CN103152822B - A kind of coal mine down-hole personnel localization method based on APIT - Google Patents
A kind of coal mine down-hole personnel localization method based on APIT Download PDFInfo
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- CN103152822B CN103152822B CN201310059101.1A CN201310059101A CN103152822B CN 103152822 B CN103152822 B CN 103152822B CN 201310059101 A CN201310059101 A CN 201310059101A CN 103152822 B CN103152822 B CN 103152822B
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Abstract
The present invention relates to a kind of coal mine down-hole personnel localization method based on APIT, according to the positional information of leg-of-mutton three beaconing nodes of known composition, range formula is utilized to obtain three beaconing nodes distance between any two, the distance of three beaconing nodes to mobile node is obtained through TOA location algorithm, the angle value of the angle that the angle value of leg-of-mutton drift angle of beaconing nodes composition and mobile node and beaconing nodes are formed is calculated according to the cosine law, if the angle value of the angle of mobile node and beaconing nodes is all less than leg-of-mutton drift angle value, at the triangle interior of beaconing nodes composition, otherwise just at triangular exterior.The inventive method improves the erroneous judgement of PIT Cleaning Principle well, does not need mobile node to move along certain direction, have operability, and amount of calculation is little.
Description
Technical field
The present invention relates to coal mine downhole safety monitoring and the communications field, particularly relate to a kind of coal mine down-hole personnel localization method based on APIT.
Background technology
Current underground personnel positioning method has a lot, be divided into based on range finding with based on non-ranging two types, range finding aspect mainly contains based on the TOA time of advent, based on the difference TDOA time of advent, the methods such as intensity RSSI are arrived based on angle of arrival AOA with based on power, then measure beaconing nodes according to above-mentioned principle utilizes different algorithm realization to locate from the distance between mobile node, these algorithms mainly contain trilateration, triangulation, Maximum Likelihood Estimation Method, minimax location algorithm, they are all the localization methods calculated based on geometry, but amount of calculation is all larger, the anchor node number that Maximum Likelihood Estimation Method and minimax location algorithm need is many, cost is high.
It is the condition utilizing electromagnetic radiation speed known based on TOA range measurement principle, the time of advent that the beaconing nodes received according to mobile node transmits, the speed time of being multiplied by obtains the distance between mobile node and beaconing nodes, APIT in non-ranging mainly utilizes PIT principle to judge mobile node whether in the triangle of beaconing nodes composition, then the triangle that limit is all obtains overlapping region, calculate the barycenter of overlapping region, centroid position is as the position of mobile node, the maximum drawback of the method is that erroneous judgement when utilizing PIT principle to judge the position of mobile node is very large, what PIT principle was said is when mobile node moves towards a direction, if all away from or all near three beaconing nodes time, triangle interior at beaconing nodes composition is just described, otherwise just at triangular exterior, this judges that principle has very large limitation, under certain situation when mobile node is at triangle interior, to will produce when a leg-of-mutton limit is moved simultaneously away from close effect, and underground coal mine mobile node arbitrarily movement be also unpractical, so very large erroneous judgement can be there is in this determination methods, whether the especially simply method of practicality is not also had at present at the decision method of triangle interior at mobile node, so solve the problem for location accuracy there is very important effect.
Carry out the gateway node needed for coal mine down-hole personnel location, beaconing nodes and mobile node all to comprise: 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 go forward side by side row relax, bus module is used for being connected with bus, and described power supply is used for providing electric energy.Mobile node is arranged on the safety cap of personnel in the pit, beaconing nodes is evenly arranged in the tunnel of underground coal mine, gateway node is laid in wall according to the laying mode of beaconing nodes and the quorum sensing inhibitor radius of mobile node, and is connected with transmission base station by bus.
Summary of the invention
The object of this invention is to provide a kind of coal mine down-hole personnel localization method based on APIT, existing based in APIT location in order to solve, judge that whether mobile node arbitrarily moves unpractical problem in the triangle interior of beaconing nodes composition or the erroneous judgement of the determination methods of outside and mobile node.
