CN102638763A - Underground electromagnetic-wave ultrasound united positioning system and method - Google Patents
Underground electromagnetic-wave ultrasound united positioning system and method Download PDFInfo
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Abstract
The invention discloses an underground electromagnetic-wave ultrasound united positioning system and method for a coal mine. The system comprises a ground monitoring terminal on the ground, an underground central station, a plurality of gateway nodes, an optical fiber, a bus, a plurality of anchor nodes, a plurality of mobile nodes and an upper terminal arranged at a far end, wherein the underground equipment is intrinsic safety equipment. The method is a united positioning method, wherein electromagnetic waves are matched with ultrasonic waves; according to the space structure of a roadway and the properties and characteristics of the electromagnetic waves and the ultrasonic waves, the mobile nodes capable of simultaneously emitting two wireless signals of the electromagnetic waves and the ultrasonic waves are adopted; according to a logarithm-normal model, the electromagnetic waves are utilized to measure the distance between the mobile nodes and anchor nodes; and according to the TOF (time of flight) distance measurement principle, the ultrasonic waves are utilized to measure the distances between the mobile nodes and the wall of the roadway and the distances between the mobile nodes and the bottom surface of the roadway. Therefore, a simple algorithm is utilized to directly obtain the position coordinates of the mobile nodes so as to realize the accurate positioning. The underground electromagnetic-wave ultrasound united positioning system and method are high in positioning accuracy, low in cost and less in energy consumption; and the structures of the system equipment are simple.
Description
Technical field
The present invention relates to target localization field under the coal mine, specifically, relate to electromagnetic wave ultrasonic in combination navigation system and method under a kind of coal mine.
Background technology
Coal is the main energy sources of China, but because China's coal field geology complicated condition, working condition is abominable, and the life security of underground operators receives serious threat.In case have an accident, the ground staff needs in time to grasp personnel in the pit's particular location.Therefore, target accurate positioning method and system under the research coal mine, for ensureing that downhole safety production, emergency management and rescue all have important practical significance, the raising of down-hole object locating system precision will greatly promote the lifting of the coal mine downhole safety level of production.
Because the tunnel is airtight relatively, can't come the target localization under the service well by the existing satellite fix in ground such as GPS; The mine localizing objects is in restriceted envelope, and the volume of positioning equipment can not be too big; The down-hole has imflammable gas and coal dusts such as methane, and down-hole positioning device must be an electric apparatus for explosive gas; Wireless channel environment in the tunnel is abominable, exists phenomenons such as a large amount of reflections, scattering, diffraction and transmission.These can not directly apply under the coal mine the ripe localization method in ground.
The wireless transmission medium of target localization technology employing is main with electromagnetic wave mainly both at home and abroad at present.The localization method that with the electromagnetic wave is transmission medium mainly is divided into based on the method for range finding (Range-based) with based on non-range finding (Range-free) method.The Range-based method is through measuring the distance and the angle of point-to-point, the position of using trilateration (Trilateration), triangulation (Triangulation) or maximal possibility estimation (Multilateration) algorithm computation node; The Range-free method is then estimated node location according to the connection attribute of network.
The Range-based method mainly contain receive the signal strength signal intensity indication (Receiced Signal Strength Indiction, RSSI), the time of advent (Time of Arrival, TOF), the time of advent poor (Time Difference of Arrival; TDOA) and arrive angle (Angle of Arrival; AOA) etc., back three kinds of methods are all very high to the requirement of hardware, consider from the cost angle; Be not suitable for being applied under the coal mine; When finding range based on the RSSI method, when very high apart from requiring than hour sensitivity of butt joint receipts machine, error is difficult to guarantee.
Typical R ange-free location algorithm comprises DV-Hop, convex programming, MDS-MAP etc., the Range-free method need not between measured node distance with arrive angle, aspect the cost of radio node and the power consumption certain advantage is being arranged; But positioning accuracy is relevant with the density and the placement policies of anchor node; Improving precision just needs to increase the density of anchor node, but the layout of anchor node is limited by tunnel and operational environment, on the one hand; Can't guarantee the random layout of anchor node in the narrow space; On the other hand, the quantity that increases anchor node also causes the rising of failure rate and the reduction of reliability except the raising that means cost.
The at present domestic down-hole object locating system (some is called position detecting system or operating personnel's management system etc.) that obtains mining product safety sign card; All adopt electromagnetic wave as wireless transmission medium; Have based on different technologies and agreements such as RFID, bluetooth, WiFi and ZigBee, wherein the most general with the RFID technology, but the technical characterstic of RFID has determined positioning accuracy to depend on the density of card reader; This has just limited the raising of positioning accuracy; So much the system based on the RFID technology does not have " location " function strictly speaking, and is " position probing ", can only confirm personnel in the pit's approximate region; The Bluetooth technology transmission range is short, poor anti jamming capability, less stable in the Minepit environment; At present, the precision of the object locating system of using at home is all greater than 5 meters, and the width of present domestic mine laneway generally is not more than 10 meters, that is to say, at present the mine object locating system can only provide localizing objects in the tunnel information on vertically.
