CN102711040B

CN102711040B - Underground coal mine unidimensional positioning method and system based on wireless sensor network

Info

Publication number: CN102711040B
Application number: CN201210179240.3A
Authority: CN
Inventors: 孙继平; 刘志勇; 陈文超
Original assignee: China University of Mining and Technology Beijing CUMTB
Current assignee: China University of Mining and Technology Beijing CUMTB
Priority date: 2012-06-01
Filing date: 2012-06-01
Publication date: 2014-11-19
Anticipated expiration: 2032-06-01
Also published as: CN102711040A

Abstract

The invention provides an underground coal mine unidimensional positioning method and system based on a wireless sensor network. According to the undimensional positioning method, a roadway is divided into a plurality of continuous non-overlapping rectangular positioning units with equal long sides, and deployment reference nodes are non-symmetrically arranged so as to record information of each rectangular positioning unit; each reference node utilizes periodic broadcasting signals of other adjacent reference nodes to update a corresponding parameter in a reference node data packet; a mobile node is used for filtering and sequencing the reference node data packet, and recording the IDs (Identifications) of adjacent mobile nodes; and the mobile nodes are positioned through calculation, sequencing and size comparison of the reference node data packet, the recorded IDs of the adjacent mobile nodes and the database information. The underground coal mine unidimensional positioning system comprises a plurality of wireless sensor sub-networks deployed in the roadway, a central switch arranged on the ground, and a safety monitoring and information management network. The underground coal mine unidimensional positioning method and system based on the wireless sensor network, provided by the invention, have the advantages of high positioning accuracy, low cost, simple system structure and low power consumption, and can meet the specific requirements of operating environment and security of the underground mine coal.

Description

One-dimensional positioning method and system under coal mine based on wireless sensor network

Technical field

The present invention relates to a kind of localization method and system, concretely, relate to one-dimensional positioning method and system under a kind of coal mine based on wireless sensor network (Wireless sensor network).

Background technology

Coal is the main energy sources of China, accounts for 70% of primary energy, and the colliery in China more than 95% is down-hole man-made recovery.Due to reasons such as complex geologic conditions, lower, the mismanagements of exploitation scientific and technological level, cause China's coal-mine security incident to take place frequently, the lives and properties that cause and social influence are difficult to the appraisal, seriously restricting the sound development of coal in China industry, therefore be necessary that research is suitable for the personnel location system of down-hole, this rescues and has great importance in time after enhancing productivity, ensure personnel in the pit's safety, calamity.

China's coal-mine down-hole is a special constrained environment, and it is comprised of various tunnels crisscross, that shape is different, different in size, and its length can reach tens to kilometers up to a hundred.And mine laneway narrow space, in tunnel, there is a large amount of reflections, diffraction, scattering and projection phenomenon in wireless signal, and plant capacity need meet the requirement of downhole anti-explosion; Due to tunnel relative closure, can not come to locate under service well by the existing satellite fix in the ground such as GPS simultaneously.As can be seen here, the localization method of ground maturation and system cannot directly be used in down-hole.

The existing Mine Personnel Positioning System of China is the navigation system adopting based on RFID (Radio Frequency Identification) REID mostly.Chinese patent application 01122258.1 discloses a kind of intelligent location and safety management system for underground workers, and it consists of electronic identification card, tunnel inquiry receiving system and management and dispatching center.Underground work personnel wear electronic identification card, identification card writes employee's Electronic Numbering, by mine lamp accumulator, powered, when identification card is received after the request signal of tunnel inquiry receiving system, reply the numbering signal of staff under silo, tunnel inquiry receiving system receives that the signal that should reach sends management and dispatching center to, the time of this signal of management and dispatching central record and generation.By multipoint positioning, receive and can carry out track and localization to underground work personnel, but this invention can only determine that underground work personnel's position is in the range of receiving of inquiry unit, and general underground radio communication distance is all the order of magnitude of tens meters, so the positioning precision of this navigation system is also the order of magnitude of tens meters, positioning precision is very low.On the other hand, recognition capability is not strong simultaneously for multiple target, is prone to the phase mutual interference between card yet.Therefore existing navigation system cannot meet the requirement that down-hole personnel position situation is accurately grasped in real time.

Wireless sensor network is by the wireless sensor node joint management in a large number with functions such as radio communication, data acquisition and processing (DAP), cooperative cooperatings, the multi-hop, the ad hoc network system that form by communication.Compare with traditional network, wireless sensor network has following characteristics: (1) dynamic: topology of networks may change because of the change of several factors, adding and leaving or existing node failure etc. such as environmental factor, new node; (2) self-organizing: the dynamic at wireless senser networking, require sensor node need to there is the ability of self-organizing, can configure voluntarily and manage, multi-hop wireless sensor network system that can forwarding data by Topology Control Mechanisms and the automatic formation of procotol; (3) reliability: node safeguard that possibility is very little, communication privacy and safety very important, sensor network has robustness and fault-tolerance; (4) data-centered: in wireless sensor network, node adopts number-mark, the whether unique design of depending on network communication protocol of the whole network of node serial number, when user uses wireless sensor network query event, directly by be concerned about event notification to network, rather than notice the node of determining numbering to certain, network is reported to user after the information that obtains allocate event.Therefore, the location technology based on wireless sensor network is highly suitable under coal mine and uses.

The localization method of existing wireless sensor network mainly contains two large classes: based on range finding localization method (range-based) and without range finding localization method (range-free).Localization method based on range finding mainly contains received signal strength indicator method (Received Signal Strength Indicator, RSSI), the time of advent method (Time Of Arrival, TOA), differ from method (Time Difference Of Arrival the time of advent, TDOA) and arrive preset angle configuration (Angle Of Arrival, AOA), these class methods are by distance or the angle information of point-to-point between measured node, use trilateration, triangulation or maximum likelihood estimate calculate the position of mobile node, positioning precision is relatively high, but high to node hardware requirement, cost is high, locating effect is easily affected by environment, localization method without range finding mainly contains centroid algorithm, DV-Hop and APIT, these class methods are without distance and angle information, only according to the location of the information realization mobile nodes such as network connectivty, positioning precision relies on the density of reference node very much, at reference node, dispose sparse in the situation that, position error can be very large.

The existing navigation system based on wireless sensor network mostly adopts above-mentioned localization method, yet due to the particularity of underworkings environment, the propagation of electromagnetic wave in down-hole is extremely complicated; And due to the constraint of tunnel geometry and the consideration of cost, reference node can not random, intensive deployment in a plane, can only dispose along roadway direction.Therefore existing localization method and system based on wireless sensor network can not directly apply under coal mine.

Summary of the invention

In order to overcome above-mentioned deficiency, particularly in order to overcome, mine Positioning System is low, cost is high, locating effect easily deployment quantity and the problem such as deployment density is limited, pit gear volume is limited, complex structure, power consumption height of reference node in affected by environment, tunnel, the invention provides one-dimensional positioning method and system under a kind of coal mine based on wireless sensor network.The method and system make full use of the feature that wireless sensor node cost is low, equipment volume is little, simple in structure, low in energy consumption, in conjunction with mine laneway actual working environment, utilize limited reference node to realize accurate target localization, met the needs of rescuing in time after mine production scheduling and calamity.

