CN102724635A - Method for locating underground staff - Google Patents
Method for locating underground staff Download PDFInfo
- Publication number
- CN102724635A CN102724635A CN2012102303387A CN201210230338A CN102724635A CN 102724635 A CN102724635 A CN 102724635A CN 2012102303387 A CN2012102303387 A CN 2012102303387A CN 201210230338 A CN201210230338 A CN 201210230338A CN 102724635 A CN102724635 A CN 102724635A
- Authority
- CN
- China
- Prior art keywords
- personnel
- access node
- radio access
- pit
- terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a method for locating underground staff, which comprises following steps of setting a stationary wireless access node under a shaft, and collecting the intensity of a wireless signal of three adjacent access nodes by utilizing a special location to be used as foundation for the location; judging whether the access node stays within a limited range of the access node when the signal of one access node is larger than a set value A; calculating walking steps of a location terminal carrier by utilizing a three-axis acceleration sensor to calculate the distance from the access node when the three access nodes are detected to be smaller than the set value A; judging the walking direction of the personnel by adopting the variation trend of the wireless signal intensity of the three access nodes; and adopting a magnetic angular sensor to detection the turning of the personnel and to correct the walking direction of the personnel when the intensity of two signals in the three access nodes is detected to be smaller than a set value B. Due to the adoption of the method for locating the underground staff, error in location and direction caused by the complicated distribution of wireless distribution under the shaft can be overcome, and the method has advantages of accuracy in location and simplicity and convenience in implementation.
Description
Technical field
The present invention relates to field of wireless communication, particularly a kind of personnel in the pit's location algorithm.
Background technology
Along with China's economic system reform deepens continuously; Modernization is constantly accelerated, and country is to the safety of coal mines pay attention to day by day, and supervision is constantly strengthened; Personnel in the pit's navigation system has all been equipped in the little colliery in big-and-middle-sized colliery and numerous small towns; Can utilize corresponding mine personnel track and localization equipment, the well personnel gone in the colliery carry out real-time automatic tracking and work attendance, but how to realize accurately grasping each employee in the position of down-hole and event trace remain and need problem demanding prompt solution.
The problem that assigned personnel's navigation system exists:
Personnel in the pit's tracking at present, adopt basically be RFID and based on radio sensing network localization method.
1, RFID method
The RFID method is at mine well head place, or some critical passage mouths of other down-hole, and the method for using radio-frequency card (RFID) to read writes down the method for tracking to the personnel of going into the well.There is following several problem in this method:
(1) positioning accuracy is low
The RFID positioning principle adopts the base station that identification card is scanned; After identification card gets into the base station scope; Confirm that these personnel are in around the base station, its positioning accuracy depends on the layout density of base station fully, can't the judgement personnel be in the particular location of base station overlay area and the particular location outside the area of coverage.
(2) location personnel's loss is higher under high-speed condition
This system of radio-frequency card card reading speed is very limited, can not handle many people situation through card-reading system (for example go into the well by bus, many people one be out of the line) fast simultaneously, and at this moment, system tends to occur skip; The accuracy of raising system identification under high speed, big flow is the difficult problem that personnel location system faces.
In a word, existing RFID radio frequency read-write system (comprising SuperRFID) is difficult to realize personnel in the pit's zone location and personnel in the pit's work attendance, can not realize that from the technical of use personnel in the pit truly locatees tracking.
2, based on the localization method of radio sensing network
Mostly common wireless sensor network positioning algorithm is to adopt the locate mode based on RSSI (Received Signal Strength Indicator); The RSSI value that adopts wireless terminal to collect realizes personnel positioning through RSSI and terminal to the corresponding relation of the distance of sensing network node.This method exists RSSI and terminal to obtain difficulty to the corresponding relation of the distance of sensing network node:
Signal has promptly produced decline with the continuous variation of the distance between receiver and the transmitter in the radio communication.Wherein, appear in the intensity curves at a slow speed always and to change, be called slow fading, can adopt the corresponding relation of simulated range such as spatial fading formula and attenuation characteristic; The instantaneous value of intensity curves is quick variation, the decline of expressing one's gratification.The multipath transmisstion signal that near the travelling carriage scattering object (landform, atural object and moving body etc.) causes is superimposed at acceptance point, causes the phenomenon that receives the quick fluctuating of signal to be called rapid fading.
