CN102638763B - 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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- 238000000034 method Methods 0.000 title claims abstract description 63
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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 underground coal mine target localization field, specifically, relate to a kind of underground coal mine electromagnetic wave ultrasonic in combination navigation system and method.
Background technology
Coal is the main energy sources of China, but due to China's coal field geology complicated condition, working condition is severe, and the life security of underground operators is subject to serious threat.Once have an accident, ground staff needs the particular location grasping personnel in the pit in time.Therefore, research underground coal mine target accurate positioning method and system, all have important practical significance for the production of guarantee downhole safety, emergency management and rescue, the raising of down-hole object locating system precision will greatly promote the lifting of the coal mine downhole safety level of production.
Because tunnel is relatively airtight, the target localization under service well cannot be carried out by the existing satellite fix in the ground such as GPS; Mine localizing objects is in restriceted envelope, and the volume of positioning equipment can not be too large; Down-hole has the imflammable gas such as methane and coal dust, and down-hole positioning device must be electric apparatus for explosive gas; Wireless channel environment in tunnel is severe, there is the phenomenons such as a large amount of reflections, scattering, diffraction and transmission.These make the localization method of ground maturation not directly apply to underground coal mine.
The wireless transmission medium of Technology for Target Location employing is both at home and abroad mainly based on electromagnetic wave at present.Be that the localization method of transmission medium is mainly divided into based on the method for range finding (Range-based) with based on non-ranging (Range-free) method with electromagnetic wave.Range-based method, by measuring the Distance geometry angle of point-to-point, uses the position of trilateration (Trilateration), triangulation (Triangulation) or maximal possibility estimation (Multilateration) algorithm computing node; Range-free method is then according to the connection attribute estimation node location of network.
Range-based method mainly contains received signal strength indicator (Receiced Signal StrengthIndiction, RSSI), the time of advent (Time of Arrival, TOF), the time of advent poor (Time Difference ofArrival, and angle of arrival (Angle of Arrival TDOA), AOA) etc., rear three kinds of methods are all very high to the requirement of hardware, consider from cost angle, be not suitable for being applied to underground coal mine, when finding range based on RSSI method, it is very high to the sensitivity requirement of receiver when distance is less, error is difficult to ensure.
Typical Range-free location algorithm comprises DV-Hop, convex programming, MDS-MAP etc., Range-free method is without the need to the Distance geometry angle of arrival between measured node, certain advantage is had in the cost and power consumption of radio node, but positioning precision is relevant with placement policies with the density of anchor node, improve the density that precision just needs to increase anchor node, but the layout of anchor node limits by tunnel and operational environment, on the one hand, the random layout of anchor node cannot be ensured in narrow space, on the other hand, increase the quantity of anchor node except the raising meaning cost, the also rising of causing trouble rate and the reduction of reliability.
The domestic down-hole object locating system (some is called position detecting system or operating personnel's management system etc.) obtaining mining product safe mark card at present, all adopt electromagnetic wave as wireless transmission medium, have based on RFID, bluetooth, the different technologies such as WiFi and ZigBee and agreement, wherein the most general with RFID technique, but the technical characterstic of RFID determines the density that positioning precision depends on card reader, which limits the raising of positioning precision, so much do not have " location " function strictly speaking based on the system of RFID technique, and be " position probing ", the approximate region of personnel in the pit can only be determined, Bluetooth technology transmission range is short, poor anti jamming capability, less stable in Minepit environment, at present, the precision of the object locating system used at home is all greater than 5 meters, and the width of current domestic mine laneway is generally not more than 10 meters, and that is, current mine object locating system can only provide the information of localizing objects on tunnel is longitudinal.
Domestic mine object locating system transmission medium is all electromagnetic wave, as adopted TDOA and the AOA location algorithm based on range finding, very high to hardware requirement, the hardware condition of down-hole cannot meet substantially, as adopted the RSSI method based on range finding, in short range, precision is difficult to ensure, as adopted based on non-ranging method, have very high requirement to the density of anchor node and placement policies, this is difficult to realize in Working Environment of Underground Mine.
Higher precision can be reached when utilizing ultrasonic wave to carry out finding range compared with close-target; Hyperacoustic propagation velocity is far below electromagnetic wave, lower to hardware requirement; Ultrasonic wave resolution is higher, to illuminance and electromagnetic field insensitive, adapt to underground coal mine adverse circumstances; Ultrasonic ranging only needs one end to transmit, and the other end is without the need to installing other devices, and the time that the ultrasonic wave of only being returned by detection of reflected is arrived, just can realize point-device range finding, ultrasonic ranging structure is simple, is easy to miniaturized and integrated.But the aerial decay of ultrasonic wave is comparatively large, is only applicable to the range finding in small distance.