In order to achieve the above object, the present invention adopts following technical proposals:

An one-dimensional positioning method under coal mine based on wireless sensor network, comprises the following steps:

A. from access adit, tunnel is divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits, each interval is a rectangle positioning unit, asymmetric deployment reference node on the wall in the inherent tunnel of each rectangle positioning unit;

B. by building database, record the information of each rectangle positioning unit; The information of rectangle positioning unit comprise this rectangle positioning unit inner number of rectangle positioning unit number, the long D of rectangle positioning unit, the wide d of rectangle positioning unit, maximum possible RSSI value RM, unit and and the inner number corresponding reference node coordinate X in unit;

Wherein rectangle positioning unit number is the numbering to rectangle positioning unit, from first rectangle positioning unit of access adit, along with bearing of trend numbering in tunnel increases successively; What the wide d of rectangle positioning unit was tunnel is wide; Maximum possible RSSI value RM is the maximum RSSI value that can receive, and by measurement or known reference node transmitting power, can draw this value; Unit is the numbering to the reference node in same rectangle positioning unit inner number, according to tunnel bearing of trend, looks, and near access adit and be positioned at the reference node of left-hand side, number consecutively is 1,2,3,4 in the counterclockwise direction; Reference node coordinate X is that this reference node is with respect to the distance of access adit;

C. with regular time, be spaced apart the cycle, all reference nodes outwards send periodic broadcasting signal with the form of periodic broadcasting packet, receive the periodic broadcasting packet of other adjacent reference nodes and extract the RSSI value of corresponding periodic broadcasting signal, according to the parameter recognition cycle broadcast singal of periodic broadcasting packet, parameters R A, the RB in selection and the reference node packet respectively RSSI value of corresponding periodic broadcasting signal comes undated parameter RA, RB; Parameter in periodic broadcasting packet at least should comprise inner number of type of data packet identifier, rectangle positioning unit number, unit, and the parameter in reference node packet at least should comprise type of data packet identifier, rectangle positioning unit number, inner number of unit, RA, RB, mobile node ID, RE;

The type of this packet of type of data packet identifier marking wherein; RA be this reference node receive with its RSSI value about the periodic broadcasting signal of the centrosymmetric reference node of center line of the bearing of trend in tunnel; RB be this reference node that receive with RSSI value its periodic broadcasting signal in different rectangle positioning units and the adjacent reference node of homonymy; Mobile node ID is the numbering of mobile node; RE be this reference node that receive with RSSI value positioning request signal corresponding to mobile node ID;

While D. locating, mobile node sends positioning request signal, reference node upgrades the parameter mobile node ID in reference node packet according to the positioning request signal receiving, after RE, the partial information of loopback reference node packet and corresponding rectangle positioning unit is to mobile node, mobile node filters the partial information of reference node packet and corresponding rectangle positioning unit according to the mobile node ID in the reference node packet receiving, according to the parameters R E in reference node packet, the reference node packet after filtering is done and sorted for the first time and record adjacent mobile node ID, the partial information of rectangle positioning unit comprises the long D of this reference node place rectangle positioning unit, the wide d of rectangle positioning unit and maximum possible RSSI value RM,

E. according to the rectangle positioning unit in reference node packet number and inside, unit search database, the information of the rectangle positioning unit that utilization searches, the parameter in reference node packet and the neighboring mobile node ID of record, by the position of calculating, sorting and relatively numerical values recited drawing mobile node.

Described steps A comprises the following steps:

A1. from access adit, tunnel is divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits, each interval is a rectangle positioning unit, what the wide d of rectangle positioning unit was tunnel is wide, meets 7d < D < 2r between the long D of rectangle positioning unit, the wide d of rectangle positioning unit and the communication radius r of node;

A2. in each rectangle positioning unit, take the center of rectangle positioning unit is initial point, tunnel bearing of trend is that positive direction is set up rectangle positioning unit one-dimensional coordinate system, in the side walls that is-2D/7 place at the coordinate of rectangle positioning unit one-dimensional coordinate system, respectively dispose a reference node, at the coordinate of rectangle positioning unit one-dimensional coordinate system, be respectively to dispose a reference node in the side walls at 3D/7 place, the height that reference node is liftoff and the height of mobile node are basically identical.

In step D, it is reference node packet that parameter mobile node ID in a mobile node stored reference node data bag is identical with own ID and the partial information of rectangle positioning unit accordingly that described mobile node filters the partial information of reference node packet and corresponding rectangle positioning unit according to the mobile node ID in the reference node packet receiving;

It is described that according to the parameters R E in reference node packet, the reference node packet after filtering to be done to sequence be for the first time according to the numerical values recited of the parameters R E in the reference node packet after filtering, by order from big to small, reference node packet is done to sequence for the first time, reservation as much as possible after sequence but at most only retain the partial informations of the corresponding rectangle positioning unit of reference node packet that comes the reference node packet of first six digits and make number one;

The described adjacent mobile node ID that records sends a reply signal after other mobile nodes are received positioning request signal, if the RSSI value R of return signal meets

RA1+(d1-D1/14)(RM1-RA1)/d1≤R

Record the mobile node ID of this mobile node; Wherein RA1 is the parameters R A in the reference node packet making number one after sorting for the first time; D1, d1, RM1 are D, d, the RM in the partial information of the corresponding rectangle positioning unit of reference node packet that makes number one after sorting for the first time.

Described step e comprises the following steps:

E1. according to the rectangle positioning unit in the reference node packet that makes number one after sequence for the first time number and inside, unit search database, utilize the information of the rectangle positioning unit searching and the reference node packet that makes number one in parameter judge

RA1+(d1-D1/14)(RM1-RA1)/d1≤RE1

Whether meet, if met, determine the reference node coordinate X in the corresponding database of reference node packet making number one after mobile node coordinate is for sequence for the first time, carry out E7 step, if do not met, continue to carry out E2 step;

Wherein RA1, RE1 are respectively parameters R A, the RE in the reference node packet making number one after sorting for the first time; D1, d1, RM1 are D, d, the RM in the corresponding database of reference node packet making number one after sorting for the first time;

E2. the reference node packet after sequence for the first time being made to reference node born of the same parents processes, the numerical values recited of parameters R E in reference node packet after processing according to reference node born of the same parents, by order from big to small, reference node packet is done to sequence for the second time, and only retain the reference node packet that comes front two; If the rectangle positioning unit number in two reference node packets that retain is the same, continue to carry out E3 step, otherwise, carry out E4 step;

If being greater than for the second time, the reference node coordinate X in the corresponding database of reference node packet E3. making number one after sequence for the second time comes the reference node coordinate X in the corresponding database of deputy reference node packet after sequence, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after mobile node coordinate is for sequence for the second time subtracts 2/7D, carry out E7 step, otherwise, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after mobile node coordinate is for sequence for the second time adds 2/7D, carry out E7 step,

If the RB in the reference node packet E4. making number one after sequence is for the second time greater than for the second time, after sequence, come the RE in deputy reference node packet, continue to carry out E5 step, otherwise, E6 step carried out;

If being greater than for the second time, the reference node coordinate X in the corresponding database of reference node packet E5. making number one after sequence for the second time comes the reference node coordinate X in the corresponding database of deputy reference node packet after sequence, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after mobile node coordinate is for sequence for the second time adds 1/7D, carry out E7 step, otherwise, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after mobile node coordinate is for sequence for the second time subtracts 1/7D, carry out E7 step,

E6. determine the median that comes the reference node coordinate X in the corresponding database of deputy reference node packet after mobile node coordinate is for the reference node coordinate X in the corresponding database of reference node packet making number one after sorting for the second time and sequence for the second time, carry out E7 step;

If current definite position of the adjacent corresponding mobile node of mobile node ID recording in the mobile node of E7. having determined position and step D differs 1/7D, in the mobile node of these two definite positions, the mobile node of less position carries out position correction according to increasing 1/28D, and the mobile node of larger position carries out position correction according to reducing 1/28D.

It is in same rectangle positioning unit that reference node born of the same parents in described step e 2 is processed, unit is for inner number the processing of 1 and 2 or 3 and 4 corresponding two reference node packets of a pair of reference node, supplemental characteristic bag type identifier in reference node packet, rectangle positioning unit number, inner number of unit, mobile node ID is constant, obtain the mean value of rest parameter in two reference node packets, by the corresponding parameter in inner number little reference node packet of the mean value updating block of obtaining, and only retain the reference node packet upgrading with mean value.

