CN103293513A - System and method for positioning underground coal mine staff based on RSS (received signal strength) and TOA (time of arrival) complementation - Google Patents
System and method for positioning underground coal mine staff based on RSS (received signal strength) and TOA (time of arrival) complementation Download PDFInfo
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Abstract
The invention discloses a system and a method for positioning underground coal mine staff based on RSS (received signal strength) and TOA (time of arrival) complementation, and belongs to the field of mine monitoring and communication. The direction of the staff is determined by the aid of a directional antenna, distance information of a staff positioning card reader and an identification card is detected by an RSS method with high accuracy in an area which possibly cannot be detected by a TOA method, distance information is detected in other areas by the TOA method with higher accuracy, processing delay is fixed, signals are repeatedly transmitted and received by a transmitting end and a receiving end, timing errors of timing equipment are eliminated, positioning information including identity information of the underground coal mine staff is generated and outputted, and the underground coal mine staff is accurately positioned. Under the condition of decreasing positioning equipment and positioning density, the problems that errors are large when a measured distance is long in a roadway by the RSS method and misreading is caused when the measured distance is short in the roadway by the TOA method are solved, so that the underground coal mine staff is accurately positioned.
Description
Technical field
The present invention relates to a kind of coal mine down-hole personnel positioning system and localization method based on RSS and TOA complementation, specifically be applied to mine monitoring and the communications field.
Background technology
" Coal Mine Safety Supervision Bureau of country of State Administration of Quality and Technical Supervision improves the notice of coal mine downhole safety hedging " six big systems " about construction " (No. [2010] 146, total coal dress of safety supervision) requires to build and improves the coal mine down-hole personnel positioning system.The effect of performance personnel in the pit's positioning system in manpower authorization and emergency management and rescue work." should preferentially select advanced technology, stable performance, product that bearing accuracy is high, guarantee accurately to grasp personnel in the pit's DYNAMIC DISTRIBUTION situation and getting working face personnel amount ".
Based on signal arrive the RSS (Received Signal Strength) of intensity range finding and based on TOA (the Time of Arrival) technology of time of arrival (toa) range finding as basic placement technology, utilize the measured value of RSS and TOA to calculate the propagation distance of signal respectively, should be as research focus and the developing direction of coal mine down-hole personnel location technology.
Yet environment space is narrow and small under the coal mine, distance is short, baffle elements such as air door, locomotive, tunnel inclination, tunnel rough surface etc. are arranged, loss is big, can cause fixing, unpredictable loss in the transmission course of electromagnetic wave signal, when personnel positioning card reader and personnel positioning identification card distance was big, very big range error can appear.
On the other hand, use the TOA technology and carry out personnel positioning, be subjected to the influence of timer precision, when personnel positioning identification card and personnel positioning card reader close together, because the travel-time of signal on this distance less than the temporal resolution of timer, the situation that can't realize that TOA detects can occur.
According to the actual environment of colliery underworkings, need be at RSS method in the tunnel and TOA method characteristics separately, the principle that the propagation characteristic of combining wireless signal, error produce is set up suitable system and localization method, and the realization coal mine down-hole personnel is accurately located.
Summary of the invention
The invention provides a kind of coal mine down-hole personnel positioning system and localization method based on RSS and TOA complementation, adopt directional antenna, RSS method and TOA method are combined, at RSS precision of method height but the TOA method may occur can't detection case surveyed area adopt the RSS method to detect the range information of personnel positioning card reader and identification card, other zones adopt the high TOA method of degree of accuracy to detect the range information of personnel positioning card reader and identification card, generate and export the locating information that comprises staff's identity information under the coal mine, the realization coal mine down-hole personnel is accurately located.
Below the present invention is discussed.
A kind of coal mine down-hole personnel positioning system based on RSS and TOA complementation is characterized in that, comprises with lower module:
Monitoring module is used for reception, demonstration, management, the scheduling of locating information, comprises monitoring host computer, upper computer software;
Transport module is used for transmission of Information, processing between each module, comprises essential safe type switch, the mining Ethernet of essential safe type, essential safe type bus;
Locating module is used for the coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and the detection of TOA method, generation and output to comprise the locating information of staff's identity information under the coal mine.