In sum, electromagnetic wave and ultrasonic wave have respective advantage, and a kind of wireless medium of simple use is difficult to realize down-hole target and accurately locates.
Summary of the invention
For the deficiencies in the prior art, the invention discloses a kind of structure simple down-hole object locating system and a kind of positioning precision high, algorithm simple downhole electromagnetic ripple ultrasonic in combination localization method.This system and method according to electromagnetic wave, hyperacoustic characteristic, and in conjunction with the space structure feature in tunnel, utilizes a small amount of anchor node and simple algorithm realization accurate target localization in real time, can well meet the needs of mine target localization.
Downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method to realize thought as follows:
Underground moving target (comprising underground work personnel and other mobile devices) carries mobile node, anchor node is placed in back, mobile node is by launching to side wall the lateral coordinates that ultrasonic signal records mobile node, by to tunnel bottom-emissive ultrasonic signal, record the height of mobile node, and by receiving the position location signal that anchor node is launched, record its signal strength signal intensity to obtain the distance of anchor node to mobile node, according to above data, the coordinate position of mobile node in tunnel can be obtained by simple algorithm.
Said system is a kind of down-hole object locating system based on wireless sensor network, comprises ground monitoring center, upper strata terminal, down-hole central station, gateway node, optical fiber, bus, positioning anchor node, mobile node.The underground equipment related in systems in which comprises: down-hole central station, gateway node, bus, positioning anchor node, mobile node, is all intrinsically safe equipment.
Described ground monitoring center is a computer or server, or the computer network of multiple stage computer or server composition.Ground monitoring center receives the locator data bag sent from down-hole from down-hole central station, process locator data bag, and ground monitoring center connects upper strata terminal by Internet network, sends real-time Monitoring Data to upper strata terminal.
Described upper strata terminal is the Surveillance center located in distant, is connected with ground monitoring center by Internet network, obtains Real-time Monitoring Data.
Described down-hole central station is essential safe type switch, is responsible for the information that aggregation gateway node is sent by bus, and by Optical Fiber Transmission to ground monitoring center.
Described gateway node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply and bus module.Gateway node supports the agreements such as IEEE802.15.4, radio communication between anchor node and gateway node adopts the agreements such as IEEE802.15.4, gateway node is laid in end that every bar props up tunnel and is responsible for receiving the packet that anchor node forwards, and it is sent to down-hole central station by bus.
Described anchor node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply.Anchor node hangs on the top board in tunnel, distance to both sides wall is equal, and all anchor nodes are all identical with the distance of bottom surface, tunnel, anchor node is responsible for mobile node emitting electromagnetic wave framing signal, receive position location request signal and the locator data bag of mobile node, the radio communication of anchor node and mobile node adopts IEEE802.11b agreement, the locator data bag of mobile node is sent to adjacent anchor node or gateway node by anchor node, each anchor node receive the locator data bag of adjacent anchor node and storage forwarding to another adjacent anchor node, relay forwards locator data bag until gateway node, radio communication between anchor node and gateway node and between anchor node and anchor node all adopts the agreements such as IEEE802.15.4, each anchor node distributes a unique numeral number N, corresponding with its coordinate position, corresponding relation is stored in ground monitoring center, the direction that regulation underworkings along slope coordinate axial coordinate increases is positive direction, and the numerical value of N increases along positive direction.
Described mobile node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, ultrasonic transmission/reception unit, transducer, power supply, the identification code that each mobile node correspondence one is unique, and corresponding relation is stored in ground monitoring center.Mobile node uses its distance with wall and bottom surface, tunnel of ultrasonic measurement, and mobile node adopts IEEE802.11b agreement to communicate with anchor node, the receiving intensity that acquisition anchor node transmits and anchor node numeral number, process formation locator data bag; Mobile node adopts IEEE802.11b agreement that locator data bag is sent to nearest cat node equally, and the storage forwarding of packet through between anchor node is to ground monitoring center.
Described bus is CAN, or local area network bus, or RS-485 bus, connects gateway and down-hole central station, realizes the transfer of data between gateway node and down-hole central station.
Described Fiber connection down-hole central station and ground monitoring center, realize the transfer of data between down-hole central station and ground monitoring center.
Transducer on the gateway node of described downhole electromagnetic ripple ultrasonic in combination navigation system, anchor node and mobile node, for detecting ambient condition information, adopting the transmission means identical with locator data, data being sent to ground monitoring center.
