure 7, essential safe type locating terminal 8 comprises processor 80, identification code storage unit 81, battery 82, user interface section 83, signal intensity filtering circuit 84, ultra-broadband signal generation unit 85, ultra broadband receiving element 86, signal characteristic storage unit 87, signal characteristic collector 88, ultra-wideband antenna 89A and on-off circuit 89B.Identification code storage unit 81, battery 82, user interface section 83, signal intensity filtering circuit 84, ultra-broadband signal generation unit 85, ultra broadband receiving element 86 all link to each other with processor 80.Signal intensity filtering circuit 84 links to each other with signal characteristic storage unit 87, and obtains the nominal interval by processor 80, is used for the received signal intensity data of gathering is carried out filtering.Signal characteristic collector 88 links to each other with on-off circuit 89B, be used to extract reception the reference point emission positioning signal the received signal intensity data and time of arrival data; Link to each other with signal characteristic storage unit 87, deposit the signal characteristic data of gathering in the signal characteristic storage unit.Essential safe type locating terminal identification code storage unit 81 and signal characteristic storage unit 87 comprise SDRAM and FLASH.The identification code that essential safe type locating terminal identification code storage unit is used to store the identification code of target and participates in the pinpoint essential safe type reference point of second step target terminal.Ultra-broadband signal generation unit 85 comprises that DS-UWB coding circuit and burst pulse produce circuit, are used for data-switching to be launched is become the direct sequence impulse ultra-wideband signal; Ultra broadband receiving element 86 comprises correlator and DS-UWB decoding circuit, is used for extracting data from the direct sequence impulse ultra-wideband signal that receives.Ultra-wideband antenna 89A links to each other with processor 80 with on-off circuit 89B, finishes the wireless transmit and the reception of data.On-off circuit 89B is the antenna mode switch, is used for the conversion of ultra-broadband signal between transmitting and receiving.Essential safe type locating end-user interface unit 83 comprises transfer table LCD display and keyboard.The essential safe type locating terminal obtains unique identification code by the identification code storer; Locate token information by the broadcasting towards periphery at set intervals of ultra-broadband signal generation unit, on-off circuit and ultra-wideband antenna; Receive the locator data that essential safe type reference point terminal sends by ultra-wideband antenna, on-off circuit and ultra broadband receiving element; Obtain the received signal intensity data of each received signal by the signal characteristic collector, deposit the signal characteristic storage unit in; Utilize processor to extract the interval and corresponding reference point host ID of nominal in each received signal; By signal strength data filtering circuit and each nominal interval each received signal intensity data is carried out filtering, determine to participate in the pinpoint reference point of target, and deposit corresponding reference point host ID in the identification code storage unit; Ultra-broadband signal generation unit and ultra-wideband antenna N continuous time transmission location token information, the record transmitting time; Receive the locator data that essential safe type reference point terminal sends by ultra-wideband antenna, on-off circuit and ultra broadband receiving element, and extract reference point host ID in each data, compare with reference point host ID in the identification code storage unit, choose the locator data of selected reference point terminal emission; Obtain the received signal intensity data of selected each locator data by the signal characteristic collector, and data time of arrival that receive selected each essential safe type reference point terminal the last item location token information; Calculate the distance value of two groups of essential safe type locating terminals and selected each essential safe type reference point terminal by processor, it is sent to the ground monitoring terminal by ultra-broadband signal generation unit and ultra-wideband antenna.Simultaneously, the essential safe type locating terminal also is equipped with explosion-resistant enclosure, and battery.
By above in conjunction with the accompanying drawings to the description of the specific embodiment of the invention, ultra broadband localization method and system under a kind of coal mine provided by the invention, with the ultra-broadband signal is media, according to the mine laneway actual working environment, by the accurate real-time positioning of two steps localization methods realization to target.The present invention at first utilizes simple in structure, low in energy consumption, the ultra broadband location technology that ability of anti-multipath is strong and resolving power is high, move towards according to the tunnel, one side is laid reference point at a certain distance in the tunnel, by the demarcation in advance to reference point positioning service sub-district, estimates the nominal interval of each reference point, each received signal intensity data is filtered measuring and calculating zone, target position; Again according to the average disposal route in accumulation back obtain each reference point the received signal intensity data and time of arrival data, thereby reduce measuring error, at last by received signal intensity localization method and time of arrival localization method the probability of error distribute two groups of distance values be weighted, reduce the error of computation process, finally utilize less reference point to realize the accurate location of target.