A kind of coal mine down-hole personnel positioning system based on RSS and TOA complementation, it is characterized in that, described locating module further comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, adopts directional antenna, utilizes RSS method and TOA method to carry out the coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in the underworkings of colliery, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation and output comprise the locating information of staff's identity information under the coal mine; Further comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device; Described directional antenna namely carries out signal away from the well head direction to the tunnel far-end and covers;
Described essential safe type personnel positioning identification card is carried by staff under the coal mine, as the destination node that personnel positioning detects, and personnel's identity information under storing; Further comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device;
The signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all have signal emission, received power identification and writing function, described timer has timing and time writing function, with described signal transceiver carry out signal transmitting and receiving constantly, metering and the record of time.
A kind of coal mine down-hole personnel positioning system based on RSS and TOA complementation is characterized in that, described locating module adopts directional antenna, utilizes RSS method and TOA method to carry out the coal mine down-hole personnel location, further may further comprise the steps:
Step 1: described essential safe type identification card sends the censorship signal according to certain time interval T, and T unit is second-s, contains staff's identity information and signal transmission power value W under the coal mine of storing in the card in the censorship signal
1, unit is milliwatt--mw;
Step 2: described essential safe type personnel positioning card reader receives the censorship signal, detects the censorship signal and arrives power W
2, unit is milliwatt-mw;
Step 3: described essential safe type personnel positioning card reader is according to formula
Calculate, wherein r is that unit is rice-m based on the described essential safe type personnel positioning identification card of RSS and the measured value of described essential safe type personnel positioning card reader distance, lg represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rBe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r＜5m judges that then described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance is r; If r 〉=5m carries out further TOA and detects;
During step 4: r 〉=5m, the TOA that suppresses the TOA error detects: set up being connected between described essential safe type personnel positioning identification card and the described essential safe type personnel positioning card reader; Described essential safe type card reader is sent the TOA detection signal, and timer picks up counting opening entry time value t simultaneously
1, unit is second-s; Essential safe type personnel positioning identification card receives the TOA detection signal, and foundation is connected with described essential safe type personnel positioning card reader, picks up counting, and generates answer signal S
1, treat that timing reaches to set behind the time delay Δ t answer signal S
1Send, finish timing, and another time value of opening entry t
2, unit is second-s; Δ t is a setting value, and unit is second-s; Described essential safe type personnel positioning card reader is received answer signal S
1, concluding time value t
1Timing, writing time, value and reclocking treated that timing reaches the setting time delay Δ t identical with described essential safe type personnel positioning identification card, sent and replied answer signal S '
1Described essential safe type personnel positioning identification card receives replys answer signal S '
1, concluding time value t
2Timing, time value t during record
2Described essential safe type personnel positioning identification card is with time value t
2Be sent to described essential safe type personnel positioning card reader and disconnect and being connected of described essential safe type personnel positioning card reader; Described essential safe type personnel positioning card reader receives time value t
2After, according to the data of receiving, according to formula
Calculate, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA, unit is rice-m;
Step 5: described essential safe type personnel positioning card reader according to described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r or r
TOA, directional antenna covers sense, generates the locating information and the output that include staff's identity information under the coal mine.
A kind of coal mine down-hole personnel localization method based on RSS and TOA complementation is characterized in that, is applied to the coal mine down-hole personnel positioning system based on RSS and TOA complementation, and described coal mine down-hole personnel positioning system based on RSS and TOA complementation comprises:
Monitoring module is used for reception, demonstration, management, the scheduling of locating information, comprises monitoring host computer, upper computer software;
Transport module is used for transmission of Information, processing between each module, comprises essential safe type switch, the mining Ethernet of essential safe type, essential safe type bus;
Locating module is used for the coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and the detection of TOA method, generation and output to comprise the locating information of staff's identity information under the coal mine;
Described locating module further comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, adopts directional antenna, utilizes RSS method and TOA method to carry out the coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in the underworkings of colliery, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation and output comprise the locating information of staff's identity information under the coal mine; Further comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device; Described directional antenna namely carries out signal away from the well head direction to the tunnel far-end and covers;
Described essential safe type personnel positioning identification card is carried by staff under the coal mine, as the destination node that personnel positioning detects, and personnel's identity information under storing; Further comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device;
In the described locating module, the signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all have signal emission, received power identification and writing function, described timer has timing and time writing function, with described signal transceiver carry out signal transmitting and receiving constantly, metering and the record of time;
This positioning system, carry out locating based on the coal mine down-hole personnel of RSS and TOA complementation according to following steps:
Steps A. described essential safe type identification card sends the censorship signal according to certain time interval T, and T unit is second-s, contains staff's identity information and signal transmission power value W under the coal mine of storing in the card in the censorship signal
1, unit is milliwatt-mw;
The described essential safe type personnel positioning of step B. card reader receives the censorship signal, detects the censorship signal and arrives power W
2, unit is milliwatt-mw;
The described essential safe type personnel positioning of step C. card reader is according to formula
Calculate, wherein r is that unit is rice-m based on the described essential safe type personnel positioning identification card of RSS and the measured value of described essential safe type personnel positioning card reader distance, 1g represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rBe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r＜5m judges that then described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance is r; If r 〉=5m carries out further TOA and detects;
During step D.r 〉=5m, the TOA that suppresses the TOA error detects, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA, unit is rice-m;
Step e. described essential safe type personnel positioning card reader according to described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r or r
TOA, directional antenna covers sense, generates the locating information and the output that include staff's identity information under the coal mine;
Step F. described transport module transfers to monitoring module with described location through this module, and monitoring module receives locating information and handles, manages, and this locatees end.
