CN102761964A - Underground personnel positioning method based on ZigBee - Google Patents
Underground personnel positioning method based on ZigBee Download PDFInfo
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Abstract
The invention discloses an underground personnel positioning method based on ZigBee. A plurality of base stations are arranged in a roadway; each base station comprises a plurality of main base stations and a plurality of secondary base stations; the main base stations and the secondary base stations are arranged at intervals; the main base stations and positioning targets use a question and answer mode communication manner; the positioning targets communicate with the main base stations or the secondary base stations based on the ZigBee by using a time division multiplex manner; an area between the two adjacent base stations is divided into a near base station area and a far base station area according to a distance h1; when the positioning targets are located in the near base station area, the underground personnel is positioned by using an RSSI (Received Signal Strength Indicator) positioning method; and when the positioning targets are located in the far base station area, the underground personnel is positioned by adopting a V-T positioning method. The underground personnel positioning method based on the ZigBee has the advantages of high positioning precision and large positioning range.
Description
Technical Field
The invention relates to a ZigBee-based underground personnel positioning method, in particular to a ZigBee-based underground personnel positioning scheme which is provided aiming at the problems that the signal strength is easily influenced by the environment, the positioning precision is difficult to improve, the positioning distance of a base station in an RSSI positioning algorithm is far shorter than the communication distance of the base station, and the like.
Background
The accurate positioning of underground personnel can provide support for strengthening mine supervision, can also provide important help for mine disaster rescue, and is an important guarantee for mine safety production. Positioning algorithms can be divided into two broad categories, non-ranging based positioning algorithms and ranging based positioning algorithms. The non-ranging based positioning algorithm comprises: the method comprises a centroid method, a DV-Hop algorithm and the like, wherein the method can achieve higher positioning accuracy only by a dense wireless sensor network, the cost for improving the positioning accuracy is high, and the method is not suitable for the positioning algorithm in a narrow underground environment; the ranging-based positioning algorithm comprises: TOATime of arrival, TDOA (Time Difference of arrival), AOA (angle of arrival), RSSI positioning method, etc., in which the electromagnetic wave speed is too fast, TOA and TDOA require high-precision clocks, and AOA requires a special direction-finding device, so the TOA, TDOA and AOA positioning algorithms have high hardware requirements, and the equipment investment cost required for large-scale application is high, while the RSSI positioning algorithm has a signal strength value RSSI, i.e. the received power PRThe method can be directly obtained from the relevant register of the equipment, has low requirement on the equipment, is easy to realize and has lower cost, thereby having good application prospect.
Nevertheless, since the signal strength of the wireless signal is susceptible to the influence of various environmental factors such as multipath effect, metal reflection, humidity, etc., the positioning accuracy of the positioning algorithm based on the RSSI is difficult to improve, and the effective positioning distance is much shorter than the communication distance. The current RSSI-based positioning algorithm mainly comprises a signal attenuation model method and a signal fingerprint method. The method has higher positioning accuracy in short distance, but the positioning accuracy is obviously reduced after the signal attenuation is not obvious along with the increase of the distance; the latter adopts a method of establishing an RSSI fingerprint database under a specific environment, and then collected received power data P is acquired during positioningRThe method is matched with the fingerprint database for positioning, and although the positioning accuracy is relatively guaranteed, the method has poor environmental adaptability.
Positioning based on the Zigbee technology generally adopts an RSSI positioning algorithm, that is, a transmission distance is determined by measuring signal strength according to an exponential attenuation relationship between the signal strength of electromagnetic wave transmission and the transmission distance, so as to perform positioning. When the distance is short, the transmitted signal strength is attenuated quickly, the transmission distance is insensitive to the interference of the transmitted signal strength, and the positioning precision is high. When the distance is long, the attenuation of the transmitted signal intensity is slow, the transmission distance is sensitive to the interference of the transmitted signal intensity, and the positioning accuracy cannot be guaranteed under the influence of the interference.
Disclosure of Invention
The invention aims to solve the technical problem of providing the underground personnel positioning method based on the ZigBee, and the underground personnel positioning method based on the ZigBee has high positioning precision and large positioning range.
