CN103152822A

CN103152822A - APIT (Any Point In Time)-based underground coal mine personnel positioning method

Info

Publication number: CN103152822A
Application number: CN2013100591011A
Authority: CN
Inventors: 田子建; 姜烨
Original assignee: China University of Mining and Technology Beijing CUMTB
Current assignee: China University of Mining and Technology Beijing CUMTB
Priority date: 2013-02-26
Filing date: 2013-02-26
Publication date: 2013-06-12
Anticipated expiration: 2033-02-26
Also published as: CN103152822B

Abstract

The invention relates to an APIT (Any Point In Time)-based underground coal mine personnel positioning method, which comprises the following steps of: obtaining distances between every two of three beacon nodes by using a distance formula according to known positional information on three beacon nodes for forming a triangle; obtaining distances from the three beacon nodes to a mobile node through a TOA (Time of Arrival) distance measuring algorithm; calculating the angle value of a vertex angle of the triangle formed by the beacon nodes and angle values of included angles formed by the mobile node and the beacon nodes according to a cosine law; and if the angle values of the included angles of the mobile node and the beacon nodes are all less than the value of the vertex angle of the triangle, determining that a person is in the triangle formed by the beacon nodes, and otherwise, determining that the person is outside the triangle formed by the beacon nodes. According to the method, the misjudgment of a PIT detection principle is excellently improved, and the mobile node is not required to move along a certain direction; and the method has operability and less amount of calculation.

Description

A kind of coal mine down-hole personnel localization method based on APIT

Technical field

The present invention relates to coal mine downhole safety monitoring and the communications field, relate in particular to a kind of coal mine down-hole personnel localization method based on APIT.

Background technology

underground personnel positioning method has much at present, be divided into based on range finding with based on two types of non-range findings, the range finding aspect mainly contains based on the TOA time of advent, based on the poor TDOA time of advent, arrive the methods such as intensity RSSI based on arrival angle AOA with based on power, measuring beaconing nodes according to above-mentioned principle then utilizes different algorithms to realize the location from the distance between mobile node, these algorithms mainly contain trilateration, triangulation, Maximum Likelihood Estimation Method, the minimax location algorithm, they all are based on the localization method that calculates how much, but amount of calculation is all larger, the beaconing nodes quantity that Maximum Likelihood Estimation Method and minimax location algorithm need is many, cost is high.

it is the condition of utilizing the electromagnetic wave emission rate known based on the TOA range measurement principle, the time of advent that the beaconing nodes that receives according to mobile node transmits, the speed time of multiply by obtains the distance between mobile node and beaconing nodes, APIT in non-range finding utilizes the PIT principle to judge that mobile node is whether in the triangle that beaconing nodes forms, then all triangles of limit obtain the overlapping region, calculate the barycenter of overlapping region, centroid position is as the position of mobile node, the drawback of the method maximum is that the erroneous judgement when utilizing the position of PIT principle judgement mobile node is very large, what the PIT principle was said is when mobile node moves towards a direction, if all away from or all when three beaconing nodes, just explanation is inner at the triangle that beaconing nodes forms, otherwise just outside at triangle, this judgement principle has very large limitation, under certain situation when mobile node when triangle is inner, to will produce simultaneously when move on a leg-of-mutton limit away from close effect, and be also unpractical in the random movement of colliery underground moving node, so can there be very large erroneous judgement in this determination methods, whether also not have at present simple especially and the method for practicality at the decision method of triangle inside at mobile node, so the accuracy that addresses the above problem for the location has very important effect.

Carrying out required gateway node, beaconing nodes and the mobile node in coal mine down-hole personnel location all comprises: processor, memory, wireless transceiver, transducer and power supply, gateway node also comprises bus module, wireless transceiver is used for receiving and sending radio magnetic wave, transducer is used for temperature, humidity, the methane concentration information of perception surrounding environment, processor and memory are used for storing data information and process, bus module is used for being connected with bus, and described power supply is used for providing electric energy.Mobile node is arranged on personnel in the pit's safety cap, beaconing nodes is evenly arranged in tunnel under coal mine, gateway node is laid on wall according to the laying mode of beaconing nodes and the signal covering radius of mobile node, and by bus with the transmission base station be connected.