The ultrasonic combined object localization method of described downhole electromagnetic ripple, comprises the following steps:
A. according to lane space structure and operational environment, anchor node, gateway node and down-hole central station is laid;
B. mobile node is to side wall and tunnel bottom-emissive ultrasonic signal, receives ultrasonic reflections echo respectively, and ultrasonic wave moment t launched in record
1, record receives the moment t of wall reflection echo
21with the moment t of tunnel bottom reflection echo
22;
C. mobile node anchor node transmission towards periphery positioning request signal, the anchor node receiving this request signal launches the position location signal comprising anchor node numeral number;
D. mobile node receives the position location signal of neighbouring anchor node, and process forms mobile node locator data bag and issues anchor node, is forwarded, finally reach ground monitoring center by the relay of anchor node;
After the locator data bag of the mobile node E. on ground monitoring receive centre to forwarding, extract information wherein, calculate the coordinate of mobile node.
Described steps A comprises the following steps:
A1. in tunnel anchor node along tunnel longitudinally hanging in one line at back, anchor node is equal 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, be not more than the covering radius of mobile node electromagnetic wave signal, ensure that mobile node optional position in tunnel all has at least two anchor nodes to receive the electromagnetic wave signal of its transmitting;
A2. according to the design feature of underworkings, the end points propping up tunnel at every bar lays a gateway node, and the distance of the anchor node at gateway node and end points place, tunnel should be not more than the wireless communication distance between anchor node and gateway node;
A3. according to the design feature of underworkings and the position of each gateway node, select arrangement down-hole, the place central station be not only convenient to by Fiber connection ground monitoring center but also be convenient to be connected by bus each gateway node, down-hole central station is connected with gateway node by bus, is connected with ground monitoring center by optical fiber.
The ultrasonic signal that in described step B, mobile node is launched adopts the method for code division multiple access to improve the antijamming capability of signal, according to the quantity of underground moving target, generates PN code, each mobile node PN code, corresponding with its title or identity.
Described step D comprises the following steps:
D1. mobile node receives the position location signal of neighbouring anchor node, first records signal strength signal intensity when each signal arrives, is designated as P
ri, i=1,2 ... n, n are the number of signals of the anchor node received, and select two signals that signal strength signal intensity is maximum, in remembering two, maximum signal strength signal intensity is P
rmax, extract the numeral number N of the anchor node of two signals
1, N
2, abandon other signal, N
1represent the numeral number of the anchor node that signal strength signal intensity is maximum, N
2represent the numeral number of the anchor node that signal strength signal intensity is second largest, if a direction index k, if regulation N
1> N
2, direction index k=1, if N
1< N
2, direction index k=2;
D2. mobile node is by P
rmax, t
1, t
21, t
22, N
1, mobile node identification code and direction index k form locator data bag, sends to N
1anchor node, anchor node forwards the gateway node of locator data bag to end points place, tunnel, place by relay again;
D3. after gateway node receives locator data bag, by Bus repeater to down-hole central station, down-hole central station is sent to ground monitoring center by optical fiber.
Described step e comprises the following steps:
E1. ground monitoring center receives the locator data bag forwarding from down-hole central station, the anchor node in extraction packet and the numeral number of mobile node, the signal strength signal intensity P of anchor node
rmax, mobile node launches ultrasonic wave moment t
1and the moment t received from wall and tunnel bottom reflection echo
21, t
22, direction index k;
E2. ground monitoring center is according to the mobile node numeral number and the title of moving target that store or the corresponding relation of identity, the title of extraction moving target or identity;
E3. ground monitoring center is according to the numeral number of the anchor node in the anchor node numeral number of storage and the corresponding relation of its position coordinates and mobile node packet, extracts the position coordinates of anchor node, if the two-dimensional coordinate of this position is
m is the distance between two walls,
for lateral coordinates, y is along slope coordinate;
E4. ground monitoring center is according to the logarithm-normality model of radio signal propagation theoretical model, is arrived the signal strength signal intensity P of mobile node by anchor node
rmaxobtain the distance of anchor node to mobile node, be set to d,
Wherein P
tfor the transmit signal strength of anchor node, δ is the path attenuation factor, and its numerical value depends on the communication environments of wireless signal, is an empirical value, d
0for the distance in free space model between transmitting node and reference node, get 1m, X
σfor the zero-mean normally distributed random variable that standard deviation is σ, P
l(d
0) be d in 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 bottom surface, tunnel.
The invention has the beneficial effects as follows:
1. the present invention adopts the ultrasonic distance-measuring method based on TOF (time of flight) to record the lateral coordinates of mobile node, supersonic sounding can by mobile node complete independently, coordinate without the need to other anchor node, anchor node quantity needed for navigation system is significantly reduced, greatly reduces the cost and energy expense that build whole system.