To down-hole confined space electromagnetic wave propagation situation, rib type and roughness, support post, lintel, vehicle even personnel's walking all produce the influence of can not ignore to the wireless space transmission characteristic, certainly will aggravate manifesting of rapid fading characteristic.Therefore, be difficult to obtain RSSI and terminal to the corresponding relation of the distance of sensing network node to obtain the position at terminal
3, based on the localization method of radio sensing network and assist location measure
There is the part location algorithm to adopt some supplementary meanss to come the mistake of modified R SI fading characteristic; For example have and adopt acceleration transducer to come acquisitor's acceleration characteristic of walking; Obtain the distance of the relative sensor network nodes of personnel through integral way; The problem that this mode exists is that the error in dipping of acceleration transducer and accumulated error will have a strong impact on positioning accuracy; 3-axis acceleration sensor has than the general orientation error along with position angle that personnel wear the terminal when detecting direction of travel in addition, and above-mentioned two factors cause this method to be difficult to satisfy the requirement of personnel positioning.
Summary of the invention
The objective of the invention is deficiency, provide a kind of, realize that the personnel in the pit accurately locatees to the on-the-spot instructions for use of special industries such as colliery to above-mentioned prior art.This method positioning accuracy is high, realizes that simply the position analysis algorithm is easy.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of personnel in the pit's localization method, it is characterized in that, and may further comprise the steps:
The radio access node of fixed interval is set in the down-hole in advance, and measures the positional information of all said radio access nodes;
The personnel in the pit carries the wireless signal strength that wireless locating terminal is gathered three neighboring access nodes, as the basic basis of location;
When the signal that detects certain access node greater than set point one, judge that it is in the other limited range of this access node, and receive the reference position; When the signal strength signal intensity that collects datum mark begins to rise less than the moment of set point one, adopt step time of 3 axle acceleration sensor compute location terminal carriers' walking, to calculate wireless device relatively and the distance of datum mark; And according to the positional information of said three radio access nodes and and said wireless device and said three radio access nodes in the variable quantity of signal strength signal intensity between two other node calculate the distance of said current location with respect to said outer two nodes, calculate displacement.
Said radio access node apportion is fixed on the rib.
The access way of said Radio Access Network can be a kind of in the following mode: WLAN, ZigBee, UWB, Bluetooth, CDMA and GSM mode.
Aboveground server end obtains the RSSI of several stronger radio access nodes of the signal uploaded at the terminal; Through comparing with the fiducial value around radio access node that is provided with in advance; Greater than this fiducial value, judge that the terminal is in by this radio access node like the RSSI of a certain access node.
Said locating terminal comprises the magnetic force angle transducer, and whether calculate the people through the magnetic force angle transducer has go to action in sampling interval.
Direction vector information is uploaded to such an extent that three access node wireless signal strength variation tendencies are judged through the terminal; When two difference in signal strength are less than set point two in detecting three access nodes, adopt magnetic force angle transducer testing staff to turn to correction personnel direction of travel.
Obtain the meter step number of times of regularly uploading at the terminal, confirm, carry out step time accumulation and the bonding position Vector Message regularly uploaded are calculated personnel's present located position in conjunction with last time being in the other datum mark of certain access node.
Step time information begins to gather during through the reference position at locating terminal, and regularly uploads through Radio Access Network, when locating terminal during through next reference position to current inferior zero clearing of accumulation step.
Fixing radio access node is set in the down-hole, and the locating terminal through special use is gathered the wireless signal strength of three neighboring access nodes, as the basic basis of location; When the signal that detects certain access node greater than set point one, judge that it is in the other limited range of this access node; When detecting three access nodes, adopt step time of 3 axle acceleration sensor compute location terminal carriers' walking, with computed range access node position all less than set point one; Adopt three access node wireless signal strength variation tendencies, judge personnel's direction of travel; When two difference in signal strength are less than set point two in detecting 3 access nodes, adopt magnetic force angle transducer testing staff to turn to correction personnel direction of travel.
