CN103442434B - A kind of personnel positioning method, Apparatus and system be applied in tunnel environment - Google Patents
A kind of personnel positioning method, Apparatus and system be applied in tunnel environment Download PDFInfo
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- CN103442434B CN103442434B CN201310364676.4A CN201310364676A CN103442434B CN 103442434 B CN103442434 B CN 103442434B CN 201310364676 A CN201310364676 A CN 201310364676A CN 103442434 B CN103442434 B CN 103442434B
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Abstract
Embodiments provide a kind of personnel positioning method, Apparatus and system be applied in tunnel environment, for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively; The product of the transmission rate of this difference and locating wireless signal is defined as range difference; According to the numerical relation between the distance between this range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results; Based on each estimation results determined, determine to send the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal received by above-mentioned at least two locating base station.Save system resource, be more suitable for applying in tunnel environment.The present invention relates to wireless communication field.
Description
Technical field
The present invention relates to mobile communication technology field, particularly relate to a kind of personnel positioning method, Apparatus and system be applied in tunnel environment.
Background technology
The time of advent poor (TDOA, timedifferenceofarrival) be a kind of location technology based on wireless network, general principle is: personnel at a time send locating wireless signal, and (these personnel can by carrying positioning mark card usually, locating wireless signal is sent) by positioning mark card, this locating wireless signal can be received by the multiple locating base station around these personnel simultaneously, because each locating base station can be different from the distance between personnel, therefore the time point receiving this locating wireless signal from personnel apart from different locating base station is different, for two locating base station, the time difference of these two locating base station can be arrived according to this locating wireless signal, determine the range difference between these personnel and this two locating base station, again by hyp principle (hyperbola is the track of the point being definite value with the absolute value of the difference of two distances of fixing a point in plane), a hyperbola for this range difference can be determined according to the range difference determined, the position of personnel is on this hyperbola, and by determining that many hyp intersection points just can determine the position of personnel.
In prior art, the positioning flow of personnel comprises the following steps:
Step 1: obtain that each locating base station that receives above-mentioned locating wireless signal sends, receives time point during this locating wireless signal.
Step 2: calculate the time difference between time point that in above-mentioned each locating base station, every two locating base station send respectively.
Step 3: for above-mentioned every two base stations, the time difference corresponding according to this two base stations obtained in step 2, determines the range difference of the distance of personnel respectively and between these two base stations.
Step 4: determine a hyperbola for each range difference, the intersection point of many hyperbolae intersect determined according to multiple range difference is the position of personnel.
Further, from in prior art to the positioning flow of personnel, at least need to determine two hyperbolas, just by these two hyp intersection points, personnel are positioned, again because the locating base station of two around personnel can only determine a hyperbola, therefore, three locating base station are at least needed, the locating wireless signal that the personnel of receiving send just can determine at least two hyperbolas, and then determines the position of personnel.But, such as mine, train crossing, the tunnel environments such as subway tunnel are elongate in shape, therefore in tunnel environment, locating base station is arranged, can only arrange along tunnel, and because tunnel environment is cranky, the locating wireless signal that personnel between two locating base station launch is difficult to be received by the locating base station outside these two locating base station, further, even if the quantity of locating base station in increase tunnel environment, and the transmitting power of the locating wireless signal that the personnel of increasing send, the locating wireless signal making at least three locating base station can receive personnel to send, and determine that the position of personnel is too complicated by hyp mode, expend system resource larger.
Summary of the invention
Embodiments provide a kind of personnel positioning method, Apparatus and system be applied in tunnel environment, determine that the larger problem of system resource is expended in the position of personnel in order to solve in tunnel environment.
Based on the problems referred to above, a kind of personnel positioning method be applied in tunnel environment that the embodiment of the present invention provides, comprising:
For every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, wherein, the time point information that locating base station sends characterizes time point when this locating base station receives the locating wireless signal that positioning mark card sends, and described positioning mark card is carried by the personnel be in tunnel environment;
The product of the transmission rate of described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, with the difference of described same positioning mark card apart from the distance of another locating base station in described two locating base station;
According to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results;
Based on each estimation results determined, determine the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding.