2. the present invention adopts the distance in electromagnetic positioning measurement scope far away, use the distance in ultrasonic ranging measurement close range, the precision of ultrasonic ranging is very high, grade can be reached, even higher, current underground coal mine generally use based on RFID (Radio Frequency Identification) REID, can only determine that whether mobile node is by certain card reader, the present invention substantially increases the precision of location.
3. the present invention adopts and directly records transverse and longitudinal seat calibration method, and algorithm is very easy, the requirement of algorithm to hardware is significantly reduced, reduce the power consumption brought because of complicated algorithm, simply the making of algorithm is sent to data in system little, reduce the bandwidth that locator data takies, also reduce the time delay of location.
Accompanying drawing explanation
Fig. 1 is the composition frame chart of downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention;
Fig. 2 is that schematic diagram is laid in downhole electromagnetic ripple ultrasonic in combination navigation system down-hole of the present invention;
Fig. 3 is 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 be downhole electromagnetic ripple ultrasonic in combination localization method of the present invention tunnel in schematic top plan view;
Fig. 7 is the tunnel medial surface schematic diagram of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention;
Fig. 8 is the mobile node anchor node position relationship schematic diagram of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention;
Fig. 9 is the tunnel medial surface sketch of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention;
Figure 10 be downhole electromagnetic ripple ultrasonic in combination localization method of the present invention tunnel in diagrammatic top view;
Figure 11 is the diagrammatic perspective view of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention.
Embodiment
In order to the content and advantage that make technical solution of the present invention clearly understand, below in conjunction with accompanying drawing, downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method are described in further detail.
Downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method, a kind of down-hole object locating system based on wireless sensor network and method, mainly for the deficiency of prior art in positioning precision, cost restriction etc. in the target localization of down-hole, based on the space structure feature of electromagnetic wave, hyperacoustic attribute own and underworkings, a kind of high-precision locating method adopting electromagnetic wave ultrasonic in combination is proposed, with a kind of in conjunction with the method form based on wireless sensor network (Wireless SensorNetwork, WSN) down-hole object locating system.
The realization of localization method has come primarily of mobile node itself and an anchor node: underground moving target (comprising underground work personnel and other mobile devices) carries mobile node, anchor node is placed in back, its distance apart from both sides wall is equal, the electromagnetic quorum sensing inhibitor radius setting that distance between two anchor nodes is launched according to mobile node, ensures that mobile node optional position in tunnel all has at least two anchor nodes can receive the electromagnetic wave signal of its transmitting; Mobile node is by launching to side wall the lateral coordinates that ultrasonic signal records mobile node, by to tunnel bottom-emissive ultrasonic signal, record the height of mobile node, by receiving the position location signal that anchor node is launched, obtain its signal strength signal intensity to record the distance of anchor node to mobile node, according to above data, the position coordinates of mobile node in tunnel can be obtained by simple algorithm.
Below in conjunction with accompanying drawing, describe downhole electromagnetic ripple ultrasonic in combination navigation system of the present invention and method in detail.
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, upper strata terminal 8.
Ground monitoring center is a computer or server, or the computer network of multiple stage computer or server composition.Ground monitoring center receives the locator data bag sent from down-hole from down-hole central station, and processes locator data bag.Further, ground monitoring center connects upper strata terminal by Internet network, sends real-time Monitoring Data to upper strata terminal.
Upper strata terminal 8 is the monitor terminals located in distant, is connected with ground monitoring center by Internet network, obtains Real-time Monitoring Data.
Down-hole central station 2 is switches, is responsible for the data message that aggregation gateway node is sent by bus, and by Optical Fiber Transmission to ground monitoring center.
Fig. 2 is that schematic diagram is laid in downhole electromagnetic ripple ultrasonic in combination navigation system down-hole of the present invention.
As shown in Figure 2,9 is down-hole central station, and it is positioned at the hub site in large lane, down-hole, be convenient to by bus aggregation gateway node send information and by optical fiber 4 by the information transmission of down-hole to ground monitoring center, 10 is gateway node, 12 is anchor node, 13 is mobile node, in tunnel anchor node along tunnel longitudinally hanging in one line at back, anchor node is equal 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, be not more than the covering radius of mobile node electromagnetic wave signal, ensure that mobile node optional position in tunnel all has at least two anchor nodes to receive the electromagnetic wave signal of its transmitting, gateway node is laid in the end points in a tunnel, the distance of the anchor node at itself and end points place, tunnel should be not more than the wireless communication distance between anchor node and gateway node, to ensure that every bar props up locator data Packet forwarding that tunnel has at least an anchor node can be launched by mobile node by the electromagnetic transmission of sighting distance to gateway node, 11 is bus, and gateway node is connected with down-hole central station by bus, in branch heading mobile node launch locator data bag by
Be forwarded to gateway node by radio magnetic wave relay between anchor node, locator data bag is gathered to down-hole central station by bus by gateway node again.