Personnel in the pit's localization method; The wireless device that the personnel in the pit carries is when moving on three pre-fixed adjacent radio access node line directions along with the personnel in the pit; This wireless device carries out radio communication with these three adjacent radio nodes in real time, and gathers the signal strength signal intensity of these three radio nodes respectively, and is far away more according to distance; More weak this notion of wireless signal strength; The signal that can judge in real time between wireless device and three radio nodes changes, and can know, the signal that detects a certain access node when wireless device greater than set point for the moment; Judge that it is in the other limited range of this access node; As datum mark, when the signal strength signal intensity that collects datum mark begins to rise less than the moment of set point one step time of the walking of adopting 3 axle acceleration sensor compute location terminal carriers, thereby calculate wireless device with this radio access node apart from the access node position.In this process; Confirm that according to the signal transformation amount between wireless device and two other radio node this wireless device is in three node intermediate ranges; Still at the opposite side of three nodes, combine the magnetic force angle information of magnetic force angle transducer collection, and then obtain the exact position of wireless device.If wireless device moves through another radio access node from datum mark, then will be with another radio access node as datum mark, with before step time information and turn to the number of times zero clearing, then calculate the relative position of wireless device once more with respect to new datum mark.
Described personnel in the pit's localization method adopts RSSI, step time information and the magnetic force angle currency of several stronger radio access nodes of locating terminal real time detection signal, and regularly uploads through Radio Access Network.
In step time of calculating personnel through acceleration transducer, whether sampling interval in have specially to action, and regularly upload through Radio Access Network if calculating the people through the magnetic force angle transducer.Upload the back to current accumulation step time with turn to the number of times zero clearing.
Obtain the RSSI of several stronger radio access nodes of the signal uploaded at the terminal, through with the fiducial value around radio access node that is provided with in advance relatively, greater than this fiducial value, judge that the terminal is in by this radio access node like the RSSI of a certain access node.
Obtain the meter step number of times of regularly uploading at the terminal, confirm, carry out step time accumulation and the bonding position Vector Message regularly uploaded are calculated personnel's present located position in conjunction with last time being in the other datum mark of certain access node.
Direction vector information is uploaded to such an extent that three access node wireless signal strength variation tendencies are judged through the terminal.
Direction vector information adopts magnetic force angle transducer testing staff to turn to affirmation when two difference in signal strength are less than certain set point in detecting 3 access nodes.
The present invention compared with prior art has the following advantages:
1, personnel in the pit's localization method of the present invention; Direction vector information is uploaded to such an extent that three access node wireless signal strength variation tendencies are judged through the terminal; And the comprehensive magnetic angle transducer turns to affirmation; Overcome because location and the anisotropy that downhole wireless distribution character complicacy causes reduced location personnel loss under high-speed condition.
2, cooperate step time Calculation Method through RSSI information; Improved positioning accuracy greatly; Have simultaneously realize simple, the position analysis algorithm is easy, the location advantage that cost is little, storage overhead is moderate, development cost are cheap, and its positioning accuracy also can reach the requirement of down-hole positioning accuracy.
Description of drawings
Fig. 1 is the flow chart of personnel in the pit's localization method of the present invention.
Fig. 2 is an exemplary plot of personnel in the pit's localization method of the present invention.
Below in conjunction with accompanying drawing the present invention is done further detailed description.
Embodiment
A kind of personnel in the pit's localization method is characterized in that: fixing radio access node is set in the down-hole, and the positional information of each node is known, and the personnel in the pit carries wireless locating terminal, and said locating terminal comprises magnetic force angle transducer and acceleration transducer; The step of calculating personnel through acceleration transducer is inferior, and whether calculate the people through the magnetic force angle transducer has go to action in sampling interval;
The access way of said Radio Access Network can be a kind of in the following mode: WLAN, ZigBee, UWB, Bluetooth, CDMA and GSM mode.