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) beaconing nodes, gateway node and transmission base station is disposed according to the concrete condition of underground coal mine;
(2) mobile node carried by personnel in the pit periodically sends positioning request signal to each beaconing nodes;
(3), after each beaconing nodes receives the positioning request signal that mobile node sends, own location information is sent to mobile node;
(4) after mobile node receives 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 be sent to contiguous gateway node;
(5), after gateway node receives the data message of mobile node transmission, send it to by transmission base station the ground monitoring center being located at ground;
(6) after ground monitoring center receives the data message in step (5), the time of corresponding mobile node is arrived according to the positional information of each beaconing nodes and each beaconing nodes, by TOA range measurement principle, determine the distance of the beaconing nodes needed for mobile node to location;
(7) any three the link group triangularities of beaconing nodes will determined in step (6), the angle value of the angle value of each Atria drift angle, mobile node and the line of the leg-of-mutton each beaconing nodes of composition and the angle on each limit of triangle is calculated according to the cosine law, and according to each angle value, judge that whether mobile node is at corresponding triangle interior;
(8) mobile node is in all triangles of its inside, calculate the barycenter of their overlapping regions, this centroid position is the position of mobile node.
Judge that whether mobile node in the method for the triangle interior of beaconing nodes composition is in described step (7): if mobile node and form the angle value that the line of leg-of-mutton each beaconing nodes and the angle on each limit of triangle be all less than the corresponding drift angle of triangle, the then triangle interior that forms at beaconing nodes of this mobile node, otherwise just at triangular exterior.
The beneficial effect that the present invention reaches: the present invention utilize the magnitude relationship of angle judge exactly mobile node whether be in beaconing nodes composition triangle interior, compared with PIT test philosophy in APIT localization method, erroneous judgement property is zero substantially, improve the erroneous judgement of PIT Cleaning Principle well, and do not need mobile node to move along certain direction, have operability, amount of calculation is little.
Accompanying drawing explanation
Fig. 1 is the method figure of judgement mobile node of the present invention at beaconing nodes composition triangle interior;
Fig. 2 is the method figure of judgement mobile node of the present invention at beaconing nodes composition triangular exterior.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described in detail:
A kind of coal mine down-hole personnel localization method based on APIT of the present invention, mainly comprises two stages:
(1) judge that the triangle interior that mobile node forms at beaconing nodes is still outside: mobile node sends Location Request to beaconing nodes, broadcast transmission own location information after beaconing nodes receives, mobile node receives information, the positional information of record beaconing nodes and the temporal information of arrival mobile node, converge to gateway node and be sent to transmission base station by bus, transmission base station to be sent in ground monitoring in the heart by optical fiber, beaconing nodes is obtained to the distance of mobile node and the angle value of leg-of-mutton drift angle of beaconing nodes composition and the angle value of the angle on mobile node and summit through data processing, the triangle interior whether mobile node forms at beaconing nodes is judged according to the size of angle, if the angle value of the angle on mobile node and summit is all less than leg-of-mutton drift angle value, at the triangle interior of beaconing nodes composition, otherwise just at triangular exterior,
(2) accurately locate: all triangles mobile node being in its inside, calculate the barycenter of their overlapping regions, and this centroid position is the position of mobile node.
As shown in Figure 1, A, B, C is respectively the first beaconing nodes, second beaconing nodes and the 3rd beaconing nodes, D is the mobile node being positioned at triangle ABC, records mobile node D and the first beaconing nodes A by TOA distance-finding method, distance between second beaconing nodes B and the 3rd beaconing nodes C, is designated as a, b, c, the spacing of the first beaconing nodes A and the second beaconing nodes B 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 e respectively according to range formula, f, the value of g, and calculate ∠ BAD successively according to the cosine law, ∠ DAC, ∠ ABD, ∠ CBD, ∠ ACD, ∠ BCD, ∠ BAC, ∠ ABC, the value of ∠ BCA, if ∠ BAD < ∠ BAC and ∠ DAC < ∠ BAC and ∠ ABD < ∠ ABC and ∠ CBD < ∠ ABC and ∠ ACD < ∠ BCA and ∠ BCD < ∠ BCA, then 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 forms.