Claims (14)
1. ultra broadband localization method under the coal mine is characterized in that, may further comprise the steps:
A. distribute and working environment according to the tunnel, lay location reference point, move towards to divide the positioning service zone of each reference point along the tunnel, the nominal interval of calculating each reference point;
B. collect the received signal intensity data of the positioning signal of each reference point emission, according to described nominal interval to received signal intensity data carry out filtering;
C. according to the filtering result, determine to participate in the pinpoint reference point of target, and according to selected reference point positioning service zone measuring and calculating target region scope;
D. collect the data and received signal intensity data time of arrival of the positioning signal of selected reference point emission, utilize hybrid locating method to calculate the exact position of described target.
2. method according to claim 1 is characterized in that described steps A comprises the following steps:
A1. in the certain distance in sustained height upper edge, the same side in tunnel, lay location reference point, and arrange a bend reference point in the corner, tunnel;
A2. be the center with each reference point, divide overlapping banded sub-district continuously along the tunnel, think that described sub-district is the positioning service zone of each center reference point;
A3. according to described positioning service regional extent, calculate ultimate range and the minor increment of each sub-district internal object to center reference point, promptly target to center reference point apart from interval;
A4. the intensity that transmits according to each reference point and described each apart from interval, calculate the received signal intensity data interval that each sub-district internal object receives the positioning signal of center reference point emission, think that described received signal intensity data interval is the nominal interval of center reference point.
3. method according to claim 1 is characterized in that, described time of arrival, data and received signal intensity data were to obtain from the ultra-broadband signal of described reference point emission.
4. method according to claim 1 is characterized in that, among the described step B, according to the nominal interval of described each reference point each received signal intensity data is filtered the exceptional value in the described received signal intensity data of filtering.
5. method according to claim 4, it is characterized in that, described exceptional value is the caused received signal intensity data that will cause positioning error of signal reflex, and because the reference point distance objective causes the received signal intensity data that received signal comprises multipath signal than long-range guided missile.
6. method according to claim 1 is characterized in that described step C comprises the following steps:
C1. according to the filtering result, determine to participate in the pinpoint reference point of target;
C2. according to the positioning service zone of selected reference point, measuring and calculating target region scope is thought the overlapping region of target in selected reference point positioning service sub-district.
7. method according to claim 1 is characterized in that hybrid locating method comprises the following steps: among the described step D
D1. target sends the location token information to selected each reference point, and record transmitting time t
0
D2. after selected reference point receives described information, delay time T
1, time delay and described information are sent it back target;
D3. after target receives the return information of selected reference point emission, extract the received signal intensity data, and send location token information, repeating step D2 and D3 to selected reference point once more, and N time and so forth, corresponding selected each reference point obtains a received signal intensity data sequence P
Ij(i=0,1 ..., N), and record object receives the time t of the return information of reference point emission for the last time
1j, wherein j represents selected j reference point, i represents cumulative frequency;
D4. work as a plurality of received signals from same reference point, think that the bigger signal of received signal intensity data is a positioning signal;
D5. according to described writing time of t
0, t
1j, data time of arrival of selected each reference point of calculating:
Wherein j represents selected j reference point;
D6. according to described each received signal intensity data sequence P
Ij(i=0,1 ..., N), calculate the received signal intensity data of selected each reference point:
Wherein j represents selected j reference point, and i represents cumulative frequency;
D7. according to the data and received signal intensity data time of arrival of selected each reference point, calculate the distance value d of two groups of targets and selected each reference point
TOAj=c* τ
jWith
Wherein c is ultra-broadband signal transmission speed in the tunnel, and k is a channel parameter, and j represents selected j reference point;
D8. according to the actual measurement tunnel in the ultra wideband transmissions data, determine received signal intensity localization method and time of arrival localization method probability of error distribution f
RSSAnd f
TOA, utilize
Determine the distance value d of target and selected each reference point
j, wherein j represents selected j reference point;
D9. the position according to selected each reference point obtains system of equations
Determine the target position, wherein j represents selected j reference point, and (x y) is the target location, (x
j, y
j) be the position of selected j reference point.