Fig. 3 is 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 are all connected 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 respectively sending and receiving electromagnetic wave signal and ultrasonic signal, the information such as temperature, humidity, methane concentration of perception surrounding environment is responsible for by transducer 14, carries out real-time monitoring to environment; Processor and memory contact the most closely so be seen as a unit 12, be responsible for, to the operation of the storage receiving data, process and other unit of control, in addition, in mobile node memory, store the identification code of node; Power supply 15 is connected with each unit, is responsible for unit and provides electric energy.
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.The wireless transmit/receive units of mobile node is just become electromagnetic wave Transmit-Receive Unit by it compared with the circuit block diagram of mobile node, because anchor node only transmits and receives electromagnetic wave signal, other parts are identical with the functions 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 anchor node circuit block diagram, and only many bus modules 21, its effect connects bus, and the effect of other unit is identical with each unit effect in described Fig. 4 above.
Fig. 6 be downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention tunnel in schematic top plan view, Fig. 7 is the tunnel medial surface schematic diagram of downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention.
As shown in Figure 6, Figure 7,25,29 anchor node is, 26,30 represent the electromagnetic wave signal that mobile node and anchor node are launched mutually, 27,31 mobile node is, the ultrasonic signal that 28 is mobile node launches to wall and reflection echo, 32 represent that mobile nodes are to the ultrasonic signal of tunnel bottom-emissive and reflection echo.
Mobile node is periodically to anchor node emitting electromagnetic wave positioning request signal, simultaneously to wall and tunnel bottom-emissive ultrasonic signal, after anchor node receives the position location request signal of mobile node transmitting, to mobile node emitting electromagnetic wave framing signal, after mobile node receives the position location signal of anchor node, first record the received signal strength of each anchor node, be designated as P
ri, i=1,2 ... n, n are the number of signals of the anchor node received, and select the maximum the first two signal of signal strength signal intensity, extract the anchor node numeral number N in these two framing signals
1, N
2, abandon other signal, N
1represent the numeral number of the anchor node that signal strength signal intensity is maximum, N
2represent the numeral number of the anchor node that signal strength signal intensity is second largest, if wherein maximum signal strength signal intensity is designated as P
rmax.Here also will produce for judging the direction index k of mobile node in the positive negative direction of anchor node, production method is introduced below.If launching hyperacoustic moment is t
1, the moment receiving wall reflected wave is t
21, the moment receiving tunnel bottom reflection echo is t
22, then hyperacoustic transit time is respectively t
21-t
1and t
22-t
1, mobile node can be tried to achieve to wall and the distance to bottom surface, tunnel according to TOF (time of flight) transit time detection method.Mobile node is by P
rmax, t
1, t
21, t
22, N
1, the identification code of mobile node and direction index k break into locator data bag, is upwards forwarded to ground monitoring end by the anchor node closed on.
Fig. 8 is the mobile node anchor node position relationship schematic diagram of downhole electromagnetic ripple ultrasonic in combination localization method of the present invention.
As shown in Figure 8, there are two mobile nodes between anchor node 33 and anchor node 34,35 and 36 respectively, mobile node 35 is nearer apart from anchor node 33, mobile node 36 is comparatively near apart from anchor node 34, when locating mobile node, needs to judge that mobile node is at the front of selected anchor node or rear, the direction that underworkings along slope coordinate axial coordinate increases is positive direction, then need to judge that mobile node is in the positive direction of anchor node or negative direction.The present invention takes following method:
After mobile node receives the framing signal of neighbouring anchor node, measure signal strength signal intensity when each framing signal arrives, select two signals that signal strength signal intensity is maximum, extract the numeral number N of anchor node in signal
1, N
2, abandon other signal, N
1represent the numeral number of the anchor node that signal strength signal intensity is maximum, N
2represent the numeral number of the anchor node that signal strength signal intensity is second largest, if a direction index k, if N
1> N
2, then direction index k=1, if N
1< N
2, then direction index k=2; For mobile node in Fig. 8 35, it records the maximum anchor node of signal strength signal intensity is 33 certainly, and second largest is 34, then the numeral number of 33 is N
1, the numeral number of 34 is N
2if, 34 33 positive direction, N
1< N
2, then can judge k=2, namely 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, Figure 10 be downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention tunnel in diagrammatic top view.