Domestic mine object locating system transmission medium all is an electromagnetic wave, and is as adopting TDOA and the AOA location algorithm based on range finding, very high to hardware requirement; The hardware condition of down-hole can't satisfy basically; As adopting the RSSI method based on range finding, precision is difficult to guarantee in short range, as adopting based on non-distance-finding method; Density and placement policies to anchor node have very high requirement, and this is difficult to realize in operational environment under coal mine.
Can reach higher precision when utilizing ultrasonic wave to carry out finding range than close-target; Hyperacoustic propagation velocity is far below electromagnetic wave, and is lower to hardware requirement; Ultrasonic wave resolution is higher, and is insensitive to illuminance and electromagnetic field, adapts to adverse circumstances under the coal mine; Ultrasonic ranging only needs an end to transmit, and the other end need not to install other devices, the time that the ultrasonic wave of only returning through detection of reflected arrives, just can realize point-device range finding, and ultrasonic ranging is simple in structure, is easy to miniaturization and integrated.But the aerial decay of ultrasonic wave is bigger, only is applicable to the range finding in the small distance.
In sum, electromagnetic wave and ultrasonic wave have advantage separately, and a kind of wireless medium of simple use is difficult to realize that the down-hole target accurately locatees.
Summary of the invention
To the deficiency of prior art, it is high to the invention discloses a kind of down-hole object locating system simple in structure and a kind of positioning accuracy, the simple downhole electromagnetic ripple of algorithm ultrasonic in combination localization method.This system and method is according to electromagnetic wave, hyperacoustic characteristic, and the space structure characteristics in combination tunnel, utilizes a spot of anchor node and simple algorithm to realize in real time accurate target localization, can well satisfy the needs of mine target localization.
The realization thought of downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method is following:
Down-hole moving target (comprising underground work personnel and other mobile devices) carries mobile node; Anchor node is placed in back; Mobile node through to bottom surface, tunnel emission ultrasonic signal, records the height of mobile node through record the lateral coordinates of mobile node to side wall emission ultrasonic signal; And through receiving the electromagnetic wave framing signal of anchor node emission; Record its signal strength signal intensity and obtain the distance of anchor node,, can obtain the coordinate position of mobile node in the tunnel through simple algorithm according to above data to mobile node.
Said system is a kind of down-hole object locating system based on wireless sensor network, comprises ground monitoring center, terminal, upper strata, down-hole central station, gateway node, optical fiber, bus, positioning anchor node, mobile node.The underground equipment that in system, relates to comprises: the down-hole central station, and gateway node, bus, the positioning anchor node, mobile node all is an intrinsically safe equipment.
Said ground monitoring center is a computer or server, or the computer network formed of many computers or server.Central station receives the locator data bag of sending from the down-hole from the down-hole at the ground monitoring center, handles the locator data bag, and the ground monitoring center connects the terminal, upper strata through the Internet network, sends real-time Monitoring Data to the upper strata terminal.
Terminal, said upper strata is the Surveillance center that locates in distant, is connected with the ground monitoring center through the Internet network, obtains real-time Monitoring Data.
Said down-hole central station is the essential safe type switch, is responsible for the information that the aggregation gateway node sends through bus, and arrives the ground monitoring center through Optical Fiber Transmission.
Said gateway node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply and bus module.Gateway node is supported agreements such as IEEE802.15.4; Radio communication between anchor node and the gateway node adopts agreements such as IEEE802.15.4; Gateway node is laid in the end in every tunnel and is responsible for receiving the packet that anchor node is transmitted, and it is sent to the down-hole central station through bus.
Said anchor node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply.Anchor node hangs on the top board in the tunnel; Distance to both sides wall equates; And all anchor nodes are all identical with the distance of bottom surface, tunnel, and anchor node is responsible for to mobile node launching electromagnetic wave framing signal, receive the electromagnetic wave positioning request signal and the locator data bag of mobile node; The radio communication of anchor node and mobile node adopts the IEEE802.11b agreement; Anchor node is sent to adjacent anchor node or gateway node with the locator data bag of mobile node, and locator data bag and storage that each anchor node receives the adjacent anchor node are forwarded to another adjacent anchor node, and relay is transmitted the locator data bag until gateway node; Between anchor node and the gateway node and the radio communication between anchor node and the anchor node all adopt agreements such as IEEE802.15.4; Each anchor node distributes a unique numeral number N, and corresponding with its coordinate position, corresponding relation is stored in the ground monitoring center; The direction that regulation underworkings along slope coordinate axial coordinate increases is a positive direction, and the numerical value of N increases along positive direction.
Said mobile node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, ultrasonic transmission/reception unit, transducer, power supply, and the corresponding unique identification code of each mobile node, corresponding relation is stored in the ground monitoring center.Mobile node use ultrasonic measurement its with the distance of wall and bottom surface, tunnel, mobile node adopts IEEE802.11b agreement and anchor node to communicate, and obtains receiving intensity and anchor node numeral number that anchor node transmits, processing formation locator data bag; Mobile node adopts the IEEE802.11b agreement that the locator data bag is sent to nearest cat node equally, and packet is forwarded to the ground monitoring center through the storage between anchor node.
