CN102625238A - Precise positioning method and system for mine - Google Patents
Precise positioning method and system for mine Download PDFInfo
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- CN102625238A CN102625238A CN2012100664997A CN201210066499A CN102625238A CN 102625238 A CN102625238 A CN 102625238A CN 2012100664997 A CN2012100664997 A CN 2012100664997A CN 201210066499 A CN201210066499 A CN 201210066499A CN 102625238 A CN102625238 A CN 102625238A
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Abstract
The invention discloses a precise positioning method for a mine, and aims to provide an underground staff positioning method with high positioning precision. The method comprises the following steps of: setting a plurality of positioning base stations and a plurality of positioning cards which are communicated with the positioning base stations by adopting a ZigBee technology; setting one of the positioning base stations as a main positioning station, and measuring the distance between the main positioning station and a positioning card; setting another positioning base station which is positioned on the fixed side of the main positioning station as an auxiliary positioning station, and measuring the distance between the auxiliary positioning station and the positioning card; reporting the distance between the auxiliary positioning station and the positioning card to the main positioning station by using the auxiliary positioning station in a wireless way; and determining the direction of the positioning card by using the main positioning station according to the distance between the main positioning station and the positioning card and the distance between the auxiliary positioning station and the positioning card, and positioning the position of the positioning card precisely. The method can be used for positioning underground staff of the mine.
Description
Technical field
The present invention relates to pit gear, especially relate to a kind of mine accurate positioning method and system.
Background technology
The heavy industry that pit mining takes place frequently as security incident, very high to the requirement of safety supervision management system.The position monitoring of mine personnel has very important effect at aspects such as mine production management, security decision, rescue and relief works.The domestic mine position monitoring system that comes into operation generally only supports inquiry and statistics to personnel in the pit and equipment regional extent of living at present, and the zone location covering radius is that 15～300 m do not wait.Because accurately real-time positional information can't be provided, in case mine generation emergency episode disaster, existing area positioning system can't provide effective information support for rescue.And the information that the down-hole high-accuracy position system provides will judged the distress personnel position, draft the circuit of speedily carrying out rescue work, guarantee aspects performance key effects such as disaster relief safety, retrieve the losses of personnel's life security and national wealth to greatest extent.But all there is the not high defective of positioning accuracy in existing mine navigation system.
Summary of the invention
The present invention provides a kind of mine accurate positioning method and system in order to solve the technical problem that all there is the not high defective of positioning accuracy in prior art mine navigation system.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts comprises the following steps: for a kind of mine accurate positioning method of design
The locator card that some locating base station and some and said locating base station adopt the ZigBee technology to communicate is set;
One that sets in the locating base station is positioning master station, and the distance between measurement and positioning main website and the locator card;
Another locating base station that setting is positioned at the fixing side of positioning master station is the location extension station, and the distance between measurement and positioning extension station and the locator card;
Distance between extension station and the locator card will be located through the wireless positioning master station that reports by the location extension station; Positioning master station is accurately located the position of locator card according to the direction of the distance judgement locator card between the distance between positioning master station and the locator card and location extension station and the locator card.
Said mine accurate positioning method comprises that also positioning master station passes to aboveground server with the position of locator card through wired, and aboveground server accurately shows the location map of every locator card.
Distance between said positioning master station and the locator card be through the measurement and positioning main website to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air; Distance between said location extension station and the locator card be through the measurement and positioning extension station to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air.
Said mine accurate positioning method also comprises:
Said locator card dormancy wakes up once several seconds, and the measurement and positioning main website intercepted positioning master station and whether sends out the information of withdrawing to propagation of wireless signal time of delay between the locator card;
Aboveground server sends the information of withdrawing to positioning master station, again by positioning master station through the wireless locator card that is forwarded to;
The alarm emergency occurred after locator card received the information of withdrawing of positioning master station.
Said mine accurate positioning method also comprises:
Locator card sends distress signal to positioning master station;
Positioning master station according to positioning master station to propagation of wireless signal time of delay between the locator card; Judge whether need to judge direction, if desired, the measurement and positioning extension station is to propagation of wireless signal time of delay between the locator card again; Judge the direction of locator card, obtain the position of locator card;
Positioning master station reports the distress signal and position to the aboveground server of locator card.