The technical solution of the invention is as follows:
a ZigBee-based underground personnel positioning scheme is characterized in that a plurality of base stations are arranged in a roadway, each base station comprises a plurality of main base stations and a plurality of slave base stations, and the main base stations and the slave base stations are arranged at intervals; the main base station and the positioning targets adopt a question-answering communication mode, and the plurality of positioning targets adopt a time division multiplexing mode to communicate with the main base station or the slave base station based on ZigBee;
according to the distance h1Dividing the area between two adjacent base stations into a near base station area and a far base station area, i.e. the distance between a positioning target and the nearest base station is less than h1When the positioning target is located in the near base station area, the positioning target is indicated to be located in the near base station area; otherwise, the positioning target is in a far base station area; distance h1Is determined by the nature of the RSSI positioning, if the distance h1Further away, the positioning accuracy becomes worse, in the present example, h1Take 10m ]
When the positioning target is positioned in a near base station area, positioning by adopting an RSSI positioning method;
and when the positioning target is in a far base station area, positioning by adopting a V-T positioning method.
The RSSI positioning method comprises the following steps: distance between positioning target and nearest base station
Wherein P isR0Is the received power relative to the reference distance of the transmitting base station, u is the attenuation coefficient; reference distance d0=1 m, attenuation coefficient u is obtained by data collected in mine laneway through unary linear regression method ]
Wherein,
is PRK is n PRThe values fall within [ mu-0.84 sigma, [ mu +0.84 sigma ]]Number of values of (1), mean value <math>
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PR(i) The acquisition method comprises the following steps:
the upper computer connected with the current base station, recorded as the base station X, caches n receiving power values P of a certain positioning targetR[i]Data, if there are m received powers PRGreater than a threshold value PRTThen indicating that the positioning target is in the near base station area, the n PR[i]The data is valid data, wherein n is the number of the received power data of the same target node received by the same base station in continuous time; n is considered by data real-time, in the present invention, n =10 is set, m is an empirical threshold, and in the present invention, n =7, P is setRTIs the value of the received power, h, from base station X to its near base station boundary1Measured received power P of =10 mRT= -62.02 dBm; base station X [ refers to the current base station, i.e. acquiring PR(i) Corresponding base stations the signal strengths of the base stations on the two adjacent sides to the target node are respectively: pRl、PRrFrom PRl、PRrThe magnitude of the value determines on which side of the base station the positioning target is.
3. A ZigBee-based downhole personnel positioning solution according to claim 2, wherein the V-T positioning method is based on d = vt + h1Positioning, wherein d is the distance between a positioning target and a base station X, and v is the average speed of the positioning target in a near base station area; base station X [ refers to the current base station, i.e. acquisition PR(i) Corresponding base stations the signal strengths of the base stations on the two adjacent sides to the target node are respectively: pRl、PRrFrom PRl、PRrThe magnitude of the value determines on which side of the base station the positioning target is.
4. A ZigBee-based downhole personnel positioning solution according to claim 3, characterized in that the average speed is calculated by: when judging a positioning objectWhen the beacon enters the near base station area, timing is started; when the positioning target is judged to go out of the near base station area, the timing is stopped, and the timing time t is read1(ii) a Calculating the average moving speed of the positioning target: v =2h1/t1. In the special case, if the positioning target enters from the base station, the 2h1 is replaced by h 1. "C (B)
As shown in fig. 1, will be h from base station A, B1Within meters, their near base station region, h1The remote base station area is arranged outside the rice. For the convenience of the following description, it is assumed that the positioning target moves from the base station a to the base station B. In the near base station area, an RSSI (received signal strength indicator) positioning algorithm is adopted, meanwhile, the upper computer times the movement of underground personnel in the near base station area, and the distance h from the base station A to the right boundary of the near base station A area is assumed1Is timed for a time t1Thus, the average velocity of movement of the downhole personnel v =2h is obtained1/t1(ii) a In the far base station area, the upper computer reckons the personnel from the right boundary of the near base station A area, and estimates the distance from the personnel to the base station A in the far base station area of the roadway according to the timing time t, and the distance is as follows:
d=vt+h1；
therefore, the distance of the positioning target from the base station in the far base station area can be calculated through the formula, and the accurate position of the person in the far base station area can be determined. The flow chart of the algorithm is shown in fig. 4.