An one dimension navigation system under coal mine based on wireless sensor network, this system comprises a plurality of wireless senser sub-networks that are deployed in tunnel, is deployed in center switch and security monitoring and the Information management networks on ground; Described wireless senser sub-network comprises essential safe type aggregation gateway node, essential safe type reference node, essential safe type mobile node; Described security monitoring and Information management networks comprise ground monitoring terminal, location-server, upper strata terminal; Ground monitoring terminal and location-server form cable network by center switch and essential safe type aggregation gateway node, and send real-time locator data to upper strata terminal by local network; Essential safe type aggregation gateway node is articulated on center switch by bus; Essential safe type mobile node is carried by underground operators or mechanical device; Essential safe type aggregation gateway node, essential safe type reference node, essential safe type mobile node forms wireless location network;

Described essential safe type aggregation gateway node receives the wireless data that essential safe type mobile node sends, and converts thereof into cable data and sends to center switch; The cable data that receiving center switch sends, converts thereof into wireless data and sends to essential safe type reference node;

Described essential safe type reference node distributes the rectangle positioning unit number of unique correspondence and unit inner number; Periodically with the form of periodic broadcasting packet, outwards send periodic broadcasting signal, receive the periodic broadcasting packet of other adjacent essential safe type reference nodes and extract the RSSI value of corresponding periodic broadcasting signal, according to the parameter recognition cycle broadcast singal of periodic broadcasting packet, select the RSSI value of corresponding periodic broadcasting signal to upgrade parameters R A, the RB in reference node packet; Receive the partial information of the corresponding rectangle positioning unit of ground monitoring terminal transmission; The partial information that receives positioning request signal that essential safe type mobile node sends and upgrade loopback reference node packet and corresponding rectangle positioning unit after mobile node ID, the RE in reference node packet according to positioning request signal is to essential safe type mobile node;

Described essential safe type mobile node distributes unique mobile node ID, to essential safe type reference node, send positioning request signal, and receive the partial information of reference node packet and the corresponding rectangle positioning unit of the loopback of essential safe type reference node, according to the mobile node ID in the reference node packet receiving, the partial information of reference node packet and corresponding rectangle positioning unit is filtered, according to the RE in reference node packet, the reference node packet after filtering is done and sorted for the first time and record adjacent mobile node ID, the neighboring mobile node ID packing of the reference node packet retaining after sequence for the first time and record is sent to ground monitoring terminal,

Described center switch forwards the partial information that essential safe type mobile node sends to the reference node packet of ground monitoring terminal and adjacent mobile node ID, rectangle positioning unit that ground monitoring terminal sends to essential safe type reference node;

Described ground monitoring terminal records the information of each rectangle positioning unit by building database, and the partial information of rectangle positioning unit is sent to corresponding essential safe type reference node; Receive the reference node packet of essential safe type mobile node transmission and adjacent mobile node ID, according to the rectangle positioning unit in reference node packet number and inside, unit search database, the information of the rectangle positioning unit that utilization searches, the parameter in reference node packet and the neighboring mobile node ID of record, by calculating, sort and comparing numerical values recited, draw the position of essential safe type mobile node, and send to location-server and upper strata terminal;

Described location-server receives and stores the position of essential safe type mobile node.

Described bus can be CAN bus, or local area network bus, or RS-485 bus.

Described essential safe type reference node comprises: processor unit, memory cell, radio transceiver unit, power subsystem.

Described essential safe type mobile node comprises: processor unit, memory cell, radio transceiver unit, power subsystem.

Described ground monitoring terminal comprises: processor unit, memory cell, wireline interface, power interface.

Equipment in described wireless senser sub-network all adopts inbeing safe explosion prevention equipment.

Beneficial effect of the present invention is:

1. by utilizing the feature of self-organizing, multi-hop and the radio communication of wireless sensor network, the power consumption of equipment is significantly reduced, system equipment is simple in structure, volume is little, is adapted at coal mine roadway and uses.

2. by adopting, tunnel is divided into rectangle positioning unit, makes location more be applicable to the long and narrow feature in tunnel; Asymmetric deployment reference node in rectangle positioning unit, has reduced the requirement of reference node quantity and density, cost-saving.

3. when reference node utilizes the periodic broadcasting signal of other adjacent reference nodes can dynamically update location, loopback is to the reference node packet of mobile node, and the parameter in the middle of the reference node packet utilizing during location is along with the change of tunnel environment changes; Utilize the central parameter of reference node packet and the information in database, by calculating, sort and comparing numerical values recited and just can realize the location of mobile node, localization method is simple on the one hand, reduced to calculate the time delay of bringing, can avoid on the other hand the king-sized situation of position error, improved positioning precision, and positioning precision is affected by environment little.

4. adopting take tree-likely when a certain latter end device fails of system, can not affect the normal operation of other parts as main network configuration, has improved the change ability of combating a natural disaster of system.

Accompanying drawing explanation

Fig. 1 is essential safe type reference node deployment diagram of the present invention;

Fig. 2 is the periodic broadcasting data packet format schematic diagram of essential safe type reference node of the present invention;

Fig. 3 is the reference node data packet format schematic diagram of essential safe type reference node of the present invention;

Fig. 4 is rectangle positioning unit administrative division map of the present invention;

Fig. 5 is navigation system composition frame chart of the present invention;

Fig. 6 is localization method flow chart of the present invention;

Fig. 7 is the circuit block diagram of essential safe type reference node of the present invention and essential safe type mobile node;

Fig. 8 is ground monitoring terminating circuit block diagram of the present invention;

In figure: 1, wireless senser sub-network; 1-1, essential safe type aggregation gateway node; 1-2, essential safe type reference node; 1-3 essential safe type mobile node; 2, center switch; 3, security monitoring and Information management networks; 3-1, ground monitoring terminal; 3-2, location-server; 3-3, upper strata terminal.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail, but following description is only illustrative, the restriction that protection scope of the present invention not the following describes.What the present invention realized is one dimension location, and in database, the reference node coordinate X of each essential safe type reference node all refers to that it is with respect to the distance of access adit, and it is near apart from access adit for the little explanation of node coordinate, and it is far away apart from access adit for the large explanation of node coordinate.

1. Fig. 1 is essential safe type reference node deployment diagram of the present invention.As shown in Figure 1, from access adit, tunnel is divided between the equal rectangle region in a plurality of continuous nonoverlapping long limits, and each interval is a rectangle positioning unit, and the tunnel part in Fig. 1 in dotted line frame is a rectangle positioning unit; What the wide d of rectangle positioning unit was tunnel is wide, in order to guarantee that any position of essential safe type mobile node in tunnel can communicate by letter with at least four essential safe type reference nodes, between the long D of rectangle positioning unit and node communication radius, need to meet D < 2r; Rectangle positioning unit number is the numbering to rectangle positioning unit, from first rectangle positioning unit of access adit, along with bearing of trend numbering in tunnel increases successively; In Fig. 1, the rectangle positioning unit of the rectangle positioning unit of empty wire frame representation number is N, and the rectangle positioning unit number of two adjacent rectangle positioning units is respectively N-1 and N+1, and these three rectangle positioning units are continuously, not overlapping, long limit equates;

In each rectangle positioning unit, take the center of rectangle positioning unit is initial point, tunnel bearing of trend is that positive direction is set up rectangle positioning unit one-dimensional coordinate system, in the side walls that is-2D/7 place at the coordinate of rectangle positioning unit one-dimensional coordinate system, respectively dispose an essential safe type reference node, at the coordinate of rectangle positioning unit one-dimensional coordinate system, be respectively to dispose an essential safe type reference node in the side walls at 3D/7 place, the height of the height that essential safe type reference node is liftoff and essential safe type mobile node is basically identical.Unit is the numbering to the essential safe type reference node in same rectangle positioning unit inner number, according to tunnel bearing of trend, look, from near access adit and be positioned at the essential safe type reference node of left-hand side, number consecutively is 1,2,3,4 in the counterclockwise direction.In Fig. 1, in the rectangle positioning unit that rectangle positioning unit number is N, four essential safe type reference nodes have been disposed, the coding rule that unit is inner number is as shown in the numeral in Fig. 1 centre circle, the coordinate that rectangle positioning unit number is for inner number 1 and 2 the corresponding rectangle positioning unit of essential safe type reference node one-dimensional coordinate system for N, unit is-2D/7, and the coordinate that rectangle positioning unit number is for inner number 3 and 4 the corresponding rectangle positioning unit of essential safe type reference node one-dimensional coordinate system for N, unit is 3D/7.