The invention also discloses a kind of mine Precise Position System, said mine Precise Position System comprises:
Positioning master station, the locator card that is positioned at positioning master station fixing side location extension station and adopts the ZigBee technology to communicate with said positioning master station and location extension station; Wherein:
Distance between said location measurement and positioning extension station of extension station and the locator card, and will locate distance between extension station and the locator card through the wireless positioning master station that reports; Distance between said positioning master station measurement and positioning main website and the locator card, and according to the direction apart from the judgement locator card between the distance between positioning master station and the locator card and location extension station and the locator card, the position of locator card is accurately located.
Said mine Precise Position System also comprise one with the aboveground server of said positioning master station wired connection, said aboveground server receives the position of the locator card that said positioning master station transmits, and accurately shows the location map of every locator card.
Distance between said positioning master station and the locator card be through the measurement and positioning main website to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air; Distance between said location extension station and the locator card be through the measurement and positioning extension station to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air.
Said locator card also comprises a rescue alarm module to positioning master station transmission distress signal.。
The present invention is through positioning master station and location extension station; Come accurately to measure the position of locator card; And all adopt the ZigBee technology to communicate between positioning master station and the locator card and between location extension station and the locator card, and make positioning accuracy very high, have low-power consumption simultaneously again; Highly reliable, the advantage of high coverage.
Description of drawings
Below in conjunction with embodiment and accompanying drawing the present invention is elaborated, wherein:
Fig. 1 is the flow chart of mine accurate positioning method of the present invention;
Fig. 2 is that the direction of the locator card of mine accurate positioning method of the present invention is judged sketch map one;
Fig. 3 is that the direction of the locator card of mine accurate positioning method of the present invention is judged sketch map two
Fig. 4 is the schematic diagram of mine Precise Position System of the present invention.
Embodiment
Problems such as RSS (received signal strength) the localization method positioning accuracy that the present invention is used to solve based on received field strength is not high, and environmental impact is big.The present invention is based on symmetric double and find range to the time of advent, every five seconds carries out a bidirectional ranging data acquisition, and through the base station data message is calculated in real time.Through combining the location extension station, judge the direction of locator card simultaneously to the distance between the locator card.The wireless transmission aspect adopts the Zigbee agreement, through the transmission of the distress signals of finding range and report to the police between mining base station, down-hole and the locator card, and the final human-computer interaction interface that is reported to aboveground server through the cable network between the mining base station.In the pinpoint while, also can realize the ground monitoring center to downhole personnel management, the personnel in the pit is to miscellaneous functions such as Surveillance center's emergency.
See also Fig. 1.Mine accurate positioning method of the present invention comprises the following steps:
The first step, the locator card that some locating base station and some and said locating base station adopt the ZigBee technology to communicate is set.
ZigBee be a kind of emerging closely, low complex degree, low-power consumption, low data rate, radio network technique cheaply, it is a kind of technology between radio mark technology and bluetooth, is mainly used near radio and connects.Therefore, adopt the Zigbee technology as the wireless location of mine personnel and upload data-selected scheme, have high accuracy, low-power consumption, highly reliable, the characteristics of high coverage.The present invention really utilizes between positioning master station and the locator card and between location extension station and the locator card and all adopts the ZigBee technology to communicate, and makes positioning accuracy very high, has low-power consumption again simultaneously, and is highly reliable, the advantage of high coverage.
One in second step, the setting locating base station is positioning master station, and the distance between measurement and positioning main website and the locator card.
Through positioning master station under the measuring well to propagation of wireless signal t1 time of delay (TOF between the locator card; Time Of Flight); The speed c that propagates in air according to electromagnetic wave again multiply by the speed c that electromagnetic wave propagates and can draw the distance between positioning master station and the locator card through calculating propagation delay time t1 in air.
Another locating base station that the 3rd step, setting are positioned at the fixing side of positioning master station is the location extension station, and the distance between measurement and positioning extension station and the locator card.