A kind of coal mine down-hole personnel localization method based on RSS and TOA complementation is characterized in that, the TOA of described inhibition TOA error detects, and further may further comprise the steps:
Step D1. sets up being connected between described essential safe type personnel positioning identification card and the described essential safe type personnel positioning card reader; Described essential safe type card reader is sent the TOA detection signal, and timer picks up counting opening entry time value t simultaneously
1, unit is second-s;
Step D2. essential safe type personnel positioning identification card receives the TOA detection signal, and foundation is connected with described essential safe type personnel positioning card reader, picks up counting, and generates answer signal S
1, treat that timing reaches to set behind the time delay Δ t answer signal S
1Send, finish timing, and another time value of opening entry t
2, unit is second-s; Δ t is a setting value, and unit is second-s;
The described essential safe type personnel positioning of step D3. card reader is received answer signal S
1, concluding time value t
1Timing, writing time value and reclocking treats that timing reaches setting time delay Δ t, sends and replys answer signal S '
1
The described essential safe type personnel positioning of step D4. identification card receives replys answer signal S '
1, concluding time value t
2Timing, time value t during record
2
The described essential safe type personnel positioning of step D5. identification card is with time value t
2Be sent to described essential safe type personnel positioning card reader and disconnect and being connected of described essential safe type personnel positioning card reader;
The described essential safe type personnel positioning of step D6. card reader receives time value t
2After, according to the data of receiving, according to formula
Calculate, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA
The invention has the advantages that:
(1) the present invention is according to the characteristics of RSS and TOA method, when personnel positioning card reader and personnel positioning identification card distance is big, RSS detects and very big range error can occur, on the other hand, when personnel positioning identification card and personnel positioning card reader close together, the situation of TOA detection can appear realizing, a kind of coal mine down-hole personnel positioning system and localization method that combines with TOA based on RSS proposed, utilize directional antenna to determine personnel's direction, at RSS precision of method height but the TOA method may occur can't detection case surveyed area adopt the RSS method to detect the range information of personnel positioning card reader and identification card, other zones adopt the high TOA method of degree of accuracy to detect the range information of personnel positioning card reader and identification card, generate and export the locating information that comprises staff's identity information under the coal mine, the realization coal mine down-hole personnel is accurately located, and has reduced the skip rate of positioning system;
(2) the present invention proposes a kind of TOA timing inhibition error approach, utilizes the mode of setting processing delay, the transmitting-receiving of transmitting-receiving two-end multiple signal, even the timing error of the equipment of elimination existence effectively improves the accuracy that TOA detects.
(3) the present invention proposes a kind ofly adopt directional antenna, with coal mine down-hole personnel positioning system and localization method that RSS method and TOA method combine, need be not prerequisite with increase equipment, increasing density of equipment, realize that coal mine down-hole personnel accurately locatees.