Maximum possible RSSI value RM is the maximum RSSI value that can receive, and by measurement or known essential safe type reference node transmitting power, can draw this value; Reference node coordinate X is that this essential safe type reference node is with respect to the distance of access adit.By building database, record the information of each rectangle positioning unit, the information of rectangle positioning unit comprise this rectangle positioning unit inner number of rectangle positioning unit number, the long D of rectangle positioning unit, the wide d of rectangle positioning unit, maximum possible RSSI value RM, unit and and the inner number corresponding reference node coordinate X in unit, the partial information of rectangle positioning unit comprises the long D of this rectangle positioning unit, the wide d of rectangle positioning unit, maximum possible RSSI value RM; The long D of rectangle positioning unit, the wide d of rectangle positioning unit, maximum possible RSSI value RM and rectangle positioning unit number are one to one, with rectangle positioning unit removal search database, can obtain the long D of corresponding rectangle positioning unit, the wide d of rectangle positioning unit, maximum possible RSSI value RM; Reference node coordinate X and rectangle positioning unit number, unit are one to one inner number, with rectangle positioning unit number, can obtain corresponding reference node coordinate X with inside, unit removal search database.

2. Fig. 2 is the periodic broadcasting data packet format schematic diagram of essential safe type reference node of the present invention.As shown in Figure 2, the periodic broadcasting packet of essential safe type reference node comprises inner number of type of data packet identifier, rectangle positioning unit number, unit.Essential safe type reference node is assigned with unique rectangle positioning unit number and unit inner number, both are relations one to one, can identify this periodic broadcasting signal inner number by which essential safe type reference node sent by the rectangle positioning unit in periodic broadcasting packet number and unit.

3. Fig. 3 is the reference node data packet format schematic diagram of essential safe type reference node of the present invention.As shown in Figure 3, the reference node packet of essential safe type reference node comprises type of data packet identifier, rectangle positioning unit number, inner number of unit, RA, RB, mobile node ID, RE; The type of this packet of type of data packet identifier marking wherein; RA is this essential safe type reference node RSSI value with the periodic broadcasting signal centrosymmetric essential safe type reference node of its center line about the bearing of trend in tunnel that receive; RB be this essential safe type reference node that receive with RSSI value its periodic broadcasting signal in different rectangle positioning units and the adjacent essential safe type reference node of homonymy; Mobile node ID is the numbering of essential safe type mobile node; RE is the RSSI value of the positioning request signal corresponding with mobile node ID that receive of this essential safe type reference node.

In conjunction with the rectangle positioning unit in Fig. 1 number, be N, unit is for inner number the implication that 1 essential safe type reference node illustrates parameter:

RA is that rectangle positioning unit number is N, unit be for inner number 1 essential safe type reference node to receive rectangle positioning unit number be N, unit is for inner number the RSSI value of the periodic broadcasting signal of 2 essential safe type reference node;

RB is that rectangle positioning unit number is N, unit be for inner number 1 essential safe type reference node to receive rectangle positioning unit number be N-1, unit is for inner number the RSSI value of the periodic broadcasting signal of 4 essential safe type reference node.

The information of the rectangle positioning unit in reference node packet and database is one to one, by the rectangle positioning unit search database in reference node packet, the wide d of rectangle positioning unit, maximum possible RSSI value RM can obtain the long D of corresponding rectangle positioning unit, can obtain corresponding reference node coordinate X with the rectangle positioning unit in reference node packet number with inside, unit removal search database.

4. Fig. 4 is rectangle positioning unit administrative division map of the present invention.As shown in Figure 4, a rectangle positioning unit is divided into seven isometric regions, and the length in each region is D/7; There is unique feature in each region, localization method of the present invention is in fact to judge the current residing region of essential safe type mobile node, the then current position coordinates using a dimension coordinate of regional center of living in as essential safe type mobile node by unique feature.

When distance is smaller, RSSI value is large and line smoothing with the attenuation curve slope apart from increasing, and intercepts one section of very little curve, can think that this bit of curve is straight line; On this section of straight line, utilize known two to adjust the distance and the corresponding relation of RSSI can be obtained the corresponding RSSI value of other distances, and can carry out by the size of comparison RSSI value the size of judging distance.

The rectangle positioning unit that the rectangle positioning unit number of take is below N is example, and the feature in AR1 and AR2 region is described:

As shown in Figure 4, AR1 region can be divided into the crossing semicircle shown in two dotted lines, two semicircles all be take essential safe type reference node as the center of circle, radius is all D/14, in order to guarantee that two semicircles intersect, and need to meet 7d < D between the long D of rectangle positioning unit and the wide d of rectangle positioning unit; In the time of in any one semicircle, think that the relation of RSSI and distance is linear, utilize the parameters R A in maximum possible RSSI value RM and reference node packet, can obtain the RSSI value of signal of communication when essential safe type mobile node is on circle and between the essential safe type reference node of this circle circle centre position; If the RSSI value that has essential safe type reference node to receive the positioning request signal that essential safe type mobile node sends is not less than the above-mentioned RSSI value of obtaining, can judges so essential safe type mobile node and take in the semicircle that this essential safe type reference node is the center of circle or on semicircle.When essential safe type mobile node is positioned at the AR1 region of the rectangle positioning unit that rectangle positioning unit number is N, according to the value of parameters R E in reference node packet, by order from big to small to reference node data packet sequencing, the reference node packet making number one is so that rectangle positioning unit number is N, unit is for inner number that 1 the corresponding reference node packet of essential safe type reference node or rectangle positioning unit number are N, unit is for inner number 2 the corresponding reference node packet of essential safe type reference node, and the parameters R E in the reference node packet making number one meets the condition be positioned at while take on semicircle that this essential safe type reference node is the center of circle or semicircle,

In like manner, when essential safe type mobile node is positioned at the AR2 region of the rectangle positioning unit that rectangle positioning unit number is N, according to the value of parameters R E in reference node packet, by order from big to small to reference node data packet sequencing, the reference node packet making number one is so that rectangle positioning unit number is N, unit is for inner number that 3 the corresponding reference node packet of essential safe type reference node or rectangle positioning unit number are N, unit is for inner number 4 the corresponding reference node packet of essential safe type reference node, and the parameters R E in the reference node packet making number one meets the condition be positioned at while take on semicircle that this essential safe type reference node is the center of circle or semicircle.

The relation of RSSI value and distance is not linear, but substantially present the trend that RSSI value reduces along with the increase of distance, can be by the big or small size that determines the distance of these different essential safe type reference nodes of the RSSI value of signal of communication relatively and between different essential safe type reference nodes, according to and essential safe type reference node between the RSSI value size of signal of communication to the reference node data packet sequencing corresponding with essential safe type reference node, different order correspondences different distance magnitude relationship, be that different order correspondences different regions.