Locate extension station down to the (TOF of propagation of wireless signal t2 time of delay between the locator card through measuring well; Time Of Flight); The speed c that propagates in air according to electromagnetic wave again multiply by the speed c that electromagnetic wave propagates and can draw the distance between location extension station and the locator card through calculating propagation delay time t2 in air.
Distance between extension station and the locator card will be located through the wireless positioning master station that reports by the 4th step, location extension station; Positioning master station is accurately located the position of locator card according to the direction of the distance judgement locator card between the distance between positioning master station and the locator card and location extension station and the locator card.
Please in the lump referring to Fig. 2 and Fig. 3.Concrete judgement is following:
Definition SC snaps into the distance of positioning master station for the location; LC snaps into the distance of location extension station for the location.
If SC>LC, then locator card and location extension station are positioned at the same side of positioning master station, if < LC, then locator card and location extension station are positioned at the not homonymy of positioning master station to SC.Regulation simultaneously | SC| 15 meters the time, think that locator card near the extension station of location, need not judge direction, and effectively avoid occurring SC and LC very near the time situation that direction is judged by accident appears.
The 5th step, positioning master station are passed to aboveground server with the position of locator card through wired, and aboveground server accurately shows the location map of every locator card.
The prevention and the rescue of the accident that is shown as of aboveground server provide convenient and intuitive information.
The present invention also has the rescue alarm function; The background monitor of aboveground server can be withdrawn signal through there being the alignment positioning master station to send out; Again by positioning master station through the wireless locator card that is forwarded to; Locator card also can signal for help to positioning master station, is reported to the background monitor of aboveground server again by positioning master station.Mining locator card is a periodicity dormancy equipment.Wherein:
Aboveground server is sent out the concrete grammar of withdrawing signal:
1, said locator card dormancy wakes up once several seconds, and the measurement and positioning main website intercepted positioning master station and whether sends out the information of withdrawing to propagation of wireless signal time of delay between the locator card; In this specific embodiment, can whenever wake up once at a distance from 5 seconds;
2, aboveground server sends the information of withdrawing to positioning master station, again by positioning master station through the wireless locator card that is forwarded to;
3, the alarm emergency occurred after locator card received the information of withdrawing of positioning master station.
The concrete grammar that locator card signals for help is:
1, locator card sends distress signal to positioning master station;
2, positioning master station according to positioning master station to propagation of wireless signal time of delay between the locator card; Judge whether need to judge direction, if desired, the measurement and positioning extension station is to propagation of wireless signal time of delay between the locator card again; Judge the direction of locator card, obtain the position of locator card;
3, positioning master station reports the distress signal and position to the aboveground server of locator card.
See also Fig. 4.The locator card that a kind of mine Precise Position System of the present invention comprises aboveground server, positioning master station, is positioned at positioning master station fixing side location extension station and adopts the ZigBee technology to communicate with said positioning master station and location extension station.Positioning master station is a base station under the mine with the location extension station.Wherein:
Can be TOF each other between positioning master station and the locator card, can mutual measuring well under positioning master station to propagation of wireless signal time of delay between the locator card.Also can be TOF each other between locating base station and the locator card, can mutual measuring well down the location extension station to propagation of wireless signal time of delay between the locator card.Distance between said location measurement and positioning extension station of extension station and the locator card, and will locate distance between extension station and the locator card through the wireless positioning master station that reports; Distance between said positioning master station measurement and positioning main website and the locator card, and according to the direction apart from the judgement locator card between the distance between positioning master station and the locator card and location extension station and the locator card, the position of locator card is accurately located.Distance between said positioning master station and the locator card be through the measurement and positioning main website to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air; Distance between said location extension station and the locator card be through the measurement and positioning extension station to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air.
Aboveground server and said positioning master station wired connection, said aboveground server receive the position of the locator card that said positioning master station transmits, and accurately show the location map of every locator card.