Personnel in the pit's localization method according to the embodiment of the invention may further comprise the steps:
Step S101 is provided with three adjacent radio access nodes in advance, and measures the positional information of said three radio access nodes.Locating terminal is gathered the wireless signal strength of three neighboring access nodes, as the basic basis of location; When the signal that detects certain access node greater than set point one, judge that it is in the other limited range of this access node; When detecting three access nodes, adopt step time of 3 axle acceleration sensor compute location terminal carriers' walking, with computed range access node position all less than set point one;
In conjunction with Fig. 2, in one embodiment of the invention, for example can be according to measuring and actual conditions; (n is the integer greater than 1 to the well fixing radio access node W1 of layout to Wn; Represent n radio access node), the relative position between the node provides through measurement, and draws corresponding radio access node layout; Like this, can confirm the accurate location information to Wn by node W1.
Step S102 judges that the signal strength signal intensity that whether detects some nodes was greater than set point one when wireless device moved on the line direction of described three WAPs.
As a concrete example; As shown in Figure 2; When for example wireless device Mn is through each radio access node Wx (x is the integer between 1 to n); Greater than set point one, and Mn is a smaller value to the signal strength signal intensity of all the other W nodes to wireless device Mn to the signal strength signal intensity of radio access node Wx, and less than set point one.The position of judging Mn this moment is in the other limited range of current Wx access node.
If said wireless device passes through in said three adjacent radio access nodes at least one; Then according to the positional information of described three adjacent radio access nodes and said wireless device through said three adjacent radio access nodes one of them the time wireless signal strength change peak value and calculate the reference position; Step S102 judges that whether signal strength signal intensity is greater than set point one; If signal strength signal intensity is greater than set point one; Then receive the reference position, and with step of previous datum mark time information and turn to the data S104 that makes zero, and judge that wireless device is in the wired scope around the datum mark.Begin to rise the step time S103 of the walking of adopting 3 axle acceleration sensor compute location terminal carriers less than the moment of set point one when the signal strength signal intensity that collects datum mark; Thereby calculate wireless device relatively and the distance of datum mark; And according to the positional information of said three radio access nodes and and said wireless device and said three radio access nodes in the variable quantity of signal strength signal intensity between two other node calculate the distance of said current location with respect to said outer two nodes, displacement calculating S105.
Adopt RSSI, step time information and the magnetic force angle currency of several stronger radio access nodes of locating terminal real time detection signal, and regularly upload through Radio Access Network; Upload the back to current accumulation step time with turn to the number of times zero clearing;
Ancillary equipment is submitted in S106 step time, displacement step by step to; Obtain the exact position of wireless device: obtain the meter step number of times of regularly uploading at the terminal; Confirm in conjunction with last time being in the other datum mark of certain access node, carry out step time accumulation and the bonding position Vector Message regularly uploaded are calculated personnel's present located position.Withdraw from S107 at last.
In conjunction with Fig. 2; At first wireless device Mn from W1 to W2, W3; Wireless device is a datum mark with W1 in this process, then this wireless device Mn time is obtained the relative displacement of this wireless device Mn this moment and W1 with respect to step of uploading in real time of this datum mark W1, and issues W1 to data.W1 further calculates the particular location of Mn then, and sends in the ancillary equipment step by step, thereby obtains the exact position of wireless device Mn.
When wireless device Mn passes through W2, be that datum mark repeats aforesaid operations then with the step sub-value zero clearing that obtain before, and with W2.And then obtain the exact position of the Mn of any time.
Personnel in the pit's localization method according to the embodiment of the invention; The wireless device that the personnel in the pit carries is when moving on three pre-fixed adjacent radio access node line directions along with the personnel in the pit, and this wireless device carries out radio communication with these three adjacent radio nodes in real time, and gathers the signal strength signal intensity of these three radio nodes respectively; Far away more according to distance; More weak this notion of wireless signal strength, the signal that can judge in real time between wireless device and three radio nodes changes, and can know; The signal that detects a certain access node when wireless device is during greater than set point 1; Judge that it is in the other limited range of this access node, adopt step time of 3 axle acceleration sensor compute location terminal carriers' walking, thereby calculate apart from the access node position.In this process, confirm that according to the signal transformation amount between wireless device and two other radio node this wireless device is in three node intermediate ranges simultaneously, still be at the opposite side of three nodes, and then obtain the exact position of wireless device.