The algorithm comprises the following steps:
step 1: initializing, empirically setting a default velocity V for downhole personneldefDistance h from base station A to the right boundary of the near base station zone1Minimum time T required for riceminAnd a maximum time Tmax. If this h1Time t required in rice1Greater than the maximum time TmaxThe person works in the area without moving forward, if h1Time t required in rice1Less than the minimum time TminThen a system failure is possible. In both cases, the system will default to the personVelocity Vdef；
Step 2: judging that the positioning target enters a near base station area, and starting timing;
step 3: judging that the positioning target leaves the near base station area, and ending timing;
step 4: judgment h1Time T required by rice staffmin<t1<TmaxIf yes, then according to h1Obtaining an average speed v by the distance of meters and the required time; otherwise, the average speed of the movement of the underground personnel is the default speed Vdef；
Step 5: estimating the real-time position of a remote base station area of the laneway where the personnel are located according to the average movement speed of Step 4;
step 6: judging whether the personnel is underground, if so, turning to Step 2; otherwise, the loop is ended.
The ZigBee communication scheme aims to eliminate mutual interference of signals between a base station and nodes and ensure positioning accuracy. The scheme divides the positioning base station into: the master station, the slave station and the positioning target form a ZigBee positioning communication system. The difference between the master base station and the slave base station is that the master base station can actively send out a positioning request, and the slave base station only receives a positioning response.
The ZigBee communication system base station is arranged as shown in figure 1, and a main base station and a slave base station are arranged at intervals on a mine roadway. The positioning base station and the positioning target adopt a time division multiplexing question-answering communication mode: the main base station sends positioning requests in sequence according to the ID numbers of the positioning targets, the positioning targets respond to the positioning requests in a broadcasting mode after receiving the positioning requests, then the main base station and the slave base stations upload received target positioning information to the upper computer in sequence through the RS485 bus, and the upper computer positions and displays the positioning targets according to the information. The data flow diagram and the working timing diagram of the main base station of the ZigBee communication system are respectively shown in fig. 2 and fig. 3.
Has the advantages that:
the underground personnel positioning method based on ZigBee is based on ZiThe gBee technology regards a certain section of a mine roadway as a straight line or a subsection straight line, and divides an area between two base stations of the roadway into two areas: a near base station region and a far base station region. For example, the base stations for arranging two ZigBee modules in a mine roadway are a master base station A and a slave base station B which are respectively at a distance of 60 meters, wherein h is1=10 m, as shown in fig. 1. The result shows that the maximum absolute error of the measurement of the near base station area experiment is 3 meters, and the maximum absolute error of the far base station area simulation is 5 meters. Compared with the conventional underground positioning system based on the RFID, which is commonly used in mines, the underground positioning system can realize the accurate positioning of underground personnel and reduce the system cost.
Drawings
FIG. 1 is a schematic diagram of a mine roadway and base station arrangement;
FIG. 2 is a data flow diagram of a ZigBee positioning system;
FIG. 3 is a timing diagram of the operation of the main base station;
FIG. 4 is a flow chart of the V-T algorithm;
fig. 5 is an overall flow chart of the present invention.
Detailed Description
The invention will be described in further detail below with reference to the following figures and specific examples:
example 1:
1. base station arrangement and ZigBee positioning system communication
The main base station, the slave base station and the node serving as the positioning target in the system all adopt ZigBee technology for communication, and because the positioning base stations and the positioning targets in the underground personnel positioning system are numerous, and the RSSI-based positioning mode is adopted, the normal communication of the ZigBee positioning system is realized under the condition of eliminating the mutual interference of signals between the base stations and the base stations, between the base stations and the positioning targets and between the positioning targets and the positioning targets.
In order to prevent a positioning target from receiving a plurality of positioning requests at the same time, the positioning base station is divided into a master base station and a slave base station, and the master base station and the slave base station are arranged at intervals in a tunnel, as shown in fig. 1, the master base station and the slave base station are different in that the master base station can send out the positioning request and can also receive the positioning response, and the slave base station can only receive the positioning response.
Data flow diagram of the ZigBee positioning system as shown in fig. 2, a main base station is the core of the ZigBee communication system. The main base station sends out positioning requests in sequence according to the ID number of the positioning target, and the positioning request data packet comprises: location target ID, base station ID. After receiving the positioning request, the positioning target node checks whether the received positioning target ID is consistent with the ID of the positioning target node. If the ID of the positioning target is consistent with the ID of the positioning target, the main base station and the slave base station are responded to the positioning request in a broadcasting mode, and the responding data packet comprises: a target ID, a master base station and a slave base station receiving the response packet and extracting a reception power value PRAnd the main base station and the slave base station sequentially upload the sending data packet to an upper computer through an RS485 bus, the upper computer measures the distance of the positioning target node according to the information, and the target node is converted into coordinates by the position of the known base station to be displayed graphically on the upper computer. And if the ID of the positioning target is inconsistent with the ID of the positioning target, no response is made, and the next positioning request is waited.