As shown in Figure 9, Figure 10, A represents anchor node, B and B ' represents the mobile node of two diverse locations, the method calculating B ' point coordinates is identical with the method calculating B, mainly below to set forth for B point, in Fig. 9, AD represents the height of anchor node, BE represents the height of mobile node, because mobile node is on miner or underground equipment, have certain difference in height with anchor node, accurate location algorithm can not ignore this difference in height, BE=CD, then AC is the difference in height of anchor node and mobile node.AB represents the distance between mobile node and anchor node, the intensity being transmitted into the position location signal of mobile node by anchor node is obtained, BE by mobile node to bottom surface, tunnel ultrasonic signal and the time receiving reflection echo obtain, if the length of BC is l, then the calculating formula of l is (1) formula.
In Figure 10, GI and y-axis all represent two walls, if the distance between two walls is m, because anchor node is identical to the distance of both sides wall, if the coordinate that anchor node A is is
then in Figure 10, the coordinate of C point is also
for lateral coordinates, y is along slope coordinate,
for known quantity, AH is the distance that anchor node arrives wall, and
for the half of the spacing of wall, BI is the distance that mobile node arrives wall, is the abscissa of mobile node, and as shown in Figure 10, the length obtaining CF can obtain the along slope coordinate of mobile node, then CF calculates as (2) formula.
Then the coordinate of mobile node B is
The negative direction of mobile node at selected anchor node is described during k=1, the positive direction of mobile node at selected anchor node is described during k=2.
In down-hole by the path loss of electromagnetic wave signal ask distance use logarithm-normal distribution model most suitable, the expression formula of logarithm-normal distribution model such as formula (3), P in formula
ld () represents the path loss after distance d, unit is dBm; δ is path
P
L(d)＝P
L(d
0)+10δlg(d/d
0)+X
σ(3)
Decay factor, its numerical value depends on the communication environments of wireless signal, and it is an empirical value; d
0for the distance between transmitting node and reference node, generally get 1m; X
σfor the zero-mean normally distributed random variable that standard deviation is σ, unit is dBm.P
l(d
0) d=1m can be got by free space model and obtain, free space propagation model formula is such as formula (4), and in (4) formula, f is carrier operation frequency, and unit is MHz, L
oSSrepresent the attenuation of electromagnetic wave after distance d in 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, it is P that mobile node receives the electromagnetic wave signal intensity that the anchor node nearest apart from it launch
rmax, then P
l(d)=P
t-P
rmax, being then easy to according to formula (3) distance obtained between anchor node and mobile node is
Get reference distance d
0for 1m, then in Fig. 9, the length of AB is
Then the ordinate of mobile node is
Based on the supersonic sounding formula of TOF as (6) formula, V is the velocity of sound, T
1for launching time during ultrasonic wave, T
2for receiving
L＝V(T
2-T
1)/2 (6)
The time of reflection echo, T
2-T
1for hyperacoustic transit time, L and launch point range-to-go.Then mobile node B is (7) formula to the calculating formula of the distance BI of wall.
BI＝V(t
21-t
1)/2 (7)
In like manner, mobile node B to the distance BE of bottom surface, tunnel, as (8) formula.
BE＝V(t
22-t
1)/2 (8)
If the height of anchor node is h, then mobile node B relative to the coordinate of anchor node A is
Figure 11 is the diagrammatic perspective view of downhole electromagnetic ripple ultrasonic in combination location algorithm of the present invention.
As shown in figure 11, be that the space multistory of the location that in navigation system tunnel, mobile node has coordinated with the anchor node nearest apart from it is conceived.