In one embodiment of the invention, described covering adopts EPA and Radio Access Network to combine to realize that wireless network covers; Radio access node is fixed on the rib as the access point of Radio Access Network at certain intervals.The access way of Radio Access Network comprises: one of them communication such as WLAN, ZigBee, UWB, Bluetooth, CDMA, GSM.
According to one embodiment of present invention, in step time of calculating personnel through acceleration transducer, whether sampling interval in have specially to action, and regularly upload through Radio Access Network if calculating the people through the magnetic force angle transducer.Upload the back to current accumulation step time with turn to the number of times zero clearing.
Claims (8)
1. personnel in the pit's localization method is characterized in that, may further comprise the steps:
The radio access node of fixed interval is set in the down-hole in advance, and measures the positional information of all said radio access nodes;
The personnel in the pit carries the wireless signal strength that wireless locating terminal is gathered three neighboring access nodes, as the basic basis of location;
When the signal that detects certain access node greater than set point one, judge that it is in the other limited range of this access node, and receive the reference position; When the signal strength signal intensity that collects datum mark begins to rise less than the moment of set point one, adopt step time of 3 axle acceleration sensor compute location terminal carriers' walking, to calculate wireless device relatively and the distance of datum mark; And according to the positional information of said three radio access nodes and and said wireless device and said three radio access nodes in the variable quantity of signal strength signal intensity between two other node calculate the distance of said current location with respect to said outer two nodes, calculate displacement.
2. personnel in the pit's localization method according to claim 1 is characterized in that, said radio access node apportion is fixed on the rib.
3. personnel in the pit's localization method according to claim 1 is characterized in that, the access way of said Radio Access Network can be a kind of in the following mode: WLAN, ZigBee, UWB, Bluetooth, CDMA and GSM mode.
4. personnel in the pit's localization method according to claim 1; It is characterized in that; Obtain the RSSI of several stronger radio access nodes of the signal uploaded at the terminal; Through with the fiducial value around radio access node that is provided with in advance relatively, greater than this fiducial value, judge that the terminal is in by this radio access node like the RSSI of a certain access node.
5. personnel in the pit's localization method according to claim 1 is characterized in that said locating terminal comprises the magnetic force angle transducer, and whether calculate the people through the magnetic force angle transducer has go to action in sampling interval.
6. personnel in the pit's localization method according to claim 5 is characterized in that, direction vector information is uploaded to such an extent that three access node wireless signal strength variation tendencies are judged through the terminal; When two difference in signal strength are less than set point two in detecting three access nodes, adopt magnetic force angle transducer testing staff to turn to correction personnel direction of travel.
7. personnel in the pit's localization method according to claim 1; It is characterized in that; Obtain the meter step number of times of regularly uploading at the terminal, confirm, carry out step time accumulation and the bonding position Vector Message regularly uploaded are calculated personnel's present located position in conjunction with last time being in the other datum mark of certain access node.
8. step according to claim 7 time information begins to gather during through the reference position at locating terminal, and regularly uploads through Radio Access Network, when locating terminal during through next reference position to current inferior zero clearing of accumulation step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210230338.7A CN102724635B (en) | 2012-07-05 | 2012-07-05 | Method for locating underground staff |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210230338.7A CN102724635B (en) | 2012-07-05 | 2012-07-05 | Method for locating underground staff |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102724635A true CN102724635A (en) | 2012-10-10 |