Said locator card also comprises a rescue alarm module to positioning master station transmission distress signal.After starting the rescue alarm module on the locator card, locator card sends distress signal to positioning master station, and cries for help to aboveground server through positioning master station.Aboveground server also can be sent out the information of withdrawing to locator card through positioning master station
The present invention adopts the Zigbee technology as wireless gas data upload scheme, has low-power consumption, and is highly reliable, the characteristics of high coverage.The present invention has adopted the placement technology based on TOF (Time of Flight), can accurately show the location map of every locator card at aboveground server, for the prevention and the rescue of accident provides convenient and intuitive information.The present invention has also adopted emergency to withdraw the design of warning in addition, and locator card can be cried for help to aboveground server through positioning master station, and aboveground server also can be sent out the information of withdrawing to locator card through positioning master station.
The present invention is through positioning master station and location extension station; Come accurately to measure the position of locator card; And all adopt the ZigBee technology to communicate between positioning master station and the locator card and between location extension station and the locator card, and make positioning accuracy very high, have low-power consumption simultaneously again; Highly reliable, the advantage of high coverage.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a mine accurate positioning method is characterized in that comprising the following steps:
The locator card that some locating base station and some and said locating base station adopt the ZigBee technology to communicate is set;
One that sets in the locating base station is positioning master station, and the distance between measurement and positioning main website and the locator card;
Another locating base station that setting is positioned at the fixing side of positioning master station is the location extension station, and the distance between measurement and positioning extension station and the locator card;
Distance between extension station and the locator card will be located through the wireless positioning master station that reports by the location extension station; Positioning master station is accurately located the position of locator card according to the direction of the distance judgement locator card between the distance between positioning master station and the locator card and location extension station and the locator card.
2. mine accurate positioning method according to claim 1; It is characterized in that: said mine accurate positioning method comprises that also positioning master station passes to aboveground server with the position of locator card through wired, and aboveground server accurately shows the location map of every locator card.
3. mine accurate positioning method according to claim 1; It is characterized in that: the distance between said positioning master station and the locator card be through the measurement and positioning main website to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air; Distance between said location extension station and the locator card be through the measurement and positioning extension station to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air.
4. mine accurate positioning method according to claim 1 is characterized in that: said mine accurate positioning method also comprises:
Said locator card dormancy wakes up once several seconds, and the measurement and positioning main website intercepted positioning master station and whether sends out the information of withdrawing to propagation of wireless signal time of delay between the locator card;
Aboveground server sends the information of withdrawing to positioning master station, again by positioning master station through the wireless locator card that is forwarded to;
The alarm emergency occurred after locator card received the information of withdrawing of positioning master station.
5. mine accurate positioning method according to claim 1 is characterized in that: said mine accurate positioning method also comprises:
Locator card sends distress signal to positioning master station;
Positioning master station according to positioning master station to propagation of wireless signal time of delay between the locator card; Judge whether need to judge direction, if desired, the measurement and positioning extension station is to propagation of wireless signal time of delay between the locator card again; Judge the direction of locator card, obtain the position of locator card;
Positioning master station reports the distress signal and position to the aboveground server of locator card.
6. mine Precise Position System, it is characterized in that: said mine Precise Position System comprises:
Positioning master station, the locator card that is positioned at positioning master station fixing side location extension station and adopts the ZigBee technology to communicate with said positioning master station and location extension station; Wherein:
Distance between said location measurement and positioning extension station of extension station and the locator card, and will locate distance between extension station and the locator card through the wireless positioning master station that reports; Distance between said positioning master station measurement and positioning main website and the locator card, and according to the direction apart from the judgement locator card between the distance between positioning master station and the locator card and location extension station and the locator card, the position of locator card is accurately located.
7. mine Precise Position System according to claim 6; It is characterized in that: said mine Precise Position System also comprise one with the aboveground server of said positioning master station wired connection; The position of the locator card that the said positioning master station that receives said aboveground server transmits, and accurately show the location map of every locator card.
8. mine Precise Position System according to claim 6; It is characterized in that: the distance between said positioning master station and the locator card be through the measurement and positioning main website to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air; Distance between said location extension station and the locator card be through the measurement and positioning extension station to propagation of wireless signal time of delay between the locator card, multiply by the speed calculation that electromagnetic wave propagates again and obtain in air.