Description of drawings
Fig. 1 is the coal mine down-hole personnel positioning system synoptic diagram based on RSS and TOA complementation;
Fig. 2 is essential safe type personnel positioning reader device structural drawing;
Fig. 3 is essential safe type personnel positioning identification card equipment structure chart;
Fig. 4 is the personnel positioning method flow diagram based on RSS and TOA complementation;
Fig. 5 is RSS method and TOA method error analysis chart under the coal mine;
Fig. 6 detects synoptic diagram for the TOA that suppresses the TOA error;
Among the figure, 1, watch-dog; 2, transmission network and equipment; 3, essential safe type personnel positioning card reader; 4, staff and essential safe type personnel positioning identification card under the coal mine; 5, directional antenna; 6, timer; 7, arithmetic processor; 8, storer; 9, power supply; 10, signal transceiver; 11, intrinsic safe explosion-proof shell; 12, omnidirectional antenna.
Embodiment
Following embodiment will further specify the present invention, and embodiment should not be regarded as limiting the scope of the invention.Below in conjunction with accompanying drawing working method of the present invention is elaborated.
As shown in Figure 1, the coal mine down-hole personnel positioning system synoptic diagram based on RSS and TOA complementation of the present invention comprises 1, watch-dog; 2, transmission network and equipment; 3, essential safe type personnel positioning card reader; 4, staff and essential safe type personnel positioning identification card under the coal mine; 5, directional antenna.
Watch-dog 1, namely monitoring module equipment comprises monitoring host computer, monitoring software, is used for reception, demonstration, management, the scheduling of locating information;
Transmission network and equipment 2, namely transport module equipment is used for transmission of Information, processing between each module, comprises essential safe type switch, the mining Ethernet of essential safe type, essential safe type bus;
Staff and essential safe type personnel positioning identification card 4, directional antenna 5 belong to locating module under essential safe type personnel positioning card reader 3, the coal mine, be used for the coal mine down-hole personnel location, adopt directional antenna, utilize RSS method and the detection of TOA method, generation and output to comprise the locating information of staff's identity information under the coal mine;
Essential safe type personnel positioning card reader 3, its structure comprise directional antenna 5, timer 6, arithmetic processor 7, storer 8, power supply 9, signal transceiver 10, intrinsic safe explosion-proof shell 11 as shown in Figure 2.
Essential safe type personnel positioning identification card 4, its structure as shown in Figure 3.Timer 6 has timing and time writing function, with described signal transceiver collaborative work carry out signal transmitting and receiving constantly, metering and the record of time; This embodiment adopts the FCA3000 of Imtech timer to analyze, and this timer can provide the standard input channel of two 300MHz, provides
Temporal resolution, namely TOA provides in detecting
Distance accuracy, c is the light velocity, c=3 * 10
8M/s.Arithmetic processor 7, dominant frequency is not less than 300MHz, is used for detecting the calculation process of related data.Storer is used for the storage to RSS, TOA data and locating information.Power supply 9 is used for the power supply of essential safe type card reader.Signal transceiver 10, have signal emission, received power identification and writing function, all can realize above-mentioned functions based on technology such as WiFi, RFID, ZigBee, present embodiment adopts the BCM8000WiFi module as signal transceiver, and metering and the record of the signal transmitting and receiving moment, time carried out in described timer 6 and described signal transceiver 10 collaborative works.Intrinsic safe explosion-proof shell 11 is explosion-protection equipments of essential safe type card reader.Omnidirectional antenna 12 is realized the covering of signal in this tunnel, and present embodiment employing gain is tested for the omnidirectional antenna of 4.15dBi and illustrated.
Fig. 4 is the personnel positioning method flow diagram based on RSS and TOA complementation of the present invention.Specifically may further comprise the steps:
Steps A. described essential safe type identification card sends the censorship signal according to certain time interval T, and T unit be second-s, sends identity information and the signal transmission power value W of staff under the coal mine of the extra storage of inspecting signal by ready samples
1, unit is dBm;
The described essential safe type personnel positioning of step B. card reader receives the censorship signal, detects the censorship signal and arrives power W
2, unit is dBm;
The described essential safe type personnel positioning of step C. card reader is according to formula
Calculate, wherein r is based on the described essential safe type personnel positioning identification card of RSS and the measured value of described essential safe type personnel positioning card reader distance, unit is rice-m, lg represents denary logarithm, f is the frequency of censorship signal, if r＜5m judges that then described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance is r; If r 〉=5m carries out further TOA and detects;
During step D.r 〉=5m, the TOA that suppresses the TOA error detects, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA, unit is rice-m;
Step e. described essential safe type personnel positioning card reader according to described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r or r
TOA, directional antenna covers sense, generates the locating information and the output that include staff's identity information under the coal mine;
Step F. described transport module transfers to monitoring module with described location through this module, and monitoring module receives locating information and handles, manages, and this locatees end.