Said bus is the CAN bus, or local area network bus, or the RS-485 bus, connects gateway and down-hole central station, realizes the transfer of data between gateway node and the down-hole central station.
The transfer of data between down-hole central station and the ground monitoring center is realized at central station and ground monitoring center under the said optical fiber connection well.
Transducer on gateway node, anchor node and the mobile node of said downhole electromagnetic ripple ultrasonic in combination navigation system is used to detect ambient condition information, adopts the transmission means identical with locator data, and data are sent to the ground monitoring center.
The ultrasonic combined object localization method of said downhole electromagnetic ripple may further comprise the steps:
A. according to lane space structure and operational environment, lay anchor node, gateway node and down-hole central station;
B. mobile node receives the ultrasonic reflections echo respectively to side wall and bottom surface, tunnel emission ultrasonic signal, and record emission ultrasonic wave is t constantly
1, recorder is to the moment t of wall reflection echo
21Moment t with tunnel bottom reflection echo
22
C. mobile node towards periphery anchor node send positioning request signal, the anchor node emission that receives this request signal comprises the electromagnetic wave framing signal of anchor node numeral number;
D. near the electromagnetic wave framing signal of anchor node mobile node receives handles forming mobile node locator data bag and issuing anchor node, transmits through the relay of anchor node, finally reaches the ground monitoring center;
E. after the ground monitoring center receives the locator data bag of the mobile node of transmitting, extract information wherein, calculate the coordinate of mobile node.
Said steps A comprises the following steps:
A1. in the tunnel anchor node along the tunnel vertical in one line hanging at back; Anchor node equates to the distance of both sides wall; All anchor nodes are identical to the distance of bottom surface, tunnel; The distance of any two adjacent anchor nodes should be not more than wireless communication distance between anchor node, is not more than the covering radius of mobile node electromagnetic wave signal, guarantees that mobile node optional position in the tunnel all has at least two anchor nodes to receive the electromagnetic wave signal of its emission;
A2. according to the design feature of underworkings, lay a gateway node at the end points in every tunnel, the distance of the anchor node at gateway node and tunnel end points place should be not more than the wireless communication distance between anchor node and the gateway node;
A3. according to the design feature of underworkings and the position of each gateway node; Select not only to be convenient to but also to be convenient to settle the down-hole central station through the place of each gateway node of bus connection through optical fiber connection ground monitoring center; The down-hole central station links to each other with gateway node through bus, links to each other with the ground monitoring center through optical fiber.
Mobile node ultrasonic waves transmitted signal adopts the method for code division multiple access to improve the antijamming capability of signal among the said step B, according to the quantity of down-hole moving target, generates the PN sign indicating number, and PN sign indicating number of each mobile node is corresponding with its title or identity.
Said step D comprises the following steps:
D1. near the electromagnetic wave framing signal of anchor node mobile node receives, the signal strength signal intensity when at first recording each signal arrival is designated as P
Ri, i=1,2 ... N, n are the number of signals of the anchor node that receives, select two maximum signals of signal strength signal intensity, remember two in the signal strength signal intensity of maximum be P
Rmax, the numeral number N of the anchor node of two signals of extraction
1, N
2, abandon other signal, N
1The numeral number of the anchor node that expression signal intensity is maximum, N
2The numeral number of the anchor node that expression signal intensity is second largest is established a direction index k, if regulation N
1＞N
2, if direction index k=1 is N
1＜N
2, direction index k=2;
D2. mobile node is with P
Rmax, t
1, t
21, t
22, N
1, mobile node identification code and direction index k form the locator data bag, sends to N
1Anchor node, anchor node are transmitted the locator data bag to the gateway node that belongs to end points place, tunnel through relay again;
D3. after gateway node is received the locator data bag, be transmitted to the down-hole central station through bus, the down-hole central station is sent to the ground monitoring center through optical fiber.
Said step e comprises the following steps:
E1. the ground monitoring center from the down-hole central station receive to transmit the locator data bag that comes up, extract anchor node and the numeral number of mobile node in the packet, the signal strength signal intensity P of anchor node
Rmax, mobile node emission ultrasonic wave is t constantly
1And receive from the moment t of wall and tunnel bottom reflection echo
21, t
22, direction index k;
E2. the title or the identity of moving target extracted according to mobile node numeral number and the title of moving target or the corresponding relation of identity of storage in the ground monitoring center;
E3. the ground monitoring center is according to anchor node numeral number and the corresponding relation of its position coordinates and the numeral number of the anchor node in the mobile node packet of storage; Extract the position coordinates of anchor node; If the two-dimensional coordinate of this position is the distance between two walls for
m;
is lateral coordinates, and y is an along slope coordinate;
E4. the ground monitoring center arrives the signal strength signal intensity P of mobile node according to the logarithm-normality model of radio signal propagation theoretical model through anchor node
RmaxObtain the distance of anchor node, be made as d to mobile node,
P wherein
TBe the transmit signal strength of anchor node, δ is the path attenuation factor, and its numerical value depends on the propagation of wireless signal environment, is an empirical value, d
0For the distance between transmitting node and the reference node in the free space model, get 1m, X
σFor standard deviation is the zero-mean normally distributed random variable of σ, P
L(d
0) be d in the free space model
0The signal strength signal intensity at the reference point place of=1m; Bring co-ordinate-type into
Obtain the two-dimensional coordinate of moving target, V is the propagation velocity of ultrasonic wave in underground air, and h is the distance of anchor node to the bottom surface, tunnel.