9. mine Precise Position System according to claim 6 is characterized in that: said locator card also comprises a rescue alarm module to positioning master station transmission distress signal.
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| CN2012100664997A CN102625238A (en) | 2012-03-14 | 2012-03-14 | Precise positioning method and system for mine |
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| CN2012100664997A CN102625238A (en) | 2012-03-14 | 2012-03-14 | Precise positioning method and system for mine |
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Cited By (8)
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| CN103052153A (en) * | 2012-12-31 | 2013-04-17 | 中国矿业大学(北京) | Underground coal mine WiFi (Wireless Fidelity) staff positioning system and positioning method based on TOA (Time of Arrival) |
| CN103648077A (en) * | 2013-12-14 | 2014-03-19 | 山东中科纳米管材有限公司 | Zigbee-based coal mine underground personnel positioning and information transmission system |
| CN103687003A (en) * | 2013-12-20 | 2014-03-26 | 北京航天测控技术有限公司 | Positioning device and positioning method |
| CN104062629A (en) * | 2014-07-04 | 2014-09-24 | 引通通讯科技（上海）有限公司 | Method and system for precisely positioning mine |
| CN106597419A (en) * | 2017-01-03 | 2017-04-26 | 中国矿业大学(北京) | Underground coal mine accurate positioning method without clock synchronization |
| CN107172696A (en) * | 2017-06-20 | 2017-09-15 | 深圳市翌日科技有限公司 | A kind of TOF one-dimensional positionings base station and localization method |
| CN109362033A (en) * | 2018-12-26 | 2019-02-19 | 南京北路自动化系统有限责任公司 | A kind of mining base station positioning system and localization method |
| CN113194402A (en) * | 2021-04-02 | 2021-07-30 | 天地（常州）自动化股份有限公司 | Underground vehicle single-station direction determination method based on accurate positioning |
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| CN1897746A (en) * | 2005-07-15 | 2007-01-17 | 华为技术有限公司 | Terminal positioning method, mobile-terminal positioning system and mobile terminal |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103052153A (en) * | 2012-12-31 | 2013-04-17 | 中国矿业大学(北京) | Underground coal mine WiFi (Wireless Fidelity) staff positioning system and positioning method based on TOA (Time of Arrival) |
| CN103052153B (en) * | 2012-12-31 | 2015-04-29 | 中国矿业大学(北京) | Underground coal mine WiFi (Wireless Fidelity) staff positioning system and positioning method based on TOA (Time of Arrival) |
| CN103648077A (en) * | 2013-12-14 | 2014-03-19 | 山东中科纳米管材有限公司 | Zigbee-based coal mine underground personnel positioning and information transmission system |
| CN103687003A (en) * | 2013-12-20 | 2014-03-26 | 北京航天测控技术有限公司 | Positioning device and positioning method |
| CN103687003B (en) * | 2013-12-20 | 2017-01-11 | 北京航天测控技术有限公司 | Positioning device and positioning method |
| CN104062629A (en) * | 2014-07-04 | 2014-09-24 | 引通通讯科技（上海）有限公司 | Method and system for precisely positioning mine |
| CN106597419A (en) * | 2017-01-03 | 2017-04-26 | 中国矿业大学(北京) | Underground coal mine accurate positioning method without clock synchronization |
| CN106597419B (en) * | 2017-01-03 | 2019-04-16 | 中国矿业大学(北京) | The underground coal mine accurate positioning method synchronous without clock |
| CN107172696A (en) * | 2017-06-20 | 2017-09-15 | 深圳市翌日科技有限公司 | A kind of TOF one-dimensional positionings base station and localization method |
| CN107172696B (en) * | 2017-06-20 | 2020-06-16 | 深圳市翌日科技有限公司 | Positioning method executed by TOF one-dimensional positioning base station |
| CN109362033A (en) * | 2018-12-26 | 2019-02-19 | 南京北路自动化系统有限责任公司 | A kind of mining base station positioning system and localization method |
| CN113194402A (en) * | 2021-04-02 | 2021-07-30 | 天地（常州）自动化股份有限公司 | Underground vehicle single-station direction determination method based on accurate positioning |
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Application publication date: 20120801 |