The difference between the broadcast communication and the point-to-point communication in the present invention is: the transmission packet of a transmitting device (the transmitting device may be a host station or a target node) in a peer-to-peer communication scheme includes: a source ID number and a destination ID number. On the other hand, a transmission packet of a transmitting apparatus of the broadcast communication system (the transmitting apparatus can only be a target node) includes only: a source ID number and not a destination ID number.
The main base station working sequence is shown in fig. 3, the main base station has n working sequences, and the positioning operation of a positioning target is completed in each working sequence; each operating sequence has 4 more time slots: requesting, waiting, receiving and uploading, if the positioning target does not respond, directly skipping the receiving and uploading time slots to accelerate the system positioning scanning frequency.
In order to judge the position area of the positioning target so as to determine a positioning algorithm, the upper computer uploads n pieces of received power data P of the same target node to a certain base stationR[n]Buffering the n pieces of received power data P in the upper computer, and then the upper computer compares the n pieces of received power data P with the n pieces of received power data PR[n]And a set threshold value PRTA comparison is made. Wherein, PRTThe method is set according to the specific environment of the mine tunnel, namely the receiving power value measured at the boundary of the near base station, in the mine tunnel experiment, the distance from the base station to the boundary of the near base station is set to be 10 meters, namely h1=10 m. Thus measured threshold value PRT= -62.02 dBm. If there is more than m (m)<n) PRValue greater than threshold value PRTIf so, judging that the target is in a near base station area, and adopting an RSSI (received signal strength indicator) positioning algorithm of the near base station area; otherwise, judging the remote base station area, and adopting a V-T positioning method of the remote base station area.
2. Near base station area RSSI positioning algorithm
If the target is judged to be in the near base station area, the target is positioned by adopting the near base station area RSSI positioning algorithm, and firstly, a Gaussian filter model is used for positioning n P in the cacheRAnd filtering the data, and calculating the distance from the positioning target to the base station by adopting an RSSI ranging model. The whole process is completed by an upper computer, and the specific steps are as follows:
1) computing cache data PR[n]The mean μ and standard deviation σ of;
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2) Calculating PRHigh probability occurrence interval [ mu-0.84 sigma, mu +0.84 sigma]And from PR[n]Screening out all P falling into the intervalRValue PR[k],0<k≤n；
3) Calculating PR[k]Geometric mean of
4) Will be provided with
Substitution formula
Determining the distance d of the target from the base station, where PR0Is a reference distance d0The receiving power is 1 meter, the attenuation coefficient u is data collected in a mine roadway, and the data are obtained by a unitary linear regression method;
5) and judging which side of the base station the target node is at according to the received power of the target node received by the base stations at two adjacent sides of the base station and the strength of the two received powers. Such as: the power of the target node received by the left and right adjacent base stations is PRl、PRrIf P isRl>PRrThe target node is on the left side of the base station, otherwise, the target node is on the right side of the base station.
6) And converting the position of the target node into a coordinate for graphical display on an upper computer according to the distance measurement result and the known base station coordinate.
In addition, the near base station area also estimates the average movement speed of the positioning target, and the specific steps are as follows:
1) when judging that a positioning target enters a near base station area, starting timing the positioning target;
2) when the positioning target is judged to go out of the near base station area, the timing is stopped, and the timing time t is read1；
3) Calculating the average moving speed of the positioning target: v =2h1/t1Wherein h is1The distance from the boundary of the near base station to the corresponding base station, namely the radius of the near base station area.
3. V-T positioning method for remote base station area
The distance between the current positioning target and the positioning base station is estimated by the far base station area according to the average movement speed v of the positioning target estimated by the near base station area and the time length t of the target entering the far base station area, the whole process is finished by the upper computer, and the specific steps are as follows:
1) when judging that a positioning target enters a far base station area, starting timing the positioning target;
2) reading the target average motion speed v estimated in the near base station area;
3) reading the current timing t;
4) using formulasd=vt+h1Calculating the distance d of the target from the base station, wherein h1The distance from the boundary of the near base station to the corresponding base station, namely the radius of the near base station area;
5) according to the received power of the target node received by the base stations at two adjacent sides of the base station, judging which side of the base station the target node is at according to the strength of the two received powers, such as: the power of the target node received by the adjacent base stations on the left and the right is P respectivelyRl、PRrIf P isRl>PRrIf the target node is on the left side of the base station, otherwise, the target node is on the right side of the base station;
6) and converting the position of the target node into a coordinate for graphical display on an upper computer according to the distance measurement result and the known base station coordinate.