Summary of the invention

The purpose of this invention is to provide a kind of coal mine down-hole personnel localization method based on APIT, existing based in the APIT location in order to solve, judge that erroneous judgement and the mobile node of the determination methods that triangle that whether mobile node form at beaconing nodes is inner or outside arbitrarily moves unpractical problem.

For achieving the above object, the solution of the present invention is: a kind of coal mine down-hole personnel localization method based on APIT, and step is as follows:

(1) dispose beaconing nodes, gateway node and transmission base station according to the concrete condition under coal mine;

(2) mobile node that is carried by the personnel in the pit periodically sends positioning request signal to each beaconing nodes;

(3) after each beaconing nodes is received the positioning request signal that mobile node sends, send self-position information to mobile node;

(4) after mobile node is received the positional information of each beaconing nodes transmission, the time of record coordinate position, signal strength signal intensity and the corresponding mobile node of arrival thereof wherein, and send to contiguous gateway node;

(5) after gateway node is received the data message of mobile node transmission, send it to by transmitting the base station ground monitoring center of being located at ground;

(6) after data message in step (5) is received at the ground monitoring center, according to the positional information of each beaconing nodes and the time of the corresponding mobile node of each beaconing nodes arrival, by the TOA range measurement principle, determine mobile node to the distance of the required beaconing nodes in location;

(7) with any three the link group triangularities of beaconing nodes of determining in step (6), calculate the angle value of the angle on the line of angle value, mobile node and leg-of-mutton each beaconing nodes of composition of each Atria drift angle and triangle each limit according to the cosine law, and according to each angle value, judge whether mobile node is inner at corresponding triangle;

(8) be in all triangles of its inside for mobile node, calculate the barycenter of their overlapping regions, this centroid position is the position of mobile node.

The method of the triangle inside that judge whether mobile node form at beaconing nodes in described step (7) is: if the angle on the line of mobile node and leg-of-mutton each beaconing nodes of composition and triangle each limit is all less than the angle value of the corresponding drift angle of triangle, this mobile node is inner at the triangle that beaconing nodes forms, otherwise just outside at triangle.

The beneficial effect that the present invention reaches: the present invention utilizes the magnitude relationship of angle to judge exactly the triangle inside whether mobile node is in the beaconing nodes composition, compare with PIT test philosophy in the APIT localization method, erroneous judgement property is zero substantially, improved well the erroneous judgement of PIT detection principle, and do not need mobile node to move along certain direction, have operability, amount of calculation is little.

Description of drawings

Fig. 1 is that judgement mobile node of the present invention forms the method figure of triangle inside at beaconing nodes;

Fig. 2 is that judgement mobile node of the present invention forms the method figure of triangle outside at beaconing nodes.

Embodiment

The present invention will be further described in detail below in conjunction with accompanying drawing:

A kind of coal mine down-hole personnel localization method based on APIT of the present invention mainly comprises two stages:

(1) the judgement mobile node is inner or outside at the triangle that beaconing nodes forms: mobile node sends Location Request to beaconing nodes, broadcast transmission self-position information after beaconing nodes receives, mobile node receives information, record the positional information of beaconing nodes and the temporal information of arrival mobile node, converge to gateway node and be sent to by bus and transmit the base station, the transmission base station is delivered in ground monitoring in the heart by optical fiber transmission, process through data and obtain beaconing nodes to the angle value of the angle on the angle value of the leg-of-mutton drift angle of the distance of mobile node and beaconing nodes composition and mobile node and summit, judge according to the size of angle whether mobile node is inner at the triangle of beaconing nodes composition, if the triangle that the angle value of the angle on mobile node and summit all forms less than leg-of-mutton drift angle value at beaconing nodes is inner, otherwise just outside at triangle,

(2) accurately locate: be in all triangles of its inside for mobile node, calculate the barycenter of their overlapping regions, this centroid position is the position of mobile node.