Fig. 5 is RSS method and TOA method error analysis chart under the coal mine;
The precision of TOA method determines that by the temporal resolution that detects the FCA3000 of present embodiment provides
Temporal resolution, provide during TOA detects
Distance accuracy, therefore when between described essential safe type personnel positioning card reader and the essential safe type personnel positioning identification card during apart from not enough 1m, system can't detect the position at personnel and identification card place, omission namely takes place, Fig. 5 a is the situation that the skip rate changes with TOA accuracy of detection and signal coverage distance, Fig. 5 b has directly described the situation that the skip rate changes with the signal coverage distance in the present embodiment, when the signal covering performance of essential safe type personnel positioning card reader and essential safe type personnel positioning identification card fine, when coverage distance reaches 400m comparatively desirable under the state-of-the art, the skip rate just is low to moderate 0.0025, and according to the safety in production industry standard AQ6210-2007 of People's Republic of China (PRC) coal mine underground operators management system general technical specifications regulation, " the skip rate must not be greater than 10
-4S ", only this item just can not satisfy standard-required; Need when essential safe type personnel positioning card reader and essential safe type personnel positioning identification card close together, be improved localization method and system.
On the other hand, shown in Fig. 5 c, utilize the RSS method to carry out the RSS die-away curve of range finding in the tunnel, in essential safe type personnel positioning card reader and essential safe type personnel positioning identification card close together scope, the received power decay of signal is bigger, along with distance increases, its decay tends towards stability, discrimination is not high, even record the measuring and calculating that the RSS value accurately also can't realize distance, and loss factor is many in the subsurface environment of colliery, the influence for RSS value accuracy of measurement when distance increases also can increase gradually, be that measured value produces very big deviation, make the accuracy of range finding lower; Shown in Fig. 5 d, the present invention carries out RSS range finding, according to formula
Calculate, die-away curve and the test result contrast in 5m in essential safe type personnel positioning card reader and essential safe type personnel positioning identification card distance, the point of demarcating among the figure is test result, as can be seen from Figure, signal covers the interior RSS value decay of 5m scope obviously, discrimination is higher, and the error between test data calibration point and the theoretical curve is very little.
To computing formula
Explanation because essential safe type personnel positioning card reader and essential safe type personnel positioning identification card close together, the radiation of signal belongs to direct projection, so with reference to the computing formula of electromagnetic wave free space propagation loss
L is the free space path loss that electromagnetic wave is propagated, and unit is dB, L=10lg (W
1)-10lg (W
2); 32.45 be intermediate value, in formula calculates, be a constant, f is wave frequency, and unit is MHz, and present embodiment adopts the WiFi signal of 2400MHz frequency range; R is described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance, and unit is m; G
i, G
rBe respectively the gain of receiving antenna and emitting antenna, unit is dBi, and present embodiment adopts gain to be the WiFi signal frequency range that 4.15dBi, transmitting-receiving frequency are 2400MHz; Because L=10lg (W
1)-10lg (W
2), substitution is also done conversion, can derive based on the essential safe type personnel positioning card reader of RSS method and essential safe type personnel positioning identification card apart from computing formula
Therefore, the present invention is higher apart from the accuracy of carrying out the RSS range finding in the 5m scope in essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, and can remedy the deficiency that omission appears during not enough 1m in TOA method distance between essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, eliminate described omission situation fully.