4. Description of system implementation: the flow chart of the implementation is shown in fig. 5.
The implementation steps are as follows:
1) and (4) initializing the system, and setting the ID range to be broadcast by the main base station in turn according to the ID of the target node, wherein the ID number range of 10 target nodes is adopted in the experiment (1000, 1009). Therefore, the present invention sets the ID range to be cyclically broadcast by turns by the main base station to (1000,1009).
2) And the main base station sequentially initiates a positioning request according to the ID range, wherein the data packet comprises the ID of the main base station and the ID of the target node.
3) The target node judges whether the ID is the self ID or not, if so, the target node broadcasts a positioning data packet to the main base station and the slave base station; otherwise, wait for the next positioning request.
4) The main base station receives a data packet broadcasted by the target node from the base station, wherein the data packet comprises: target node ID, reception power value PR。
5) The master base station and the slave base station receive the target data packet and then send the ID of the base station, the ID of the target node and the receiving power value PRIs added to the baseAnd the sending data packet of the station is uploaded to an upper computer through an RS485 bus.
6) The upper computer caches n receiving power values PR[n]And data for determining which area the target node is in. If there are m received powers PRGreater than a threshold value PRTIf so, indicating that the target node is in a near base station area, therefore, adopting an RSSI algorithm to calculate the distance d from the base station, and simultaneously, respectively calculating the signal intensity of the target node through the base stations on two adjacent sides of the base station: pRl、PRrFrom PRl、PRrThe magnitude of the value determines which side of the base station is on; otherwise, the target node calculates the distance d from the base station by adopting a V-T positioning algorithm in a far base station area, and determines which side of the base station the target node is on by the same method.
7) And converting the coordinates into coordinates for graphical display.
Claims (4)
1. A ZigBee-based underground personnel positioning scheme is characterized in that a plurality of base stations are arranged in a roadway, each base station comprises a plurality of main base stations and a plurality of slave base stations, and the main base stations and the slave base stations are arranged at intervals; the main base station and the positioning targets adopt a question-answering communication mode, and the plurality of positioning targets adopt a time division multiplexing mode to communicate with the main base station or the slave base station based on ZigBee;
according to the distance h1Dividing the area between two adjacent base stations into a near base station area and a far base station area, i.e. the distance between a positioning target and the nearest base station is less than h1Time, show locationThe target is in a near base station area; otherwise, the positioning target is in a far base station area;
when the positioning target is positioned in a near base station area, positioning by adopting an RSSI positioning method;
and when the positioning target is in a far base station area, positioning by adopting a V-T positioning method.
2. The ZigBee-based downhole personnel positioning scheme according to claim 1, wherein the RSSI positioning method comprises: distance between positioning target and nearest base stationWherein P isR0Is the received power relative to the reference distance of the transmitting base station, u is the attenuation coefficient;
wherein,
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PR(i) The acquisition method comprises the following steps:
caching n receiving power values P of a certain positioning target by an upper computer which is in X-communication connection with a current base stationR[i]Data, if there are m received powers PRGreater than a threshold value PRTThen indicating that the positioning target is in the near base station area, the n PR[i]The data is valid data, wherein n is the number of the received power data of the same target node received by the same base station in continuous time;
the signal strength of the base stations on two adjacent sides of the base station X to the target node is respectively as follows: pRl、PRrFrom PRl、PRrThe magnitude of the value determines on which side of the base station the positioning target is.
3. A ZigBee-based downhole personnel positioning solution according to claim 2, wherein the V-T positioning method is based on d = vt + h1Positioning, d is the distance between the positioning target and the base station X, v is the positioning target in the near base station areaAverage speed of (d); the signal strength of the base stations on two adjacent sides of the base station X to the target node is respectively as follows: pRl、PRrFrom PRl、PRrThe magnitude of the value determines on which side of the base station the positioning target is.
4. A ZigBee-based downhole personnel positioning solution according to claim 3, characterized in that the average speed is calculated by: when judging that a positioning target enters a near base station area, starting timing the positioning target; when the positioning target is judged to go out of the near base station area, the timing is stopped, and the timing time t is read1(ii) a Calculating the average moving speed of the positioning target: v =2h1/t1。
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