The invention has the beneficial effects as follows:
1. the present invention adopts the lateral coordinates that records mobile node based on the ultrasonic distance-measuring method of TOF (time of flight); Supersonic sounding can independently be accomplished by mobile node; Need not other anchor node cooperates; Make the required anchor node quantity of navigation system reduce significantly, reduced the cost and the energy expense that make up whole system greatly.
2. the present invention adopts electromagnetic positioning to measure the distance in the scope far away; Use ultrasonic ranging to measure the distance in the close range, the precision of ultrasonic ranging is very high, can reach the millimeter level; Even it is higher; Generally use under the coal mine at present based on RFID (Radio Frequency Identification) REID, whether can only confirm mobile node through certain card reader, the present invention has improved locating accuracy greatly.
3. the present invention adopts the method that directly records horizontal ordinate; And algorithm is very easy; Make the algorithm to reduce significantly, reduced because the power consumption that complicated algorithm is brought that simply making of algorithm is sent to data seldom in the system to the requirement of hardware; Reduce the bandwidth that locator data takies, also reduced the time-delay of location.
Description of drawings
Fig. 1 is the composition frame chart of downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention;
Fig. 2 is that sketch map is laid in downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention down-hole;
Fig. 3 is a mobile node circuit block diagram of the present invention;
Fig. 4 is the circuit block diagram of anchor node of the present invention;
Fig. 5 is the circuit block diagram of gateway node of the present invention;
Fig. 6 is a schematic top plan view in the tunnel of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention;
Fig. 7 is the tunnel medial surface sketch map of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention;
Fig. 8 is that the mobile node anchor node position of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention concerns sketch map;
Fig. 9 is the tunnel medial surface sketch of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention;
Figure 10 is a diagrammatic top view in the tunnel of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention;
Figure 11 is the three-dimensional sketch of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention.
Embodiment
More cheer and bright for the content and the advantage that make technical scheme of the present invention, below in conjunction with accompanying drawing, downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method are further specified.
Downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method; Be a kind of down-hole object locating system and method based on wireless sensor network; Be primarily aimed at aspect the target localization of down-hole prior art in the deficiency of aspects such as positioning accuracy, cost restriction; Space structure characteristics based on electromagnetic wave, hyperacoustic attribute own and underworkings; Propose that a kind of high-precision locating method that adopts the electromagnetic wave ultrasonic in combination and a kind of combines that this method constitutes based on wireless sensor network (Wireless Sensor Network, WSN) down-hole object locating system.
The realization of localization method is mainly accomplished by mobile node itself and an anchor node: down-hole moving target (comprising underground work personnel and other mobile devices) carries mobile node; Anchor node is placed in back; The distance of its wall apart from both sides equates; Distance between two anchor nodes is set according to the electromagnetic signal covering radius of mobile node emission, guarantees that mobile node optional position in the tunnel all has at least two anchor nodes can receive the electromagnetic wave signal of its emission; Mobile node is through recording the lateral coordinates of mobile node to side wall emission ultrasonic signal; Through launching ultrasonic signal to the bottom surface, tunnel; Record the height of mobile node,, obtain its signal strength signal intensity and record the distance of anchor node to mobile node through receiving the electromagnetic wave framing signal of anchor node emission; According to above data, can obtain the position coordinates of mobile node in the tunnel through simple algorithm.
Below in conjunction with accompanying drawing, specify downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method.
Fig. 1 is the composition frame chart of downhole electromagnetic ripple ultrasonic in combination navigation system.
As shown in Figure 1, downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention comprises ground monitoring center 1, down-hole central station 2, gateway node 3, optical fiber 4, bus 5, anchor node 6, mobile node 7, terminal, upper strata 8.
The ground monitoring center is a computer or server, or the computer network formed of many computers or server.Central station receives the locator data bag of sending from the down-hole from the down-hole at the ground monitoring center, and handles the locator data bag.And the ground monitoring center connects the terminal, upper strata through the Internet network, sends real-time Monitoring Data to the upper strata terminal.
Terminal, upper strata 8 is monitor terminals of locating in distant, is connected with the ground monitoring center through the Internet network, obtains real-time Monitoring Data.
Down-hole central station 2 is switches, is responsible for the data message that the aggregation gateway node sends through bus, and arrives the ground monitoring center through Optical Fiber Transmission.