Fig. 6 is that the TOA of inhibition TOA error detects synoptic diagram, and the TOA detection concrete steps that suppress the TOA error are as follows, and metering and the record of the signal transmitting and receiving moment, time carried out in described timer 6 and signal transceiver 10 collaborative works, is also embodied in this step:
Step D1. sets up being connected between described essential safe type personnel positioning identification card and the described essential safe type personnel positioning card reader; Described essential safe type card reader generates a detection signal by arithmetic processor and is sent by signal transceiver, and its timer picks up counting opening entry time value t simultaneously
1
The signal transceiver of step D2. essential safe type personnel positioning identification card receives the TOA detection signal, and foundation is connected with described essential safe type personnel positioning card reader, and its counter picks up counting, its arithmetic processor generates answer signal S simultaneously
1, treat that timing reaches to set behind the time delay Δ t by signal transceiver answer signal S
1Send, timer finishes timing, and another time value of opening entry t
2Δ t is a setting value, and unit is second-s; Because present embodiment adopts the BCM8000WiFi module as signal transceiver, according to measured data, the signal processing delay when generation is congested of BCM8000WiFi module generally in 0.004s, can be set to 0.005s by Δ t in the present embodiment;
The signal transceiver of the described essential safe type personnel positioning of step D3. card reader is received answer signal S
1, its timer concluding time value t
1Timing, writing time, value also picked up counting again, and its arithmetic processor generates and replys answer signal S ' simultaneously
1, treat that timing reaches the setting time delay Δ t identical with described essential safe type personnel positioning identification card, send and reply answer signal S '
1
The signal transceiver of the described essential safe type personnel positioning of step D4. identification card receives replys answer signal S '
1, its timer concluding time value t
2Timing, be worth t writing time
2
The arithmetic processor of the described essential safe type personnel positioning of step D5. identification card is with time value t
2Generating a data-signal is sent to described essential safe type personnel positioning card reader by signal transceiver and disconnects and being connected of described essential safe type personnel positioning card reader;
The signal transceiver of the described essential safe type personnel positioning of step D6. card reader receives time value t
2After, disconnection is connected with described essential safe type personnel positioning identification card, and its arithmetic processor is according to the data of receiving and the time data of timer record, according to formula
Calculate, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA
To formula
Describe:
Because the TOA method is very high for synchronous requirement, and can't adopt the method for synchronous of GPS under the coal mine, the common method of synchronization is difficult to again satisfy the demands, the measuring method that needs to improve TOA is to eliminate the influence of synchronous error, and the method in employing reciprocal travel-time of detection signal can be avoided the influence of synchronous error; On the other hand, may there be frequency shift (FS) in the crystal oscillator of timer, and so-called frequency shift (FS) refers to the crystal oscillator precision clock frequency f of timer, timer crystal oscillator frequency shifted by delta f, and its unit is the Hz-hertz, and frequency shift (FS) is
Be e * t in a period of time t clocking internal error;
TOA in inhibition TOA error shown in Figure 6 detects in the synoptic diagram e
Card readerAnd e
Identification cardRepresent the frequency shift (FS) of essential safe type personnel positioning card reader and essential safe type personnel positioning identification card respectively:
Present embodiment is set Δ t=0.005s, and the signal coverage distance of directional antenna generally is no more than 500m therefore in the tunnel in the length of tunnel
Therefore, in this course, at e
Card reader* t
1Can carry out approximate treatment:
e
Card reader* t
1≈ e
Card reader* Δ t;
Therefore:
On the other hand, carry out in the wait time delay timing of Δ t at essential safe type personnel positioning identification card and essential safe type personnel positioning card reader, because the existence of timer frequency error, the timing of twice wait time delay should be respectively: (1+e
Card reader) * Δ t and (1+e
Identification card) * Δ t;
Therefore:
That is:
The present invention is according to the characteristics of RSS and TOA method, when personnel positioning card reader and personnel positioning identification card distance is big, RSS detects and very big range error can occur, on the other hand, when personnel positioning identification card and personnel positioning card reader close together, the situation of TOA detection can appear realizing, a kind of coal mine down-hole personnel positioning system and localization method that combines with TOA based on RSS proposed, utilize directional antenna to determine personnel's direction, at RSS precision of method height but the TOA method may occur can't detection case surveyed area adopt the RSS method to detect the range information of personnel positioning card reader and identification card, other zones adopt the high TOA method of degree of accuracy to detect the range information of personnel positioning card reader and identification card, generate and export the locating information that comprises staff's identity information under the coal mine, the realization coal mine down-hole personnel is accurately located, and has reduced the skip rate of positioning system; Propose a kind of TOA timing and suppress error approach, utilize the mode of setting processing delay, the transmitting-receiving of transmitting-receiving two-end multiple signal, even the timing error that the equipment of elimination exists effectively improves the accuracy that TOA detects; Proposed a kind ofly to adopt directional antenna, with coal mine down-hole personnel positioning system and localization method that RSS method and TOA method combine, need be not prerequisite with increase equipment, increasing density of equipment, realize that coal mine down-hole personnel accurately locatees.