A kind of personnel positioning apparatus be applied in tunnel environment that the embodiment of the present invention provides, comprising:
Difference determination module, for for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, wherein, the time point information that locating base station sends characterizes time point when this locating base station receives the locating wireless signal that positioning mark card sends, and described positioning mark card is carried by the personnel be in tunnel environment;
Range difference determination module, product for the transmission rate by described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, and described same positioning mark card apart from another locating base station in described two locating base station distance between difference;
Estimate module, for according to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results;
Position determination module, for based on each estimation results determined, determines the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding.
A kind of personnel location system be applied in tunnel environment that the embodiment of the present invention provides, comprising: location algorithm server, and multiple locating base station of arranging along tunnel;
Described location algorithm server, for for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively; The product of the transmission rate of described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, with the difference of described same positioning mark card apart from the distance of another locating base station in described two locating base station; According to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results; Based on each estimation results determined, determine the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding;
Described locating base station, for receiving the locating wireless signal that positioning mark card sends, and the time point information of the time point characterized when receiving described locating wireless signal is sent to described location algorithm server, wherein, described positioning mark card is carried by the personnel be in tunnel environment.
The beneficial effect of the embodiment of the present invention comprises:
A kind of personnel positioning method, Apparatus and system be applied in tunnel environment that the embodiment of the present invention provides, for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively; The product of the transmission rate of this difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of this same positioning mark card apart from a locating base station in these two locating base station, with the difference of the distance of another locating base station of this same positioning mark card in two locating base station; According to the numerical relation between the distance between this range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results; Based on each estimation results determined, determine to send the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal received by above-mentioned at least two locating base station.The embodiment of the present invention is applied to tunnel environment, due in tunnel environment, the locating wireless signal that personnel between two locating base station launch is difficult to be received by the locating base station outside these two locating base station, and the locator data that the localization method that the embodiment of the present invention provides can provide according at least two locating base station positions the personnel in tunnel environment, carry out compared with complicated hyperbola calculates and could position positioning mark card with the data provided according at least three locating base station in prior art, save system resource, be more suitable for applying in tunnel environment.
Accompanying drawing explanation
The flow chart of a kind of personnel positioning method be applied in tunnel environment that Fig. 1 provides for the embodiment of the present invention;
The flow chart of a kind of personnel positioning method be applied in tunnel environment that Fig. 2 provides for the embodiment of the present invention one;
The flow chart of a kind of personnel positioning method be applied in tunnel environment that Fig. 3 provides for the embodiment of the present invention two;
The flow chart of a kind of personnel positioning method be applied in tunnel environment that Fig. 4 provides for the embodiment of the present invention three;
The structural representation of a kind of personnel positioning apparatus be applied in tunnel environment that Fig. 5 provides for the embodiment of the present invention.
Embodiment
Embodiments provide a kind of personnel positioning method, Apparatus and system be applied in tunnel environment, below in conjunction with Figure of description, the preferred embodiments of the present invention are described, be to be understood that, preferred embodiment described herein, only for instruction and explanation of the present invention, is not intended to limit the present invention.And when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
The embodiment of the present invention provides a kind of personnel positioning method be applied in tunnel environment, as shown in Figure 1, comprising:
S101, for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, wherein, the time point information that locating base station sends characterizes time point when this locating base station receives the locating wireless signal that positioning mark card sends, and this positioning mark card is carried by the personnel be in tunnel environment.
S102, the product of the transmission rate of the difference determined in S101 and locating wireless signal is defined as range difference, wherein, this range difference is the distance of above-mentioned same positioning mark card apart from a locating base station in these two locating base station, with the difference of above-mentioned same positioning mark card apart from the distance of another locating base station in above-mentioned two locating base station.
S103, according to the numerical relation between the distance between the range difference determined in S102 and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results.
S104, based on each estimation results determined in S103, determine to send the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal received by above-mentioned at least two locating base station.
Further, can also comprise before execution above-mentioned steps S101: receive the time point information that multiple locating base station sends respectively; From multiple locating base station, determine at least two locating base station receiving the locating wireless signal that same positioning mark card sends.
Further, in the embodiment of the present invention, do not limit the form of positioning mark card, that is, in the embodiment of the present invention, positioning mark card represents that can follow personnel moves, and send the object of locating wireless signal, and be not limited to a kind of physical aspect of positioning mark card, such as, personnel carry a portable equipment, and positioned personnel by this portable locating wireless signal sent, then the positioning mark card in the embodiment of the present invention can refer to this portable equipment.