Fig. 2 is that sketch map is laid in downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention down-hole.
As shown in Figure 2,9 is the down-hole central station, and it is positioned at the hub site in big lane, down-hole, the information of being convenient to send through bus aggregation gateway node and through optical fiber 4 with the message transmission of down-hole to the ground monitoring center; 10 is gateway node; 12 is anchor node, and 13 is mobile node, in the tunnel anchor node along the tunnel vertical in one line hanging at back; Anchor node equates to the distance of both sides wall; All anchor nodes are identical to the distance of bottom surface, tunnel, and the distance of any two adjacent anchor nodes should be not more than wireless communication distance between anchor node, is not more than the covering radius of mobile node electromagnetic wave signal; Guarantee that mobile node optional position in the tunnel all has at least two anchor nodes to receive the electromagnetic wave signal of its emission; Gateway node is laid in the end points in tunnel, and its distance with the anchor node at tunnel end points place should be not more than the wireless communication distance between anchor node and the gateway node, has at least an anchor node to be transmitted to gateway node through the locator data bag that mobile node is launched in the electromagnetic transmission of sighting distance to guarantee every tunnel; 11 is bus, and gateway node is connected with the down-hole central station through bus, the locator data bag that mobile node is launched in the branch heading by
Be forwarded to gateway node through the radio magnetic wave relay between anchor node, gateway node gathers the locator data bag with the central station to the down-hole through bus again.
Fig. 3 is a mobile node circuit block diagram of the present invention.
As shown in Figure 3, mobile node comprises processor storage unit 12, wireless transmit/receive units 13, transducer 14, battery 15.Wherein wireless transmit/receive units 13, transducer 14 all link to each other with processor storage unit 12.Wireless transmit/receive units 13 comprises electromagnetic wave Transmit-Receive Unit and ultrasonic transmission/reception unit two parts; Be responsible for sending and receiving electromagnetic wave signal and ultrasonic signal respectively; Information such as the temperature of transducer 14 responsible perception surrounding environment, humidity, methane concentration are carried out real-time monitoring to environment; So getting in touch of processor and memory the most closely is seen as a unit 12, is responsible for the operation to storage, processing and other unit of control that receives data, in addition, storing up the identification code of node at the mobile node store memory; Power supply 15 is connected with each unit, is responsible for each unit electric energy is provided.
Fig. 4 is the circuit block diagram of anchor node of the present invention.
As shown in Figure 4, anchor node comprises processor storage unit 16, electromagnetic wave Transmit-Receive Unit 17, transducer 18, battery 19.Its wireless transmit/receive units of comparing with the circuit block diagram of mobile node just mobile node becomes the electromagnetic wave Transmit-Receive Unit, because anchor node only transmits and receives electromagnetic wave signal, other part is identical with the each several part function of mobile node.
Fig. 5 is the circuit block diagram of gateway node of the present invention.
As shown in Figure 5, gateway node comprises processor storage unit 20, bus module 21, electromagnetic wave Transmit-Receive Unit 22, transducer 23, power supply 24.The circuit block diagram of gateway node is compared with the anchor node circuit block diagram, only many bus modules 21, its effect is a connecting bus, the effect of other unit with above each unit effect among said Fig. 4 identical.
Fig. 6 is a schematic top plan view in the tunnel of downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention, and Fig. 7 is the tunnel medial surface sketch map of downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention.
Like Fig. 6, shown in Figure 7; 25,29 be anchor node; 26,30 represent the electromagnetic wave signal that mobile nodes and anchor node are launched each other; 27,31 be mobile node, 28 be mobile node to wall ultrasonic waves transmitted signal and reflection echo, 32 the expression mobile nodes to bottom surface, tunnel ultrasonic waves transmitted signal and reflection echo.
Mobile node is periodically to anchor node launching electromagnetic wave positioning request signal; Simultaneously to wall and bottom surface, tunnel emission ultrasonic signal; After anchor node receives the electromagnetic wave positioning request signal of mobile node emission, to mobile node launching electromagnetic wave framing signal, after mobile node receives the electromagnetic wave framing signal of anchor node; At first record the reception signal strength signal intensity of each anchor node, be designated as P
Ri, i=1,2 ... N, n are the number of signals of the anchor node that receives, select maximum preceding two signals of signal strength signal intensity, extract the anchor node numeral number N in these two framing signals
1, N
2, abandon other signal, N
1The numeral number of the anchor node that expression signal intensity is maximum, N
2The numeral number of the anchor node that expression signal intensity is second largest is established wherein maximum signal strength signal intensity and is designated as P
RmaxHere also will produce and be used to judge the direction index k of mobile node in the positive negative direction of anchor node, production method is introduced in the back.If launch hyperacoustic moment is t
1, the moment that receives the wall reflected wave is t
21, the moment that receives tunnel bottom reflection echo is t
22, then hyperacoustic transit time is respectively t
21-t
1And t
22-t
1, can try to achieve mobile node to wall with to the distance of bottom surface, tunnel according to TOF (time of flight) transit time detection method.Mobile node is with P
Rmax, t
1, t
21, t
22, N
1, mobile node identification code and direction index k break into the locator data bag, upwards be forwarded to the ground monitoring end through the anchor node that closes on.