It is pointed out that the above embodiment is used for further specifying the present invention, embodiment should not be regarded as limiting the scope of the invention.
Claims (5)
1. the coal mine down-hole personnel positioning system based on RSS and TOA complementation is characterized in that, comprises with lower module:
Monitoring module is used for reception, demonstration, management, the scheduling of locating information, comprises monitoring host computer, upper computer software;
Transport module is used for transmission of Information, processing between each module, comprises essential safe type switch, the mining Ethernet of essential safe type, essential safe type bus;
Locating module is used for the coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and the detection of TOA method, generation and output to comprise the locating information of staff's identity information under the coal mine.
2. a kind of coal mine down-hole personnel positioning system based on RSS and TOA complementation according to claim 1, it is characterized in that, described locating module further comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, adopts directional antenna, utilizes RSS method and TOA method to carry out the coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in the underworkings of colliery, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation and output comprise the locating information of staff's identity information under the coal mine; Further comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device; Described directional antenna namely carries out signal away from the well head direction to the tunnel far-end and covers;
Described essential safe type personnel positioning identification card is carried by staff under the coal mine, as the destination node that personnel positioning detects, and personnel's identity information under storing; Further comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device;
The signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all have signal emission, received power identification and writing function, described timer has timing and time writing function, carries out metering and the record of the signal transmitting and receiving moment, time.
3. a kind of coal mine down-hole personnel positioning system based on RSS and TOA complementation according to claim 2, it is characterized in that, described locating module adopts directional antenna, utilizes RSS method and TOA method to carry out the coal mine down-hole personnel location, further may further comprise the steps:
Step 1: described essential safe type identification card sends the censorship signal according to certain time interval T, and T unit is second-s, contains staff's identity information and signal transmission power value W under the coal mine of storing in the card in the censorship signal
1, unit is milliwatt-mw;
Step 2: described essential safe type personnel positioning card reader receives the censorship signal, detects the censorship signal and arrives power W
2, unit is milliwatt-mw:
Step 3: described essential safe type personnel positioning card reader is according to formula
Calculate, wherein r is that unit is rice-m based on the described essential safe type personnel positioning identification card of RSS and the measured value of described essential safe type personnel positioning card reader distance, lg represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rBe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r＜5m judges that then described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance is r; If r 〉=5m carries out further TOA and detects;
During step 4: r 〉=5m, the TOA that suppresses the TOA error detects: set up being connected between described essential safe type personnel positioning identification card and the described essential safe type personnel positioning card reader; Described essential safe type card reader is sent the TOA detection signal, and timer picks up counting opening entry time value t simultaneously
1, unit is second-s; Essential safe type personnel positioning identification card receives the TOA detection signal, and foundation is connected with described essential safe type personnel positioning card reader, picks up counting, and generates answer signal S
1, treat that timing reaches to set behind the time delay Δ t answer signal S
1Send, finish timing, and another time value of opening entry t
2, unit is second-s; Δ t is a setting value, and unit is second-s; Described essential safe type personnel positioning card reader is received answer signal S
1, concluding time value t
1Timing, writing time, value also picked up counting again, treated that timing reaches the setting time delay Δ t identical with described essential safe type personnel positioning identification card, sent and replied answer signal S '
1Described essential safe type personnel positioning identification card receives replys answer signal S '
1, concluding time value t
2Timing, be worth t writing time
2Described essential safe type personnel positioning identification card is with time value t
2Be sent to described essential safe type personnel positioning card reader and disconnect and being connected of described essential safe type personnel positioning card reader; Described essential safe type personnel positioning card reader receives time value t
2After, according to the data of receiving, according to formula
Calculate, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA, unit is rice-m;
Step 5: described essential safe type personnel positioning card reader according to described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r or r
TOA, directional antenna covers sense, generates the locating information and the output that include staff's identity information under the coal mine.