Further, in order to ensure that location algorithm server correctly can determine the position of positioning mark card according to the time point that locating base station sends, locating base station and location algorithm server need to adopt high-precision time synchronized.
Below in conjunction with accompanying drawing, with specific embodiment, method provided by the invention and relevant device are described in detail.
Embodiment 1:
In the embodiment of the present invention 1, provide a kind of personnel positioning method be applied in tunnel environment, as shown in Figure 2, specifically comprise the steps:
S201, receive the locating information that multiple locating base station sends respectively, wherein, locating information comprises time point when locating base station receives the locating wireless signal that positioning mark card sends, and the identification information of this positioning mark card.
In this step, time point is carried in locating information by locating base station, and in locating information, also comprise the identification information of positioning mark card, and the time point comprised in locating information is corresponding with the identification information of positioning mark card, that is, the time point when locating base station that the locating wireless signal that the positioning mark card that the identification information that this time point is this positioning mark card identifies sends is sent out this locating information receives.
S202, each locating information sent respectively for above-mentioned multiple locating base station, by locating base station corresponding for each locating information identical for the identification information of the positioning mark card carried, be defined as the locating base station receiving the locating wireless signal that same positioning mark card sends.
Further, when there is at least two positioning mark cards, before the difference between the time point that two locating base station determining to receive send respectively, this step is performed.When only there is a positioning mark card in tunnel environment, the locating wireless signal received by two locating base station receiving the locating wireless signal that this positioning mark card sends should send by same positioning mark card, and when there is at least two positioning mark cards in tunnel environment, multiple positioning mark card may be there is adjacent with same locating base station position, that is, locating base station may receive the locating wireless signal that multiple positioning mark card sends, when time point when receiving each locating wireless signal is all sent to location algorithm server by locating base station, location algorithm server needs the positioning mark card determining that each time point is corresponding, (that is, this time point is the time point of locating base station when receiving the locating wireless signal which positioning mark card sends) just can determine the time point that two locating base station that positioning mark card is corresponding send, therefore, locating base station is when to location algorithm server transmitting time point, can this time point be carried in locating information, and in the locating information of carrying this time point, carry the identification information of positioning mark card corresponding to this time point.
Further, the identification information of positioning mark card is the information of this positioning mark card of unique identification, and can be card number information, mac address etc., its form the present embodiment limit.
S203, for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively.
S204, the product of the transmission rate of the difference determined in S203 and locating wireless signal is defined as range difference, wherein, range difference is the distance of above-mentioned same positioning mark card apart from a locating base station in these two locating base station, with the difference of above-mentioned same positioning mark card apart from the distance of another locating base station in these two locating base station.
S205, according to the numerical relation between the distance between the range difference determined in S204 and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results.
S206, based on each estimation results determined, determine to send the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal received by above-mentioned at least two locating base station.
Embodiment 2:
In the embodiment of the present invention 2, when from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is two, provide a kind of personnel positioning method be applied in tunnel environment, as shown in Figure 3, specifically comprise the steps:
S301, receive the time point that multiple locating base station sends respectively, wherein, the time point that locating base station sends is the time point of this locating base station when receiving the locating wireless signal that positioning mark card sends.
S302, for two locating base station receiving the locating wireless signal that same positioning mark card sends, determine the difference between the time point that these two locating base station received send respectively.
Further, when positioning the layout of base station in tunnel environment, usually the direction extended along tunnel is arranged, and because tunnel is cranky, need positioning mark card to send locating wireless signal with larger transmitting power just can make also can receive this locating wireless signal with the non-conterminous locating base station of this positioning mark card position, usually do not need the transmitting power of positioning mark card larger to save system resource, and only make to be positioned at positioning mark card both sides and the locating base station adjacent with this positioning mark card position receives the locating wireless signal that this positioning mark card sends, therefore, can using every two adjacent locating base station as one group of locating base station, a positioning mark card is there is between one group of locating base station, and this group locating base station sends each self-recording time point respectively to location algorithm server, (this time point is the time point of locating base station when receiving the locating wireless signal that the positioning mark card between this group locating base station sends), two time points that location algorithm server can send according to this group locating base station determine the position of the positioning mark card between this group locating base station.Wherein, the position of positioning mark card can be the coordinate of this positioning mark card.