| CN102724635B CN102724635B (en) | 2015-04-22 |
Family
ID=46950268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210230338.7A Expired - Fee Related CN102724635B (en) | 2012-07-05 | 2012-07-05 | Method for locating underground staff |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102724635B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102979578A (en) * | 2012-11-19 | 2013-03-20 | 中国矿业大学(北京) | Downhole multifunctional personnel location distress system |
| CN103024663A (en) * | 2012-11-19 | 2013-04-03 | 中国矿业大学(北京) | Underground personnel positioning system |
| CN103018711A (en) * | 2012-11-19 | 2013-04-03 | 中国矿业大学(北京) | Underground personnel positioning method based field intensity and step-mounting distance measurement |
| CN103475725A (en) * | 2013-09-17 | 2013-12-25 | 湖南伊迈德科技有限公司 | Method and system for communication, identification and location of mobile device |
| CN103776405A (en) * | 2014-02-21 | 2014-05-07 | 网易（杭州）网络有限公司 | Displacement detection method and device |
| CN104698434A (en) * | 2015-01-16 | 2015-06-10 | 梁二 | Ultra-wideband based indoor emergent positioning method |
| CN105578592A (en) * | 2015-12-11 | 2016-05-11 | 北京天地玛珂电液控制系统有限公司 | Device and system for positioning workers of fully mechanized face |
| CN106226731A (en) * | 2016-07-01 | 2016-12-14 | 北京永安信通科技有限公司 | The method that personnel's in-out management system and boundary crossover thereof judge |
| CN106412816A (en) * | 2016-12-19 | 2017-02-15 | 东软集团股份有限公司 | Positioning method, apparatus and server |
| CN108089180A (en) * | 2017-12-18 | 2018-05-29 | 江苏添仂智能科技有限公司 | Based on UWB sensors as back indicator to the localization method of GPS and inertial navigation system the suspension type rail vehicle corrected |
| CN111813119A (en) * | 2020-07-11 | 2020-10-23 | 广东翼景信息科技有限公司 | High-precision navigation method for inspection robot |
| CN113027530A (en) * | 2021-03-22 | 2021-06-25 | 开滦（集团）有限责任公司电信分公司 | Coal mine safety monitoring system and monitoring method based on internet data interaction |
| CN113446061A (en) * | 2021-07-14 | 2021-09-28 | 上海六梓科技有限公司 | High-precision personnel positioning method |
| CN114353782A (en) * | 2022-01-11 | 2022-04-15 | 华北理工大学 | Underground positioning method and underground positioning device based on Baseline-RFMDR |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100305856A1 (en) * | 2009-05-28 | 2010-12-02 | Samsung Electronics Co., Ltd. | Pedestrian navigation device and method using heading information of terminal |
| CN102083204A (en) * | 2010-12-31 | 2011-06-01 | 中国科学技术大学苏州研究院 | Positioning and tracking system method of active nodes in linear environment |
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
-
2012
- 2012-07-05 CN CN201210230338.7A patent/CN102724635B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100305856A1 (en) * | 2009-05-28 | 2010-12-02 | Samsung Electronics Co., Ltd. | Pedestrian navigation device and method using heading information of terminal |
| CN102083204A (en) * | 2010-12-31 | 2011-06-01 | 中国科学技术大学苏州研究院 | Positioning and tracking system method of active nodes in linear environment |
| CN102419180A (en) * | 2011-09-02 | 2012-04-18 | 无锡智感星际科技有限公司 | Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103024663A (en) * | 2012-11-19 | 2013-04-03 | 中国矿业大学(北京) | Underground personnel positioning system |
| CN103018711A (en) * | 2012-11-19 | 2013-04-03 | 中国矿业大学(北京) | Underground personnel positioning method based field intensity and step-mounting distance measurement |
| CN103018711B (en) * | 2012-11-19 | 2014-10-15 | 中国矿业大学(北京) | Underground personnel positioning method based field intensity and step-mounting distance measurement |
| CN103024663B (en) * | 2012-11-19 | 2015-11-25 | 中国矿业大学(北京) | A kind of Mine Personnel Positioning System |
| CN102979578A (en) * | 2012-11-19 | 2013-03-20 | 中国矿业大学(北京) | Downhole multifunctional personnel location distress system |
| CN103475725A (en) * | 2013-09-17 | 2013-12-25 | 湖南伊迈德科技有限公司 | Method and system for communication, identification and location of mobile device |
| CN103475725B (en) * | 2013-09-17 | 2017-09-05 | 湖南伊迈德科技有限公司 | A kind of method and system of the communication of mobile device, identification and positioning |