As shown in Figure 2, A, B, C is respectively the first beaconing nodes, second beaconing nodes and the 3rd beaconing nodes, F is positioned at the mobile node outside triangle ABC, mobile node F and the first beaconing nodes A, distance between second beaconing nodes B and the 3rd beaconing nodes C is recorded by TOA distance-finding method, is designated as a1, b1, c1, the spacing of the first beaconing nodes A and the second beaconing nodes B 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 according to range formula, ∠ BAF, ∠ FAC, ∠ ABF, ∠ CBF, ∠ ACF, ∠ BCF is mobile node F and the first beaconing nodes A, the angle formed between second beaconing nodes B and the 3rd beaconing nodes C, ∠ BAC, ∠ ABC, ∠ BCA is the first beaconing nodes, the leg-of-mutton drift angle of the second beaconing nodes and the 3rd beaconing nodes composition, utilizes the cosine law to obtain, ∠ BAF > ∠ BAC, ∠ BCF > ∠ BCA, mobile node F is in the first beaconing nodes A, the triangular exterior that second beaconing nodes B and the 3rd beaconing nodes C forms.
Claims (1)
1., based on a coal mine down-hole personnel localization method of APIT, it is characterized in that, step is as follows:
(1) beaconing nodes, gateway node and transmission base station is disposed according to the concrete condition of underground coal mine;
(2) mobile node carried by personnel in the pit periodically sends positioning request signal to each beaconing nodes;
(3), after each beaconing nodes receives the positioning request signal that mobile node sends, own location information is sent to mobile node;
(4) after mobile node receives 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 be sent to contiguous gateway node;
(5), after gateway node receives the data message of mobile node transmission, send it to by transmission base station the ground monitoring center being located at ground;
(6) after ground monitoring center receives the data message in step (5), the time of corresponding mobile node is arrived according to the positional information of each beaconing nodes and each beaconing nodes, by TOA range measurement principle, determine the distance of the beaconing nodes needed for mobile node to location;
(7) any three the link group triangularities of beaconing nodes will determined in step (6), the angle value of the angle value of each Atria drift angle, mobile node and the line of the leg-of-mutton each beaconing nodes of composition and the angle on each limit of triangle is calculated according to the cosine law, if the line of mobile node and the leg-of-mutton each beaconing nodes of composition and the angle on each limit of triangle are all less than the angle value of the corresponding drift angle of triangle, the then triangle interior that forms at beaconing nodes of this mobile node, otherwise just at triangular exterior;
(8) mobile node is in all triangles of its inside, calculate the barycenter of their overlapping regions, this centroid position is the position of mobile node.
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| CN104135342A (en) * | 2014-08-08 | 2014-11-05 | 张力 | Method of coding nodes in wireless micro-power routing-free automatic remote communication technology of fixed nodes and implementing communication transmission through coding |
| CN104506591B (en) * | 2014-12-11 | 2018-02-02 | 罗向阳 | A kind of Target IP geographic position locating method based on nearest common router |
| CN108692667A (en) * | 2018-04-16 | 2018-10-23 | 河南厚德电力科技有限公司 | The measurement method of concrete masonry arc-shaped surface radius and inclination angle of inclined plane |
| CN111447554B (en) * | 2020-03-27 | 2022-05-03 | 广州飞曙电子科技有限公司 | Wireless positioning method, device, terminal equipment and storage medium |
| CN116506806B (en) * | 2023-06-26 | 2023-10-13 | 深圳市矽昊智能科技有限公司 | Positioning method, device, storage medium and device based on Bluetooth device |
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| CN102868751A (en) * | 2012-09-24 | 2013-01-09 | 中国矿业大学(北京) | Underground target positioning system and method based on distance restriction |
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| CN102868751A (en) * | 2012-09-24 | 2013-01-09 | 中国矿业大学(北京) | Underground target positioning system and method based on distance restriction |
Non-Patent Citations (3)
| Title |
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| 基于角度判断的无线传感器网络APIT定位算法的研究;胡中栋、贾方方;《传感器与微系统》;20130131;第32卷(第1期);全文 * |
| 无线传感器网络APIT定位算法;唐明虎、张长宏;《综述与评论》;20101130;第29卷(第21期);全文 * |
| 无线传感器网络APIT定位算法的改进;冀常鹏、陈美玲、刘巧;《仪表技术与传感器》;20120831(第8期);全文 * |
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