Compatriot's reference node is in same rectangle positioning unit, unit is for inner number 1 and 2 or 3 and 4 a pair of essential safe type reference node, reference node born of the same parents refers in the side walls of tunnel that the reference node coordinate X of two essential safe type reference nodes of reference node born of the same parents is identical about the centrosymmetric a pair of essential safe type reference node of center line of the bearing of trend in tunnel in fact.It is the processing of two reference node packets that reference node born of the same parents is sent that compatriot's reference node is processed, supplemental characteristic bag type identifier in reference node packet, rectangle positioning unit number, inner number of unit, mobile node ID are constant, obtain the mean value of rest parameter in two reference node packets, by the corresponding parameter in inner number little reference node packet of the mean value updating block of obtaining, and only retain the reference node packet upgrading with mean value.Compatriot's reference node is processed and to be actually average to parameters R A, RB, RE in reference node packet, on average can make these parameters more accurate; Can filtering RSSI and distance relation curve in the middle of catastrophe point, make the relation of RSSI value and distance better meet the trend that RSSI value reduces along with the increase of distance.

The rectangle positioning unit that the rectangle positioning unit number of take is below N is example, and the feature in AR3, AR4, AR5, AR6 and AR7 region is described:

As can be seen from Figure 4, rectangle positioning unit number is N, unit is for inner number that reference node born of the same parents and the rectangle positioning unit number under 1 essential safe type reference node is N, the vertical line that the rectangle positioning unit that unit is for inner number reference node born of the same parents under 4 essential safe type reference node is D/14 place about the coordinate of rectangle positioning unit one-dimensional coordinate system is grown limit is centrosymmetric, here the vertical line that said reference node born of the same parents is the long limit of rectangle positioning unit at D/14 place about the coordinate of rectangle positioning unit one-dimensional coordinate system is that Central Symmetry refers to that rectangle positioning unit number is N, unit is for inner number that 1 essential safe type reference node and rectangle positioning unit number are N, the vertical line that the rectangle positioning unit that unit is for inner number 4 essential safe type reference node is D/14 place about the coordinate of rectangle positioning unit one-dimensional coordinate system is grown limit is Central Symmetry, rectangle positioning unit number is N, unit is for inner number that 2 essential safe type reference node and rectangle positioning unit number are N, the vertical line that the rectangle positioning unit that unit is for inner number 3 essential safe type reference node is D/14 place about the coordinate of rectangle positioning unit one-dimensional coordinate system is grown limit is also Central Symmetry,

In like manner, rectangle positioning unit number is N-1, unit is for inner number that reference node born of the same parents and the rectangle positioning unit number under 4 essential safe type reference node is N+1, and the vertical line that unit is for inner number reference node born of the same parents under 1 essential safe type reference node is the rectangle positioning unit length limit at D/14 place about the coordinate of rectangle positioning unit one-dimensional coordinate system is centrosymmetric; Rectangle positioning unit number is N-1, unit is for inner number that reference node born of the same parents and the rectangle positioning unit number under 4 essential safe type reference node is N, and the vertical line on the rectangle positioning unit length limit that unit is for inner number reference node born of the same parents under 4 essential safe type reference node is-D/14 place about the coordinate of rectangle positioning unit one-dimensional coordinate system is centrosymmetric; Rectangle positioning unit number is N, unit is for inner number that reference node born of the same parents and the rectangle positioning unit number under 1 essential safe type reference node is N+1, and the vertical line that unit is for inner number reference node born of the same parents under 1 essential safe type reference node is the rectangle positioning unit length limit at 3D/14 place about the coordinate of rectangle positioning unit one-dimensional coordinate system is centrosymmetric.

When essential safe type mobile node is positioned at the AR3 region of the rectangle positioning unit that rectangle positioning unit number is N, Central Symmetry relation by above-mentioned reference node born of the same parents can draw: essential safe type mobile node is N to rectangle positioning unit number, unit is for inner number that to compare rectangle positioning unit number be N to the distance of 1 essential safe type reference node, unit is for inner number the near distance of 4 essential safe type reference node, so rectangle positioning unit number is N, unit is for inner number that the parameters R E in the reference node packet of 1 essential safe type reference node is N than rectangle positioning unit number, unit is for inner number that the parameters R E in the reference node packet of 4 essential safe type reference node is large, essential safe type mobile node is N to rectangle positioning unit number, unit is for inner number that to compare rectangle positioning unit number be N to the distance of 2 essential safe type reference node, unit is for inner number the near distance of 3 essential safe type reference node, so rectangle positioning unit number is N, unit is for inner number that the parameters R E in the reference node packet of 2 essential safe type reference node is N than rectangle positioning unit number, and unit is for inner number that the parameters R E in the reference node packet of 3 essential safe type reference node is large, do after reference node processing born of the same parents, rectangle positioning unit number is N, unit is for inner number that the parameters R E in the reference node packet after 1 the corresponding reference node born of the same parents of essential safe type reference node is processed is N than rectangle positioning unit number, and unit is for inner number that the parameters R E in the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed is large, in like manner, do after reference node processing born of the same parents, rectangle positioning unit number is N, unit is for inner number that the parameters R E in the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed is N-1 than rectangle positioning unit number, and unit is for inner number that the parameters R E in the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed is large, the value of parameters R E in reference node packet after processing according to reference node born of the same parents, reference node data packet sequencing after reference node born of the same parents being processed by order from big to small, what make number one so is that rectangle positioning unit number is N, unit is for inner number the reference node packet after 1 the corresponding reference node born of the same parents of essential safe type reference node is processed, coming deputy is that rectangle positioning unit number is N, unit is for inner number the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed, that is to say that the rectangle positioning unit number making number one with in deputy reference node packet is the same, and the reference node coordinate X that the reference node packet making number one is corresponding is less than and comes the reference node coordinate X that deputy reference node packet is corresponding,

In like manner, when essential safe type mobile node is positioned at the AR4 region of the rectangle positioning unit that rectangle positioning unit number is N, do that reference node born of the same parents is processed and according to reference node born of the same parents, process after reference node packet in the value of parameters R E, reference node data packet sequencing after reference node born of the same parents being processed by order from big to small, what make number one so is that rectangle positioning unit number is N, unit is for inner number the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed, coming deputy is that rectangle positioning unit number is N, unit is for inner number the reference node packet after 1 the corresponding reference node born of the same parents of essential safe type reference node is processed, that is to say that the rectangle positioning unit number making number one with in deputy reference node packet is the same, and the reference node coordinate X that the reference node packet making number one is corresponding is greater than and comes the reference node coordinate X that deputy reference node packet is corresponding,

When essential safe type mobile node is positioned at the AR5 region of the rectangle positioning unit that rectangle positioning unit number is N, do that reference node born of the same parents is processed and according to reference node born of the same parents, process after reference node packet in the value of parameters R E, reference node data packet sequencing after reference node born of the same parents being processed by order from big to small, what make number one so is that rectangle positioning unit number is N, unit is for inner number the reference node packet after 1 the corresponding reference node born of the same parents of essential safe type reference node is processed, coming deputy is that rectangle positioning unit number is N-1, unit is for inner number the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed, that is to say make number one and deputy reference node packet in rectangle positioning unit number be different, and the reference node coordinate X that the reference node packet making number one is corresponding is greater than and comes the reference node coordinate X that deputy reference node packet is corresponding, simultaneously, because essential safe type mobile node is N-1 to rectangle positioning unit number, unit is for inner number that the distance of 3 essential safe type reference node is N than rectangle positioning unit number, unit is for inner number that 2 essential safe type reference node is N-1 to rectangle positioning unit number, unit is for inner number the distance of 3 essential safe type reference node, essential safe type mobile node is N-1 to rectangle positioning unit number, unit is for inner number that the distance of 4 essential safe type reference node is N than rectangle positioning unit number, unit is for inner number that 1 essential safe type reference node is N-1 to rectangle positioning unit number, unit is for inner number the distance of 4 essential safe type reference node, so do after reference node processing born of the same parents, rectangle positioning unit number is N, unit is for inner number that the parameters R B in the reference node packet after 1 the corresponding reference node born of the same parents of essential safe type reference node is processed is N-1 than rectangle positioning unit number, unit is for inner number that the parameters R E in the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed is large, that is to say do that reference node born of the same parents is processed and according to reference node born of the same parents, process after reference node packet in the value of parameters R E, after reference node data packet sequencing after reference node born of the same parents being processed by order from big to small, parameters R B in the reference node packet making number one is greater than the parameters R E coming in deputy reference node packet,