Fig. 8 is that the mobile node anchor node position of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention concerns sketch map.
As shown in Figure 8, between anchor node 33 and anchor node 34, there are two mobile nodes, be respectively 35 and 36; Mobile node 35 is nearer apart from anchor node 33; Mobile node 36 is nearer apart from anchor node 34, when locating mobile node, needs to judge that mobile node be the place ahead or rear at selected anchor node; The direction that underworkings along slope coordinate axial coordinate increases is a positive direction, need judge that then mobile node is positive direction or the negative direction at anchor node.The present invention takes following method:
After the framing signal of anchor node, the signal strength signal intensity when measuring each framing signal arrival was selected two maximum signals of signal strength signal intensity, extracts the numeral number N of anchor node in the signal near mobile node received
1, N
2, abandon other signal, N
1The numeral number of the anchor node that expression signal intensity is maximum, N
2The numeral number of the anchor node that expression signal intensity is second largest is established a direction index k, if N
1＞N
2, if direction index k=1 then is N
1＜N
2, direction index k=2 then; With mobile node among Fig. 8 35 is example, and it records the maximum anchor node of signal strength signal intensity is 33 certainly, and second largest is 34, and then 33 numeral number is N
1, 34 numeral number is N
2, establish 34 at 33 positive direction, N
1＜N
2, then can judge k=2, promptly mobile node 35 is in the positive direction of anchor node 33.
Fig. 9 is the tunnel medial surface sketch of downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention, and Figure 10 is a diagrammatic top view in the tunnel of downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention.
Like Fig. 9, shown in Figure 10, A represents anchor node, and B and B ' represent the mobile node of two diverse locations, and the method for calculating B ' point coordinates is identical with the method for calculating B; Be that example is set forth mainly below with the B point,, AD representes the height of anchor node among Fig. 9; BE representes the height of mobile node, because mobile node on miner or underground equipment, has certain height poor with anchor node; The accurate localization algorithm can not be ignored this difference in height, BE=CD, and then AC is the difference in height of anchor node and mobile node.AB representes the distance between mobile node and the anchor node; The intensity that is transmitted into the electromagnetic wave framing signal of mobile node through anchor node is obtained; BE obtains to bottom surface, tunnel ultrasonic signal and time of receiving reflection echo through mobile node; If the length of BC is l, the calculating formula of l then is (1) formula.
GI and y axle are all represented two walls among Figure 10; If the distance between two wall is m; Because anchor node is identical to the distance of both sides wall; If the coordinate that anchor node A the is coordinate that then C order among Figure 10 for
is a lateral coordinates for
also; Y is an along slope coordinate;
is known quantity; AH is the distance that anchor node arrives wall; And
is the half the of distance between the wall; BI is the distance that mobile node arrives wall; Abscissa for mobile node; Can know by Figure 10; The length that obtains CF can obtain the along slope coordinate of mobile node, and then CF calculates as (2) formula.
Then the coordinate of mobile node B does
The explanation mobile node is in the negative direction of selected anchor node during k=1, and the explanation mobile node is in the positive direction of selected anchor node during k=2.
Ask distance to use logarithm-normal distribution model optimum in the down-hole through the path loss of electromagnetic wave signal, the expression formula of logarithm-normal distribution model is suc as formula (3), P in the formula
L(d) the expression process is apart from the path loss behind the d, and unit is dBm; δ is the path
P
L(d)＝P
L(d
0)+10δlg(d/d
0)+X
σ (3)
Decay factor, its numerical value depends on the propagation of wireless signal environment, it is an empirical value; d
0Be the distance between transmitting node and the reference node, generally get 1m; X
σFor standard deviation is the zero-mean normally distributed random variable of σ, unit is dBm.P
L(d
0) can get d=1m by the free space model and obtain, free space propagation model formula is suc as formula (4), and in (4) formula, f is the carrier wave operating frequency, and unit is MHz, L
OSSThe electromagnetic wave process is apart from the attenuation behind the d in the expression free space.
L
OSS＝32.44+10δlgd?+10δlg?f (4)
If the transmitting power of anchor node is P
T, by the agency of above, the electromagnetic wave signal intensity that mobile node receives apart from its nearest anchor node emission is P
Rmax, P then
L(d)=P
T-P
Rmax, the distance that then is easy to obtain between anchor node and the mobile node according to formula (3) does
Get reference distance d
0Be 1m, then the length of AB does among Fig. 9
Then the ordinate of mobile node does
Like (6) formula, V is the velocity of sound, T based on the supersonic sounding formula of TOF
1Time during for the emission ultrasonic wave, T
2For receiving
L＝V(T
2-T
1)/2 (6)
The time of reflection echo, T
2-T
1Be hyperacoustic transit time, L is the launch point range-to-go.Then mobile node B is (7) formula to the calculating formula apart from BI of wall.