as shown in Figure 1, A, B, C is respectively the first beaconing nodes, the second beaconing nodes and the 3rd beaconing nodes, D are a mobile node that is positioned at triangle ABC, record mobile node D and the first beaconing nodes A by the TOA distance-finding method, distance between the second beaconing nodes B and the 3rd beaconing nodes C is designated as a, b, c, between the first beaconing nodes A and the second beaconing nodes B, distance is designated as e, and the distance between the first beaconing nodes A and the 3rd beaconing nodes C is designated as f, and the distance between the second beaconing nodes B and the 3rd beaconing nodes C is designated as g, calculates respectively e according to range formula, f, the value of g, and calculate successively ∠ BAD according to the cosine law, ∠ DAC, ∠ ABD, ∠ CBD, ∠ ACD, ∠ BCD, ∠ BAC, ∠ ABC, the value of ∠ BCA, if ∠ is BAD＜∠ BAC and ∠ DAC＜∠ BAC and ∠ ABD＜∠ ABC and ∠ CBD＜∠ ABC and ∠ ACD＜∠ BCA and ∠ BCD＜∠ BCA, and mobile node D is in the first beaconing nodes A, the inside of the triangle ABC that the second beaconing nodes B and the 3rd beaconing nodes C form.

as shown in Figure 2, A, B, C is respectively the first beaconing nodes, the second beaconing nodes and the 3rd beaconing nodes, F are to be positioned at the outer mobile node of triangle ABC, mobile node F and the first beaconing nodes A, distance between the second beaconing nodes B and the 3rd beaconing nodes C records by the TOA distance-finding method, is designated as a1, b1, c1, between the first beaconing nodes A and the second beaconing nodes B, distance is designated as e1, and the distance between the first beaconing nodes A and the 3rd beaconing nodes C is designated as f1, and the distance between the second beaconing nodes B and the 3rd beaconing nodes C is designated as g1, calculate ∠ BAF according to range formula, ∠ FAC, ∠ ABF, ∠ CBF, ∠ ACF, ∠ BCF is mobile node F and the first beaconing nodes A, the angle that forms between the second beaconing nodes B and the 3rd beaconing nodes C, ∠ BAC, ∠ ABC, ∠ BCA is the first beaconing nodes, the leg-of-mutton drift angle that the second beaconing nodes and the 3rd beaconing nodes form utilizes the cosine law to obtain, ∠ BAF＞∠ BAC, ∠ BCF＞∠ BCA, mobile node F are in the first beaconing nodes A, the triangle that the second beaconing nodes B and the 3rd beaconing nodes C form is outside.

Claims

1. a coal mine underground personnel location method based on APIT, it is characterized in that, the steps are as follows:

(1) Deploy beacon nodes, gateway nodes and transmission base stations according to the specific conditions of the coal mine;

(2) The mobile node carried by the underground personnel periodically sends positioning request signals to each beacon node;

(3) Each beacon node sends its own location information to the mobile node after receiving the positioning request signal sent by the mobile node;

(4) After the mobile node receives the location information sent by each beacon node, it records the coordinate position, signal strength and the time it reaches the corresponding mobile node, and sends it to the adjacent gateway node;

(5) After the gateway node receives the data information sent by the mobile node, it sends it to the ground monitoring center located on the ground through the transmission base station;

(6) After the ground monitoring center receives the data information in step (5), according to the location information of each beacon node and the time when each beacon node arrives at the corresponding mobile node, it determines the distance between the mobile node and the corresponding mobile node through the principle of TOA ranging. The distance of the beacon node required for positioning;

(7) Any three connections of the beacon nodes determined in step (6) form a triangle, and the angle values of the three vertex angles of each triangle, the mobile node and the connection lines of the beacon nodes forming the triangle are calculated according to the law of cosines The angle value of the included angle with each side of the triangle, and according to each angle value, it is judged whether the mobile node is inside the corresponding triangle;

(8) For all the triangles in which the mobile node is located, calculate the centroid of their overlapping area, and the position of the centroid is the position of the mobile node.

2. the APIT-based coal mine underground personnel location method according to claim 1, is characterized in that, in described step (7), the method for judging whether mobile node is in the triangle interior that beacon node forms is:

If the angle between the connection line between the mobile node and each beacon node forming the triangle and each side of the triangle is smaller than the angle value of the corresponding vertex of the triangle, then the mobile node is inside the triangle formed by the beacon nodes, otherwise it is outside the triangle.