When essential safe type mobile node is positioned at the AR6 region of the rectangle positioning unit that rectangle positioning unit number is N, do that reference node born of the same parents is processed and according to reference node born of the same parents, process after reference node packet in the value of parameters R E, reference node data packet sequencing after reference node born of the same parents being processed by order from big to small, what make number one so is that rectangle positioning unit number is N, unit is for inner number the reference node packet after 3 the corresponding reference node born of the same parents of essential safe type reference node is processed, coming deputy is that rectangle positioning unit number is N+1, unit is for inner number the reference node packet after 1 the corresponding reference node born of the same parents of essential safe type reference node is processed, that is to say make number one and deputy reference node packet in rectangle positioning unit number be different, and the reference node coordinate X that the reference node packet making number one is corresponding is less than and comes the reference node coordinate X that deputy reference node packet is corresponding, meanwhile, the parameters R B in the reference node packet making number one is greater than the parameters R E coming in deputy reference node packet,

When essential safe type mobile node is positioned at the AR7 region of the rectangle positioning unit that rectangle positioning unit number is N, do that reference node born of the same parents is processed and according to reference node born of the same parents, process after reference node packet in the value of parameters R E, reference node data packet sequencing after reference node born of the same parents being processed by order from big to small, make number one and deputy reference node packet is uncertain, but make number one and deputy reference node packet in rectangle positioning unit number always different.Meanwhile, the parameters R B in the reference node packet making number one is less than the parameters R E coming in deputy reference node packet;

Communication between two other essential safe type mobile node also can improve the precision of location; As the analysis in AR1 region, can obtain when essential safe type mobile node is positioned at and take essential safe type reference node as the center of circle, radius be on the circle of D/14 time and the essential safe type reference node of this circle circle centre position between the RSSI value of signal of communication, if the RSSI value of signal of communication is not less than the above-mentioned RSSI value of obtaining between two essential safe type mobile nodes, distance between these two essential safe type mobile nodes is not more than D/14 so, can further revise the position of these two essential safe type mobile nodes; But not all two essential safe type mobile nodes that meet above-mentioned relation can improve positioning precision, and the communication that is positioned at the essential safe type mobile node of same locating area can not improve any positioning precision.Only have when two essential safe type mobile nodes in adjacent positioned region, if the RSSI value of signal of communication meets above-mentioned relation between them, so just can further improve positioning precision.

5. Fig. 5 is navigation system composition frame chart of the present invention.As shown in Figure 5, the present invention is based on one dimension navigation system under the coal mine of wireless sensor network and comprise a plurality of wireless senser sub-networks 1 that are deployed in tunnel, be deployed in center switch 2 and security monitoring and the Information management networks 3 on ground; Wireless senser sub-network comprises essential safe type aggregation gateway node 1-1, essential safe type reference node 1-2, essential safe type mobile node 1-3; Security monitoring and Information management networks comprise ground monitoring terminal 3-1, location-server 3-2, upper strata terminal 3-3; Ground monitoring terminal 3-1 and location-server 3-2 form cable network by center switch 2 with essential safe type aggregation gateway node 1-1, and send real-time locator data to upper strata terminal 3-3 by local network; Essential safe type aggregation gateway node 1-1 is articulated on center switch 2 by bus; Essential safe type mobile node 1-3 is carried by underground operators or mechanical device; Essential safe type aggregation gateway node 1-1, essential safe type reference node 1-2, essential safe type mobile node 1-3 forms wireless location network;

Location-server 3-2 is connected with ground monitoring terminal 3-1, receives and store the position data from the essential safe type mobile node of ground monitoring terminal 3-1.Ground monitoring terminal 3-1 records the information of each rectangle positioning unit according to the deployment of the division of the positioning unit of rectangle shown in Fig. 1, essential safe type reference node by building database, and the partial information of rectangle positioning unit is sent to corresponding essential safe type reference node 1-2 by center switch 2 and essential safe type aggregation gateway node 1-1; Receive the reference node packet of essential safe type mobile node 1-3 transmission and adjacent mobile node ID, according to the rectangle positioning unit in reference node packet number and inside, unit search database, the adjacent mobile node ID of the information of the rectangle positioning unit that utilization searches, the parameter in reference node packet and record, by calculating, sort and comparing numerical values recited, draw the position of essential safe type mobile node 1-3, and send to location-server 3-2; By local network, essential safe type positions of mobile nodes data are sent to upper strata terminal 3-3.Center switch 2 forwards essential safe type mobile node 1-3 and sends to the reference node packet of ground monitoring terminal 3-1 and adjacent mobile node ID, the partial information that ground monitoring terminal 3-1 sends to the rectangle positioning unit of essential safe type reference node 1-2.Essential safe type converges webmaster node 1-1 and is responsible for data and switches between heterogeneous networks, receives the wireless data that essential safe type mobile node 1-3 sends, and converts thereof into cable data and sends to center switch 2; The cable data that receiving center switch 2 sends, converts thereof into wireless data and sends to essential safe type reference node 1-2.Essential safe type reference node 1-2 distributes the rectangle positioning unit number of unique correspondence and unit inner number, receives the partial information of corresponding rectangle positioning unit from ground monitoring terminal 3-1, periodically with the form of periodic broadcasting packet, outwards send periodic broadcasting signal, receive the periodic broadcasting packet of other adjacent essential safe type reference node 1-2 and extract the RSSI value of corresponding periodic broadcasting signal, according to the parameter recognition cycle broadcast singal of periodic broadcasting packet, while selecting the RSSI value of corresponding periodic broadcasting signal to upgrade location, loopback is to parameters R A, RB in the reference node packet of essential safe type mobile node 1-3, the partial information that receives positioning request signal that essential safe type mobile node 1-3 sends and upgrade loopback reference node packet and corresponding rectangle positioning unit after mobile node ID, the RE in reference node packet according to positioning request signal is to essential safe type mobile node 1-3, essential safe type mobile node 1-3 distributes unique mobile node ID, to essential safe type reference node 1-2, send positioning request signal, and receive the partial information of reference node packet and the corresponding rectangle positioning unit of essential safe type reference node 1-2 loopback, according to the mobile node ID in the reference node packet receiving, the partial information of reference node packet and corresponding rectangle positioning unit is filtered, according to the RE in reference node packet, the reference node packet after filtering is done and sorted for the first time and record adjacent mobile node ID, the neighboring mobile node ID packing of the reference node packet retaining after sequence for the first time and record is sent to ground monitoring terminal 3-1.

6. Fig. 6 is localization method flow chart of the present invention.As shown in Figure 6, the present invention is based on one-dimensional positioning method under the coal mine of wireless sensor network comprises the following steps:

B. by building database, record the information of each rectangle positioning unit;

C. with regular time, be spaced apart the cycle, all reference nodes outwards send periodic broadcasting signal with the form of periodic broadcasting packet, receive the periodic broadcasting packet of other adjacent reference nodes and extract the RSSI value of corresponding periodic broadcasting signal, according to the parameter recognition cycle broadcast singal of periodic broadcasting packet, parameters R A, the RB in selection and the reference node packet respectively RSSI value of corresponding periodic broadcasting signal comes undated parameter RA, RB;

While D. locating, mobile node sends positioning request signal, reference node upgrades the parameter mobile node ID in reference node packet according to the positioning request signal receiving, after RE, the partial information of loopback reference node packet and corresponding rectangle positioning unit is to mobile node, mobile node filters the partial information of reference node packet and corresponding rectangle positioning unit according to the mobile node ID in the reference node packet receiving, according to the parameters R E in reference node packet, the reference node packet after filtering is done and sorted for the first time and record adjacent mobile node ID,

Described steps A comprises the following steps:

RA1+(d1-D1/14)(RM1-RA1)/d1≤R

Described step e comprises the following steps:

RA1+(d1-D1/14)(RM1-RA1)/d1≤RE1

7. Fig. 7 is the circuit block diagram of essential safe type reference node of the present invention and essential safe type mobile node.As shown in Figure 7, the circuit block diagram of essential safe type reference node 1-2 and essential safe type mobile node 1-3 is identical, comprises processor unit 1-20, memory cell 1-21, radio transceiver unit 1-22, power subsystem 1-23.Memory cell 1-21, radio transceiver unit 1-22, power subsystem 1-23 are all connected with processor unit 1-20.Power subsystem 1-23 is responsible for unit electric energy is provided; Radio transceiver unit 1-22 is responsible for receiving radio magnetic wave signal and from signal, extracts data, and data to be launched are changed into radio magnetic wave signal transmitting; Processor unit 1-20 is responsible for the data analysis to receiving and deposits corresponding data in memory cell 1-21, extracts corresponding data for transmitting from memory cell 1-21; Memory cell 1-21 is responsible for storing data, the memory cell 1-21 of essential safe type reference node 1-2 stores corresponding rectangle positioning unit number and unit inner number in addition, and the memory cell 1-21 of essential safe type mobile node 1-3 stores corresponding mobile node ID.Essential safe type reference node receives the partial information of the rectangle positioning unit of ground monitoring terminal transmission by radio transceiver unit; Essential safe type reference node obtains rectangle positioning unit number and unit inner number from memory cell, by radio transceiver unit, carry out periodic broadcasting, and by radio transceiver unit, obtain the RSSI value of other adjacent essential safe type reference node periodic broadcasting signals, deposited in memory cell; Essential safe type reference node by radio transceiver unit receive essential safety mobile node positioning request signal, extract data and upgrade after the corresponding data of memory cell, from memory cell, extract corresponding data and send to essential safe type mobile node by radio transceiver unit.Essential safe type mobile node obtains mobile node ID from memory cell, by radio transceiver unit, sends positioning request signal; Utilize radio transceiver unit receive the partial information of reference node packet that essential safe type reference node sends and rectangle positioning unit and extract data, according to after mobile node ID, RE filtration and sequence for the first time, record adjacent mobile node ID, the neighboring mobile node ID of the reference node packet of reservation and record is sent to ground monitoring terminal by radio transceiver unit.Meanwhile, essential safe type reference node and essential safe type mobile node are equipped with explosion-resistant enclosure.

8. Fig. 8 is the circuit block diagram of ground monitoring terminal of the present invention.As shown in Figure 8, ground monitoring terminal 3-1 comprises processor unit 3-10, memory cell 3-11, wireline interface 3-12, power interface 3-13.Memory cell 3-11, wireline interface 3-12, power interface 3-13 are all connected with processor unit 3-10.Ground monitoring terminal is connected with location-server and center switch by wireline interface, and is connected with upper strata terminal by local network, forms cable network.Ground monitoring terminal is deposited into the information of each rectangle positioning unit in memory cell and by the partial information of rectangle positioning unit and sends to corresponding essential safe type reference node.During location, from wireline interface, obtain the reference node packet of each essential safe type mobile node transmission of down-hole and adjacent mobile node ID, according to the rectangle positioning unit in reference node packet number and searching storage unit, inside, unit, the corresponding data library information that utilization searches, the parameter in reference node packet and adjacent mobile node ID, by calculating, sort and comparing magnitude numerical value, obtain the position of essential safe type mobile node, and send it to location-server and upper strata terminal.

Claims

1. an one-dimensional positioning method under the coal mine based on wireless sensor network, is characterized in that, comprises the following steps:

E. according to the rectangle positioning unit in reference node packet number and inside, unit search database, the information of the rectangle positioning unit that utilization searches, the parameter in reference node packet and the neighboring mobile node ID of record, by the position of calculating, sorting and relatively numerical values recited drawing mobile node, it is characterized in that, comprise the following steps:

RA1+(d1-D1/14)(RM1-RA1)/d1≤RE1

If the parameters R B in the reference node packet E4. making number one after sequence is for the second time greater than for the second time, after sequence, come the parameters R E in deputy reference node packet, continue to carry out E5 step, otherwise, E6 step carried out;

If current definite position of the adjacent corresponding mobile node of mobile node ID recording in the mobile node of E7. having determined position and step D differs 1/7D, in the mobile node of these two definite positions, the mobile node of less position carries out position correction according to increasing 1/28D, and the mobile node of larger position carries out position correction according to reducing 1/28D;

Further, it is in same rectangle positioning unit that reference node born of the same parents in described step e 2 is processed, unit is for inner number the processing of two reference node packets sending of 1 and 2 or 3 and 4 a pair of reference node, supplemental characteristic bag type identifier in reference node packet, rectangle positioning unit number, inner number of unit, mobile node ID is constant, obtain the mean value of rest parameter in two reference node packets, by the corresponding parameter in inner number little reference node packet of the mean value updating block of obtaining, and only retain the reference node packet upgrading with mean value.

2. one-dimensional positioning method under a kind of coal mine based on wireless sensor network according to claim 1, is characterized in that, described steps A comprises the following steps:

3. one-dimensional positioning method under a kind of coal mine based on wireless sensor network according to claim 1, it is characterized in that, in step D, it is reference node packet that parameter mobile node ID in a mobile node stored reference node data bag is identical with own ID and the partial information of rectangle positioning unit accordingly that described mobile node filters the partial information of reference node packet and corresponding rectangle positioning unit according to the mobile node ID in the reference node packet receiving;

RA1+(d1-D1/14)(RM1-RA1)/d1≤R

4. one dimension navigation system under the coal mine based on radio sensing network, it is characterized in that, this system comprises a plurality of wireless senser sub-networks (1) that are deployed in tunnel, is deployed in center switch (2) and security monitoring and the Information management networks (3) on ground; Described wireless senser sub-network comprises essential safe type aggregation gateway node (1-1), essential safe type reference node (1-2), essential safe type mobile node (1-3); Described security monitoring and Information management networks comprise ground monitoring terminal (3-1), location-server (3-2), upper strata terminal (3-3); Ground monitoring terminal (3-1) and location-server (3-2) form cable network by center switch (2) and essential safe type aggregation gateway node (1-1), and send real-time locator data to upper strata terminal (3-3) by local network; Essential safe type aggregation gateway node (1-1) is articulated on center switch (2) by bus; Essential safe type mobile node (1-3) is carried by underground operators or mechanical device; Essential safe type aggregation gateway node (1-1), essential safe type reference node (1-2), essential safe type mobile node (1-3) forms wireless location network;

Described essential safe type aggregation gateway node (1-1) receives the wireless data that essential safe type mobile node (1-3) sends, and converts thereof into cable data and sends to center switch (2); The cable data that receiving center switch (2) sends, converts thereof into wireless data and sends to essential safe type reference node (1-2);

Described essential safe type reference node (1-2) distributes the rectangle positioning unit number of unique correspondence and unit inner number, periodically with the form of periodic broadcasting packet, outwards send periodic broadcasting signal, receive the periodic broadcasting packet of other adjacent essential safe type reference nodes (1-2) and extract the RSSI value of corresponding periodic broadcasting signal, according to the parameter recognition cycle broadcast singal of periodic broadcasting packet, select the RSSI value of corresponding periodic broadcasting signal to upgrade the parameters R A in reference node packet, RB, parameter in periodic broadcasting packet at least should comprise type of data packet identifier, rectangle positioning unit number, inner number of unit, parameter in reference node packet at least should comprise type of data packet identifier, rectangle positioning unit number, inner number of unit, RA, RB, mobile node ID, RE, the partial information that receives the corresponding rectangle positioning unit of ground monitoring terminal (3-1) transmission, the partial information of rectangle positioning unit comprises the long D of this essential safe type reference node (1-2) place rectangle positioning unit, the wide d of rectangle positioning unit and maximum possible RSSI value RM, the partial information that receives positioning request signal that essential safe type mobile node (1-3) sends and upgrade loopback reference node packet and corresponding rectangle positioning unit after mobile node ID, the RE in reference node packet according to positioning request signal is to essential safe type mobile node (1-3),