BI＝V(t
21-t
1)/2 (7)
In like manner, mobile node B to the bottom surface, tunnel apart from BE, like (8) formula.
BE＝V(t
22-t
1)/2 (8)
If the height of anchor node is h, then mobile node B with respect to the coordinate of anchor node A does
Figure 11 is the three-dimensional sketch of downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention.
Shown in figure 11, be that mobile node is conceived with the space multistory of the location that cooperates completion apart from its nearest anchor node in the navigation system tunnel.
Claims (8)
1. a downhole electromagnetic ripple ultrasonic in combination navigation system is characterized in that, comprises the ground monitoring center, terminal, upper strata, down-hole central station, gateway node, optical fiber, bus, anchor node, mobile node;
Said ground monitoring center is a computer or server, or the computer network formed of many computers or server; Central station receives the locator data bag of sending from the down-hole from the down-hole at the ground monitoring center, handles the locator data bag;
Said down-hole central station is a switch, and the locator data bag that the aggregation gateway node sends through bus arrives the ground monitoring center through Optical Fiber Transmission;
Said gateway node is laid in the end points in a tunnel, receives the locator data bag of the mobile node emission of anchor node forwarding, is sent to the down-hole central station through bus;
Said each mobile node distributes an identification code, and unique corresponding with moving target, corresponding relation is stored in the ground monitoring center; Mobile node is that transmission medium is launched ultrasonic signal and received reflection echo to side wall and bottom surface, tunnel with the ultrasonic wave; The distance of the distance of measuring itself and wall and itself and bottom surface, tunnel; With the electromagnetic wave is that transmission medium and anchor node communicate; Obtain receiving intensity and anchor node numeral number that anchor node transmits, handle forming the locator data bag; Mobile node sends to nearest anchor node with the locator data bag, and the locator data bag is forwarded to the ground monitoring center through the storage between anchor node;
Said anchor node hangs on back, and the wall distance equates apart from both sides, and distance is identical to the bottom surface, tunnel for all anchor nodes;
Anchor node is to mobile node launching electromagnetic wave framing signal; Receive the electromagnetic wave positioning request signal and the locator data bag of mobile node emission; The locator data bag of mobile node is sent to adjacent anchor node or gateway node; Packet and storage that each anchor node receives the adjacent anchor node are forwarded to another adjacent anchor node, and relay is transmitted packet until arriving gateway node, and each anchor node distributes a numeral number N; Numeral number is corresponding with its position coordinates, and corresponding relation is stored in the ground monitoring center; The direction that regulation underworkings along slope coordinate axial coordinate increases is a positive direction, and the numerical value of N increases along positive direction;
Said bus is the CAN bus, or local area network bus, or the RS-485 bus, connects gateway node and down-hole central station, realizes the transfer of data between gateway node and the down-hole central station;
Central station and ground monitoring center under the said optical fiber connection well, the transfer of data of realization ground monitoring center and down-hole central station;
Sensor installation on said gateway node, anchor node and the mobile node, the environmental information around detecting adopts the transmission means identical with locator data information, and data are sent to the ground monitoring center;
Terminal, said upper strata is the Surveillance center that locates in distant, is connected with the ground monitoring center through the Internet network, obtains real-time Monitoring Data;
Underground equipment in the said downhole electromagnetic ripple ultrasonic in combination navigation system comprises gateway node, bus, anchor node, mobile node, is intrinsically safe equipment entirely.
2. according to the said downhole electromagnetic ripple of claim 1 ultrasonic in combination navigation system, it is characterized in that said gateway node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply, bus module;
Said anchor node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply;
Said mobile node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, ultrasonic transmission/reception unit, transducer, power supply.
3. according to the said downhole electromagnetic ripple of claim 2 ultrasonic in combination navigation system; It is characterized in that, the bus module in the ultrasonic transmission/reception unit in the transducer in gateway node, anchor node, the mobile node, electromagnetic wave Transmit-Receive Unit, the mobile node and the gateway node respectively with each node in the processor storage unit link to each other; The electromagnetic wave Transmit-Receive Unit of each node receives and sends the radio magnetic wave signal, and the ultrasonic transmission/reception unit in the mobile node receives and send ultrasonic signal; The temperature of the sensor surrounding environment in gateway node, anchor node and the mobile node, humidity, methane concentration information; Processor storage unit storage in each node, the data that processing receives are controlled the operation of other unit; Bus module connecting bus in the gateway node; Power supply in each node provides electric energy.