Claims (8)
1. the ultrasonic combined navigation system of downhole electromagnetic ripple, is characterized in that, comprises ground monitoring center, upper strata terminal, down-hole central station, gateway node, optical fiber, bus, anchor node, mobile node;
Described ground monitoring center is a computer or server, or the computer network of multiple stage computer or server composition; Ground monitoring center receives the locator data bag sent from down-hole from down-hole central station, process locator data bag;
Described down-hole central station is switch, the locator data bag that aggregation gateway node is sent by bus, by Optical Fiber Transmission to ground monitoring center;
Described gateway node is laid in the end points in a tunnel, receives the locator data bag of the mobile node transmitting that anchor node forwards, is sent to down-hole central station by bus;
Described each mobile node distributes an identification code, uniquely corresponding with moving target, and corresponding relation is stored in ground monitoring center, mobile node is that transmission medium receives reflection echo to side wall and tunnel bottom-emissive ultrasonic signal with ultrasonic wave, record is launched ultrasonic wave and is received the reflection echo time, to calculate the lateral coordinates of the distance of itself and wall, the Distance geometry mobile node of itself and bottom surface, tunnel, mobile node is that transmission medium communicates with anchor node with electromagnetic wave, obtain receiving intensity and the anchor node numeral number of anchor node electromagnetic signals, by receiving the magnitude relationship of anchor node numeral number corresponding to two maximum signals of received signal strength in anchor node signal, obtain the numerical value of the fore-and-aft direction for determining the anchor node that mobile node is corresponding compared with large-signal intensity in two maximum received signal strengths, be defined as direction index, process obtains and records the maximum received signal strength receiving anchor node electromagnetic wave signal, the anchor node numeral number that maximum received signal strength is corresponding, direction index, to be combined with the lateral coordinates and mobile node of the mobile node distance to bottom surface, tunnel, calculate the along slope coordinate of mobile node, record data and the process of mobile node self identification code are formed locator data bag by mobile node, and locator data bag is sent to nearest anchor node, and the storage forwarding of locator data bag through between anchor node is to ground monitoring center,
Described anchor node hangs on back, apart from both sides wall apart from equal, all anchor nodes to bottom surface, tunnel apart from identical; Anchor node is to mobile node emitting electromagnetic wave framing signal, receive position location request signal and the locator data bag of mobile node transmitting, the locator data bag of mobile node is sent to adjacent anchor node or gateway node, each anchor node receive the packet of adjacent anchor node and storage forwarding to another adjacent anchor node, relay forwarding data bag is until to gateway node, each anchor node distributes a numeral number N, numeral number is corresponding with its position coordinates, and corresponding relation is stored in ground monitoring center; The direction that regulation underworkings along slope coordinate axial coordinate increases is positive direction, and the numerical value of N increases along positive direction;
Described bus is CAN, or local area network bus, or RS-485 bus, and connection network artis and down-hole central station, realize the transfer of data between gateway node and down-hole central station;
Described Fiber connection down-hole central station and ground monitoring center, realize the transfer of data of ground monitoring center and down-hole central station;
Sensor installation on described gateway node, anchor node and mobile node, detects environmental information around, adopts the transmission means identical with location data information, data are sent to ground monitoring center;
Described upper strata terminal is the Surveillance center located in distant, is connected with ground monitoring center by Internet network, obtains Real-time Monitoring Data;
Underground equipment in described downhole electromagnetic ripple ultrasonic in combination navigation system, comprises gateway node, bus, anchor node, mobile node, Quan Shi intrinsically safe equipment.
2. the ultrasonic combined navigation system of downhole electromagnetic ripple according to claim 1, it is characterized in that, described gateway node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply, bus module;
Described anchor node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, transducer, power supply;
Described mobile node comprises: processor storage unit, electromagnetic wave Transmit-Receive Unit, ultrasonic transmission/reception unit, transducer, power supply.
3. the ultrasonic combined navigation system of downhole electromagnetic ripple according to claim 2, it is characterized in that, the ultrasonic transmission/reception unit in the transducer in gateway node, anchor node, mobile node, electromagnetic wave Transmit-Receive Unit, mobile node and the bus module in gateway node are connected with the processor storage unit in each node respectively; The electromagnetic wave Transmit-Receive Unit of each node receives and sends radio magnetic wave signal, and the ultrasonic transmission/reception unit in mobile node receives and sends ultrasonic signal; Transducer in gateway node, anchor node and mobile node detects temperature, humidity, the methane concentration information of surrounding environment; The data that processor storage unit in each node stores, process receives, control the operation of other unit; Bus module in gateway node connects bus; Power supply in each node provides electric energy.
4. the ultrasonic combined localization method of downhole electromagnetic ripple, is characterized in that, comprise the following steps:
A. according to lane space structure and operational environment, anchor node, gateway node and down-hole central station is laid;
B. mobile node is periodically to side wall and tunnel bottom-emissive ultrasonic signal, receives ultrasonic reflections echo respectively, and ultrasonic wave moment t launched in record
1, record receives the moment t of wall reflection echo
21, record receives the moment t of tunnel bottom reflection echo
22;
C. mobile node anchor node emitting electromagnetic wave positioning request signal towards periphery, the anchor node receiving mobile node position location request signal launches the position location signal comprising anchor node numeral number;
D. mobile node receives the position location signal of neighbouring anchor node, obtain receiving intensity and the anchor node numeral number of anchor node electromagnetic signals, by receiving the magnitude relationship of anchor node numeral number corresponding to two maximum signals of received signal strength in anchor node signal, obtain the numerical value of the fore-and-aft direction for determining the anchor node that mobile node is corresponding compared with large-signal intensity in two maximum received signal strengths, be defined as direction index, process obtains and records receiving anchor node electromagnetic wave signal maximum signal, the anchor node numeral number that maximum signal is corresponding, direction index, and all recorded informations and the process of mobile node self identification code are formed mobile node locator data bag, anchor node is issued by electromagnetic wave signal, forwarded by the relay of anchor node, finally reach ground monitoring center,
E. after ground monitoring receive centre to the locator data bag of mobile node, launch the ultrasonic wave moment according to mobile node wherein and receive wall and launch the echo moment, calculate the lateral coordinates of mobile node in tunnel, lateral coordinates near receiving according to mobile node in the maximum received signal strength of anchor node emitting electromagnetic wave framing signal, anchor node numeral number that maximum received signal strength is corresponding, direction index and mobile node tunnel and the distance of mobile node to bottom surface, tunnel, the along slope coordinate of calculating mobile node.