8. method according to claim 1 is characterized in that, realizes by a direct sequence impulse radio ultra wide band system.
9. ultra broadband positioning system under the coal mine comprises uphole equipment and underground equipment, it is characterized in that described uphole equipment comprises the upper strata terminal, locator data server, ground monitoring terminal, switch; Described underground equipment comprises the essential safe type gateway, intrinsically safe wireless relaying, essential safe type reference point terminal, and essential safe type locating terminal; Locator data server (1) and ground monitoring terminal (2) constitute spider lines by switch (3) and essential safe type gateway (5), and send the real-time positioning data to upper strata terminal (4) by the Internet network; Essential safe type gateway (5) is articulated on the switch (3) by bus in the tunnel; Essential safe type locating terminal (8) is carried by underground operators or mechanical hook-up; Essential safe type locating terminal (8), essential safe type reference point terminal (7), intrinsically safe wireless relaying (6) and essential safe type gateway (5) constitute pulse ultra-broad band wireless location network;
Described locator data server (1) receives and the store location location data of terminals;
Described ground monitoring terminal (2), record essential safe type reference point location information of terminals; Divide the positioning service sub-district; Calculate each essential safe type reference point terminal nominal interval, and send to essential safe type reference point terminal; Calculate received signal intensity localization method and localization method probability of error distribution time of arrival; Receive the essential safe type locating terminal that send with two groups of range informations selected each essential safe type reference point terminal, according to received signal intensity localization method and time of arrival the localization method probability of error distribute to its weighted calculation, and according to selected each essential safe type reference point terminal positional information calculating essential safe type locating terminal position, and send to locator data server and upper strata terminal;
Described switch (3) and described intrinsically safe wireless relaying (6) are transmitted nominal block information and real-time range information;
Described essential safe type gateway (5) receives the super wideband wireless data that the intrinsically safe wireless relaying sends, and converts thereof into cable data and send to switch; The cable data that desampler sends, and convert thereof into the super wideband wireless data and send to the intrinsically safe wireless relaying;
Described essential safe type reference point terminal (7) is distributed unique identification code; Obtain its nominal block information from the ground monitoring terminal; Receive the location token information that the essential safe type locating terminal sends, and postpone certain hour, its identification code, nominal interval, time delay and described information are sent it back the essential safe type locating terminal;
Described essential safe type locating terminal (8) distributes unique identification code; Token information is located in broadcasting at set intervals, and the locating information of reception essential safe type reference point terminal answer, extract the received signal intensity data, the identification code of essential safe type reference point terminal and nominal interval in the resolving information, filter each received signal intensity data, determine to participate in the pinpoint essential safe type reference point of target terminal; To selected essential safe type reference point terminal N continuous time transmission location token information, record transmitting time, each received signal intensity, and the time that receives the last item location token information of selected each essential safe type reference point terminal answer; Calculate two groups of distance values according to hybrid locating method, send it to the ground monitoring terminal.
10. system according to claim 9 is characterized in that, described ground monitoring terminal (2) comprising: processor unit, reference point sign storage unit, power interface, probability of error distributed store unit, reference point locations storage unit and wireline interface.
11. system according to claim 9, it is characterized in that described essential safe type gateway (5) comprising: CAN bus interface, PROFIBUS bus interface, LONWORKS bus interface, FF bus interface, interface conversion unit, power interface, radio interface unit, ultra-wideband antenna and on-off circuit.
12. system according to claim 9, it is characterized in that described intrinsic safety reference point terminal (7) comprising: processor, identification code storage unit, battery, the interval storage unit of nominal, delayer, ultra-broadband signal generation unit, ultra broadband receiving element, ultra-wideband antenna and on-off circuit.
13. system according to claim 9, it is characterized in that described essential safe type locating terminal (8) comprising: processor, identification code storage unit, battery, user interface section, signal intensity filtering circuit, ultra-broadband signal generation unit, ultra broadband receiving element, signal characteristic storage unit, signal characteristic collector, ultra-wideband antenna and on-off circuit.
14. system according to claim 9 is characterized in that, described underground equipment all adopts inbeing safe explosion prevention equipment.
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