| CN103776405B (en) * | 2014-02-21 | 2017-04-05 | 网易（杭州）网络有限公司 | A kind of method and device of displacement detecting |
| CN103776405A (en) * | 2014-02-21 | 2014-05-07 | 网易（杭州）网络有限公司 | Displacement detection method and device |
| CN104698434A (en) * | 2015-01-16 | 2015-06-10 | 梁二 | Ultra-wideband based indoor emergent positioning method |
| CN105578592B (en) * | 2015-12-11 | 2019-09-03 | 北京天地玛珂电液控制系统有限公司 | A kind of device and system of fully-mechanized mining working personnel positioning |
| CN105578592A (en) * | 2015-12-11 | 2016-05-11 | 北京天地玛珂电液控制系统有限公司 | Device and system for positioning workers of fully mechanized face |
| CN106226731A (en) * | 2016-07-01 | 2016-12-14 | 北京永安信通科技有限公司 | The method that personnel's in-out management system and boundary crossover thereof judge |
| CN106226731B (en) * | 2016-07-01 | 2018-09-14 | 北京永安信通科技股份有限公司 | The method that personnel's in-out management system and its boundary crossover judge |
| CN106412816A (en) * | 2016-12-19 | 2017-02-15 | 东软集团股份有限公司 | Positioning method, apparatus and server |
| CN108089180A (en) * | 2017-12-18 | 2018-05-29 | 江苏添仂智能科技有限公司 | Based on UWB sensors as back indicator to the localization method of GPS and inertial navigation system the suspension type rail vehicle corrected |
| CN111813119A (en) * | 2020-07-11 | 2020-10-23 | 广东翼景信息科技有限公司 | High-precision navigation method for inspection robot |
| CN111813119B (en) * | 2020-07-11 | 2024-02-27 | 广东翼景信息科技有限公司 | High-precision navigation method for inspection robot |
| CN113027530A (en) * | 2021-03-22 | 2021-06-25 | 开滦（集团）有限责任公司电信分公司 | Coal mine safety monitoring system and monitoring method based on internet data interaction |
| CN113446061A (en) * | 2021-07-14 | 2021-09-28 | 上海六梓科技有限公司 | High-precision personnel positioning method |
| CN114353782A (en) * | 2022-01-11 | 2022-04-15 | 华北理工大学 | Underground positioning method and underground positioning device based on Baseline-RFMDR |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102724635B (en) | 2015-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102724635B (en) | Method for locating underground staff | |
| CN103465938B (en) | The quick accurate positioning device of rail traffic vehicles and localization method | |
| CN102069824B (en) | Positioning device and method for rail traffic vehicle | |
| CN103024663B (en) | A kind of Mine Personnel Positioning System | |
| CN102722987B (en) | Roadside parking space detection method | |
| CN103942965B (en) | geomagnetic vehicle detector | |
| CN109583407B (en) | Track detection positioning system based on combination of NFC technology and machine vision | |
| CN103916821A (en) | Floor distinguishing method based on RSSI difference between floors | |
| CN105143822A (en) | Crowd sourced pathway maps | |
| CN105882659A (en) | Driving lane detection device and driving lane detection method | |
| CN106494393A (en) | Method for planning supported process of parking | |
| KR20180087837A (en) | SLAM method and apparatus robust to wireless environment change | |
| CN102635406B (en) | Underground positioning method | |
| CN102036372A (en) | Signal strength-based positioning method for non-uniform loss factors | |
| CN105510870A (en) | Smart device indoor positioning system and smart device indoor positioning method | |
| CN209479681U (en) | Realize the measurement trolley that track quickly detects | |
| CN110155124A (en) | Train positioning system and method | |
| KR20160054921A (en) | Interval detector using received signal strength indicator (rssi), and travel time estimating system and method having the same | |
| CN107203008B (en) | A kind of metallic conduit detection system and method based on transient electromagnetic method | |
| CN105357753A (en) | Multimode fusion recursion iteration based indoor positioning method | |
| CN103018711B (en) | Underground personnel positioning method based field intensity and step-mounting distance measurement | |
| CN105825682A (en) | Geomagnetic vehicle detector | |
| CN107507285A (en) | RSU structures, vehicle detection apparatus and the implementation method of a kind of ETC system | |
| CN109218978B (en) | Positioning method and device | |
| CN105783685A (en) | High-speed railway switch point closure state testing method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150422 Termination date: 20150705 |
|
| EXPY | Termination of patent right or utility model |