5. the ultrasonic combined localization method of downhole electromagnetic ripple according to claim 4, it is characterized in that, described steps A comprises the following steps:
A1. in tunnel anchor node along tunnel longitudinally hanging in one line at back, anchor node is equal 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, be not more than the covering radius of mobile node electromagnetic wave signal, ensure that mobile node optional position in tunnel all has at least two anchor nodes to receive the electromagnetic wave signal of its transmitting;
A2. according to the design feature of underworkings, the end points propping up tunnel at every bar lays a gateway node, and the distance of the anchor node at gateway node and end points place, tunnel should be not more than the wireless communication distance between anchor node and gateway node;
A3. according to the design feature of underworkings and the position of each gateway node, select arrangement down-hole, the place central station be not only convenient to by Fiber connection ground monitoring center but also be convenient to be connected by bus each gateway node, down-hole central station is connected with gateway node by bus, is connected with ground monitoring center by optical fiber.
6. the ultrasonic combined localization method of downhole electromagnetic ripple according to claim 4, it is characterized in that, the ultrasonic signal that in described step B, mobile node is launched adopts the method for code division multiple access to improve the antijamming capability of signal, according to the quantity of underground moving target, generate PN code, the PN code that each mobile node is corresponding unique.
7. the ultrasonic combined localization method of downhole electromagnetic ripple according to claim 4, it is characterized in that, described step D comprises the following steps:
D1. mobile node receives the position location signal of neighbouring anchor node, first records signal strength signal intensity when each signal arrives, is designated as P
ri, i=1,2 ... n, n are the number of signals of the anchor node received, and select two signals that signal strength signal intensity is maximum, in remembering two, maximum signal strength signal intensity is P
rmax, extract the numeral number N of the anchor node of two signals
1, N
2, abandon other signal, N
1represent the numeral number of the anchor node that signal strength signal intensity is maximum, N
2represent the numeral number of the anchor node that signal strength signal intensity is second largest, set direction index is k, if regulation N
1> N
2, direction index k=1, if N
1< N
2, direction index k=2;
D2. mobile node is by P
rmax, t
1, t
21, t
22, N
1, mobile node identification code and direction index k form locator data bag, sends to N
1anchor node, anchor node forwards the gateway node of locator data bag to end points place, tunnel, place by relay again;
D3. after gateway node receives locator data bag, by Bus repeater to down-hole central station, down-hole central station is sent to ground monitoring center by optical fiber.
8. the ultrasonic combined localization method of downhole electromagnetic ripple according to claim 4, it is characterized in that, described step e comprises the following steps:
E1. the numeral number of anchor node in ground monitoring center extraction mobile node packet and the identification code of mobile node, the signal strength signal intensity P of anchor node
rmax, mobile node launches ultrasonic wave moment t
1and the moment t received from wall and tunnel bottom reflection echo
21, t
22, direction index k;
E2. ground monitoring center is according to the mobile node identification code in the mobile node identification code of storage and the corresponding relation of its identity and mobile node packet, determines the identity of moving target;
E3. ground monitoring center is according to the numeral number of the anchor node in the anchor node numeral number of storage and the corresponding relation of its position coordinates and mobile node packet, extracts the position coordinates of anchor node, if the two-dimensional coordinate of this position is
m is the distance between two walls,
for lateral coordinates, y is along slope coordinate;
E4. ground monitoring center is according to the logarithm-normality model of radio signal propagation theoretical model, is arrived the signal strength signal intensity P of mobile node by anchor node
rmaxobtain the distance of anchor node to mobile node, be set to d,
Wherein P
tfor the transmit signal strength of anchor node, δ is the path attenuation factor, and its numerical value depends on the communication environments of wireless signal, is an empirical value, d
0for the distance in free space model between transmitting node and reference node, get 1m, X
σfor the zero-mean normally distributed random variable that standard deviation is σ, P
l(d
0) be d in 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 bottom surface, tunnel.
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