4. the coal mine down-hole personnel localization method based on RSS and TOA complementation is characterized in that, is applied to the coal mine down-hole personnel positioning system based on RSS and TOA complementation, and described coal mine down-hole personnel positioning system based on RSS and TOA complementation comprises:
Monitoring module is used for reception, demonstration, management, the scheduling of locating information, comprises monitoring host computer, upper computer software;
Transport module is used for transmission of Information, processing between each module, comprises essential safe type switch, the mining Ethernet of essential safe type, essential safe type bus;
Locating module is used for the coal mine down-hole personnel location, adopts directional antenna, utilizes RSS method and the detection of TOA method, generation and output to comprise the locating information of staff's identity information under the coal mine;
Described locating module further comprises essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, adopts directional antenna, utilizes RSS method and TOA method to carry out the coal mine down-hole personnel location;
Described essential safe type personnel positioning card reader, be arranged in the underworkings of colliery, as the anchor node that personnel positioning detects, testing staff and essential safe type personnel positioning identification card position, generation and output comprise the locating information of staff's identity information under the coal mine; Further comprise power supply, signal transceiver, directional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device; Described directional antenna namely carries out signal away from the well head direction to the tunnel far-end and covers;
Described essential safe type personnel positioning identification card is carried by staff under the coal mine, as the destination node that personnel positioning detects, and personnel's identity information under storing; Further comprise power supply, signal transceiver, omnidirectional antenna, timer, arithmetic processor, storer, inbeing safe explosion prevention device;
In the described locating module, the signal transceiver of described essential safe type personnel positioning card reader and essential safe type personnel positioning identification card, all have signal emission, received power identification and writing function, described timer has timing and time writing function, carries out metering and the record of the signal transmitting and receiving moment, time;
This positioning system, carry out locating based on the coal mine down-hole personnel of RSS and TOA complementation according to following steps:
Steps A. described essential safe type identification card sends the censorship signal according to certain time interval T, and T unit is second-s, contains staff's identity information and signal transmission power value W under the coal mine of storing in the card in the censorship signal
1, unit is milliwatt-mw
The described essential safe type personnel positioning of step B. card reader receives the censorship signal, detects the censorship signal and arrives power W
2, unit is milliwatt-mw;
The described essential safe type personnel positioning of step C. card reader is according to formula
Calculate, wherein r is that unit is rice-m based on the described essential safe type personnel positioning identification card of RSS and the measured value of described essential safe type personnel positioning card reader distance, lg represents denary logarithm, f is the frequency of censorship signal, and unit is megahertz-MHz, G
i, G
rBe respectively the gain of described essential safe type personnel positioning identification card omnidirectional antenna, described essential safe type personnel positioning card reader directional antenna, unit is dBi; If r＜5m judges that then described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader distance is r; If r 〉=5m carries out further TOA and detects;
During step D.r 〉=5m, the TOA that suppresses the TOA error detects, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA, unit is rice-m;
Step e. described essential safe type personnel positioning card reader according to described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r or r
TOA, directional antenna covers sense, generates the locating information and the output that include staff's identity information under the coal mine;
Step F. described transport module transfers to monitoring module with described location through this module, and monitoring module receives locating information and handles, manages, and this locatees end.
5. a kind of coal mine down-hole personnel localization method based on RSS and TOA complementation according to claim 4 is characterized in that, the TOA of described inhibition TOA error detects, and further may further comprise the steps:
Step D1. sets up being connected between described essential safe type personnel positioning identification card and the described essential safe type personnel positioning card reader; Described essential safe type card reader is sent the TOA detection signal, and timer picks up counting opening entry time value t simultaneously
1, unit is second-s;
Step D2. essential safe type personnel positioning identification card receives the TOA detection signal, and foundation is connected with described essential safe type personnel positioning card reader, picks up counting, and generates answer signal S
1, treat that timing reaches to set behind the time delay Δ t answer signal S
1Send, finish timing, and another time value of opening entry t
2, unit is second-s; Δ t is a setting value, and unit is second-s;
The described essential safe type personnel positioning of step D3. card reader is received answer signal S
1, concluding time value t
1Timing, writing time, value also picked up counting again, treated that timing reaches setting time delay Δ t, sends and replys answer signal S '
1
The described essential safe type personnel positioning of step D4. identification card receives replys answer signal S '
1, concluding time value t
2Timing, be worth t writing time
2
The described essential safe type personnel positioning of step D5. identification card is with time value t
2Be sent to described essential safe type personnel positioning card reader and disconnect and being connected of described essential safe type personnel positioning card reader;
The described essential safe type personnel positioning of step D6. card reader receives time value t
2After, according to the data of receiving, according to formula
Calculate, obtain described essential safe type personnel positioning identification card and described essential safe type personnel positioning card reader apart from r
TOA
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