Wherein rectangle positioning unit number is the numbering to rectangle positioning unit, from first rectangle positioning unit of access adit, along with bearing of trend numbering in tunnel increases successively; Unit is the numbering to the essential safe type reference node (1-2) in same rectangle positioning unit inner number, according to tunnel bearing of trend, look, from near access adit and be positioned at the essential safe type reference node (1-2) of left-hand side, number consecutively is 1,2,3,4 in the counterclockwise direction; The type of this packet of type of data packet identifier marking; RA is this essential safe type reference node (1-2) RSSI value with the periodic broadcasting signal centrosymmetric essential safe type reference node of its center line about the bearing of trend in tunnel (1-2) that receive; RB be this essential safe type reference node (1-2) that receive with RSSI value its periodic broadcasting signal in different rectangle positioning units and the adjacent essential safe type reference node (1-2) of homonymy; Mobile node ID is the numbering of essential safe type mobile node (1-3); RE be this essential safe type reference node (1-2) that receive with RSSI value positioning request signal corresponding to mobile node ID; What the wide d of rectangle positioning unit was tunnel is wide; Maximum possible RSSI value RM is the maximum RSSI value that can receive, and by measurement or known essential safe type reference node (1-2) transmitting power, can draw this value;

Described essential safe type mobile node (1-3) distributes unique mobile node ID, to essential safe type reference node (1-2), send positioning request signal, and receive the partial information of reference node packet and the corresponding rectangle positioning unit of essential safe type reference node (1-2) loopback, according to the mobile node ID in the reference node packet receiving, the partial information of reference node packet and corresponding rectangle positioning unit is filtered, according to the RE in reference node packet, the reference node packet after filtering is done and sorted for the first time and record adjacent mobile node ID, the neighboring mobile node ID packing of the reference node packet retaining after sequence for the first time and record is sent to ground monitoring terminal (3-1),

Described center switch (2) forwards essential safe type mobile node (1-3) and sends to the reference node packet of ground monitoring terminal (3-1) and adjacent mobile node ID, the partial information that ground monitoring terminal (3-1) sends to the rectangle positioning unit of essential safe type reference node (1-2);

Described ground monitoring terminal (3-1) records the information of each rectangle positioning unit by building database, and the partial information of rectangle positioning unit is sent to corresponding essential safe type reference node (1-2), the information of rectangle positioning unit comprise this rectangle positioning unit inner number of rectangle positioning unit number, the long D of rectangle positioning unit, the wide d of rectangle positioning unit, maximum possible RSSI value RM, unit and and the inner number corresponding reference node coordinate X in unit; Receive the reference node packet of essential safe type mobile node (1-3) transmission and adjacent mobile node ID, according to the rectangle positioning unit in reference node packet number and inside, unit search database, the information of the rectangle positioning unit that utilization searches, the parameter in reference node packet and the neighboring mobile node ID of record, calculate as follows, sort and compare the position that numerical values recited draws essential safe type mobile node (1-3):

(1) according to the rectangle positioning unit in the reference node packet that makes number one after sequence for the first time number and inside, unit search database, utilize the information of the rectangle positioning unit searching and the reference node packet that makes number one in parameter judge

RA1+(d1-D1/14)(RM1-RA1)/d1≤RE1

Whether meet, if met, determine the reference node coordinate X in the corresponding database of reference node packet making number one after essential safe type mobile node (1-3) coordinate is for sequence for the first time, carry out (7) step, if do not met, continue to carry out (2) step;

(2) the reference node packet after sequence for the first time being made to reference node born of the same parents processes, the numerical values recited of parameters R E in reference node packet after processing according to reference node born of the same parents, by order from big to small, reference node packet is done to sequence for the second time, and only retain the reference node packet that comes front two; If the rectangle positioning unit number in two reference node packets that retain is the same, continue to carry out (3) step, otherwise, carry out (4) step;

It is in same rectangle positioning unit that reference node born of the same parents described in step (2) is processed, unit is for inner number the processing of two reference node packets sending of 1 and 2 or 3 and 4 a pair of reference node, supplemental characteristic bag type identifier in reference node packet, rectangle positioning unit number, inner number of unit, mobile node ID is constant, obtain the mean value of rest parameter in two reference node packets, by the corresponding parameter in inner number little reference node packet of the mean value updating block of obtaining, and only retain the reference node packet upgrading with mean value,

(3) if being greater than for the second time, the reference node coordinate X in the corresponding database of reference node packet making number one after sequence for the second time comes the reference node coordinate X in the corresponding database of deputy reference node packet after sequence, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after essential safe type mobile node (1-3) coordinate is for sequence for the second time subtracts 2/7D, carry out (7) step, otherwise, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after essential safe type mobile node (1-3) coordinate is for sequence for the second time adds 2/7D, carry out (7) step,

(4) if the parameters R B in the reference node packet making number one after sequence is for the second time greater than for the second time, after sequence, come the parameters R E in deputy reference node packet, continue to carry out (5) step, otherwise, (6) step carried out;

(5) if being greater than for the second time, the reference node coordinate X in the corresponding database of reference node packet making number one after sequence for the second time comes the reference node coordinate X in the corresponding database of deputy reference node packet after sequence, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after essential safe type mobile node (1-3) coordinate is for sequence for the second time adds 1/7D, carry out (7) step, otherwise, determine that the reference node coordinate X in the corresponding database of reference node packet making number one after essential safe type mobile node (1-3) coordinate is for sequence for the second time subtracts 1/7D, carry out (7) step,

(6) determine the median that comes the reference node coordinate X in the corresponding database of deputy reference node packet after essential safe type mobile node (1-3) coordinate is for the reference node coordinate X in the corresponding database of reference node packet making number one after sorting for the second time and sequence for the second time, carry out (7) step;

(7) determined position essential safe type mobile node (1-3) if with step D in current definite position of adjacent essential safe type mobile node (1-3) the corresponding essential safe type mobile node of ID (1-3) that records differ 1/7D, in the essential safe type mobile node (1-3) of these two definite positions, the essential safe type mobile node (1-3) of less position carries out position correction according to increasing 1/28D, and the essential safe type mobile node (1-3) of larger position carries out position correction according to reducing 1/28D;

By the position of the essential safe type mobile node (1-3) obtaining through above-mentioned steps, send to location-server (3-2) and upper strata terminal (3-3):

Wherein reference node coordinate X is that this essential safe type reference node (1-2) is with respect to the distance of access adit;

The position that described location-server (3-2) received and stored essential safe type mobile node (1-3).

5. one dimension navigation system under a kind of coal mine based on radio sensing network according to claim 4, is characterized in that, described bus can be CAN bus, or local area network bus, or RS-485 bus.

6. one dimension navigation system under a kind of coal mine based on radio sensing network according to claim 4, it is characterized in that, described essential safe type reference node (1-2) comprising: processor unit, memory cell, radio transceiver unit, power subsystem.

7. one dimension navigation system under a kind of coal mine based on radio sensing network according to claim 4, it is characterized in that, described essential safe type mobile node (1-3) comprising: processor unit, memory cell, radio transceiver unit, power subsystem.

8. one dimension navigation system under a kind of coal mine based on radio sensing network according to claim 4, is characterized in that, described ground monitoring terminal (3-1) comprising: processor unit, memory cell, wireline interface, power interface.

9. one dimension navigation system under a kind of coal mine based on radio sensing network according to claim 4, is characterized in that, the equipment in described wireless senser sub-network (1) all adopts inbeing safe explosion prevention equipment.