4. a downhole electromagnetic ripple ultrasonic in combination localization method is characterized in that, comprises the following steps:
A. according to lane space structure and operational environment, lay anchor node, gateway node and down-hole central station;
B. mobile node periodically to side wall and bottom surface, tunnel emission ultrasonic signal, receives the ultrasonic reflections echo respectively, and record emission ultrasonic wave is t constantly
1, recorder is to the moment t of wall reflection echo
21, recorder is to the moment t of tunnel bottom reflection echo
22
C. mobile node anchor node launching electromagnetic wave positioning request signal towards periphery, the anchor node emission that receives the mobile node positioning request signal comprises the electromagnetic wave framing signal of anchor node numeral number;
D. near the electromagnetic wave framing signal of anchor node mobile node receives handles forming mobile node locator data bag and issuing anchor node through electromagnetic wave signal, transmits through the relay of anchor node, finally reaches the ground monitoring center;
E. after the ground monitoring center receives the locator data bag of mobile node, calculate the coordinate of mobile node according to locating information wherein.
5. according to the said downhole electromagnetic ripple of claim 4 ultrasonic in combination localization method, it is characterized in that said steps A comprises the following steps:
A1. in the tunnel anchor node along the tunnel vertical in one line hanging at back; Anchor node equates to the distance of both sides wall; All anchor nodes are identical to the distance of bottom surface, tunnel; The distance of any two adjacent anchor nodes should be not more than wireless communication distance between anchor node, is not more than the covering radius of mobile node electromagnetic wave signal, guarantees that mobile node optional position in the tunnel all has at least two anchor nodes to receive the electromagnetic wave signal of its emission;
A2. according to the design feature of underworkings, lay a gateway node at the end points in every tunnel, the distance of the anchor node at gateway node and tunnel end points place should be not more than the wireless communication distance between anchor node and the gateway node;
A3. according to the design feature of underworkings and the position of each gateway node; Select not only to be convenient to but also to be convenient to settle the down-hole central station through the place of each gateway node of bus connection through optical fiber connection ground monitoring center; The down-hole central station links to each other with gateway node through bus, links to each other with the ground monitoring center through optical fiber.
6. according to the said downhole electromagnetic ripple of claim 4 ultrasonic in combination localization method; It is characterized in that; Mobile node ultrasonic waves transmitted signal adopts the method for code division multiple access to improve the antijamming capability of signal among the said step B; According to the quantity of down-hole moving target, generate the PN sign indicating number, the PN sign indicating number that each mobile node is corresponding unique.
7. according to the said downhole electromagnetic ripple of claim 4 ultrasonic in combination localization method, it is characterized in that said step D comprises the following steps:
D1. near the electromagnetic wave framing signal of anchor node mobile node receives, the signal strength signal intensity when at first recording each signal arrival is designated as P
Ri, i=1,2 ... N, n are the number of signals of the anchor node that receives, select two maximum signals of signal strength signal intensity, remember two in the signal strength signal intensity of maximum be P
Rmax, the numeral number N of the anchor node of two signals of extraction
1, N
2, abandon other signal, N
1The numeral number of the anchor node that expression signal intensity is maximum, N
2The numeral number of the anchor node that expression signal intensity is second largest is established a direction index k, if regulation N
1＞N
2, if direction index k=1 is N
1＜N
2, direction index k=2;
D2. mobile node is with P
Rmax, t
1, t
21, t
22, N
1, mobile node identification code and direction index k form the locator data bag, sends to N
1Anchor node, anchor node are transmitted the locator data bag to the gateway node that belongs to end points place, tunnel through relay again;
D3. after gateway node is received the locator data bag, be transmitted to the down-hole central station through bus, the down-hole central station is sent to the ground monitoring center through optical fiber.
8. according to the said downhole electromagnetic ripple of claim 4 ultrasonic in combination localization method, it is characterized in that said step e comprises the following steps:
E1. the numeral number of the anchor node in the mobile node packet and the identification code of mobile node, the signal strength signal intensity P of anchor node are extracted in the ground monitoring center
Rmax, mobile node emission ultrasonic wave is t constantly
1And receive from the moment t of wall and tunnel bottom reflection echo
21, t
22, direction index k;
E2. the identity of moving target is confirmed according to mobile node identification code and the corresponding relation of its identity and the mobile node identification code in the mobile node packet of storage in the ground monitoring center;
E3. the ground monitoring center is according to anchor node numeral number and the corresponding relation of its position coordinates and the numeral number of the anchor node in the mobile node packet of storage; Extract the position coordinates of anchor node; If the two-dimensional coordinate of this position is the distance between two walls for
m;
is lateral coordinates, and y is an along slope coordinate;
E4. the ground monitoring center arrives the signal strength signal intensity P of mobile node according to the logarithm-normality model of radio signal propagation theoretical model through anchor node
RmaxObtain the distance of anchor node, be made as d to mobile node,
P wherein
TBe the transmit signal strength of anchor node, δ is the path attenuation factor, and its numerical value depends on the propagation of wireless signal environment, is an empirical value, d
0For the distance between transmitting node and the reference node in the free space model, get 1m, X
σFor standard deviation is the zero-mean normally distributed random variable of σ, P
L(d
0) be d in the free space model
0The signal strength signal intensity at the reference point place of=1m; Bring co-ordinate-type into
Obtain the two-dimensional coordinate of moving target, V is the propagation velocity of ultrasonic wave in underground air, and h is the distance of anchor node to the bottom surface, tunnel.
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