S303, the product of the transmission rate of the difference determined in S302 and locating wireless signal is defined as range difference, wherein, range difference is the distance of the locating base station of above-mentioned same positioning mark card in two locating base station, and the difference between the distance of another locating base station of above-mentioned same positioning mark card in two locating base station.
S304, according to the numerical relation between the distance between the range difference determined in S303 and two locating base station, determine the distance between a locating base station in above-mentioned same positioning mark card and described two locating base station.
Further, the distance between two locating base station can be the actual measurement distance between two locating base station, also can be the air line distance after being connected by two locating base station straight lines.
Further, when positioning arrangement of base stations to tunnel environment, need the map drawing this tunnel environment, that is the coordinate information determining tunnel environment is needed, again because tunnel environment entirety is in strip, the locating base station of arranging in tunnel environment arranges in turn along tunnel, the position that degree of crook is larger, the locating base station of arranging is more intensive, to ensure when positioning mark is positioned between adjacent two locating base station, these two locating base station can receive the locating wireless signal that this positioning mark card sends.For the ease of the information of each locating base station of subsequent statistical, can by the two-dimensional coordinate (x of each locating base station
i, y
i) be converted to one-dimensional coordinate (X
i, 0), wherein, 1≤i≤N, N is the quantity of the locating base station of arranging in above-mentioned tunnel environment, and the one-dimensional coordinate computational methods of i-th base station after conversion are as follows:
Wherein, for distance tunnel portal or nearest first locating base station of tunnel exit, the one-dimensional coordinate after its conversion be (0,0), for second base station to N number of base station, its change after one-dimensional coordinate be
d
ibe the distance between i-th base station and the i-th+1 base station, k is integer.Suppose in tunnel, to be provided with four locating base station, and four locating base station arrange in turn along tunnel, first locating base station distance tunnel portal is nearest, for convenience of description, suppose that the distance between adjacent two locating base station is d, then according to above-mentioned formula, one-dimensional coordinate after first locating base station conversion is (0,0) one-dimensional coordinate, after second locating base station conversion is (d, 0), one-dimensional coordinate after 3rd locating base station conversion is (2d, 0) one-dimensional coordinate, after the 4th locating base station conversion is (3d, 0).
S305, distance according between above-mentioned same positioning mark card and an above-mentioned locating base station, the position of this locating base station and the coordinate information of tunnel environment, determine the position of the personnel that carry that above-mentioned same positioning mark card is corresponding.
Further, step S304 and step S305 is according to the distance between the range difference determined in S303 and two locating base station, determines the process of the position of positioning mark card, illustrates below:
Suppose in tunnel environment, the position of the first locating base station and the second locating base station is adjacent, the position of the first locating base station is represented with A point, the position of the second locating base station is represented with B point, distance between A point and B point is d, difference between two time points determined in S302 is t, the transmission rate of locating wireless signal is c, a positioning mark card is there is between first locating base station and the second locating base station, the position of this positioning mark card is C, then positioning mark card is AC apart from the distance of the first locating base station, positioning mark card is CB apart from the distance of the second locating base station, following equation can be obtained:
AC+CB=d formula 1;
| AC – CB|=c × t formula 2;
Further, be added on the right of formula 1 and the formula 2 equal sign left side and equal sign respectively, suppose AC>CB again, obtain AC=(d+c × t)/2, namely positioning mark card is (d+c × t)/2 apart from the distance of the first locating base station, then the coordinate information of the tunnel environment of the prior statistics of basis, by the position of the first locating base station, direction to the second locating base station extends (d+c × t)/2, is the position of positioning mark card.
Further, also can subtract each other on the right of formula 1 and the formula 2 equal sign left side and equal sign respectively, suppose AC>CB, obtain CB=(d-c × t)/2, namely positioning mark card is (d-c × t)/2 apart from the distance of the second locating base station, then the coordinate information of the tunnel environment of the prior statistics of basis, by the position of the second locating base station, direction to the first locating base station extends (d-c × t)/2, is the position of positioning mark card.That is, according to the distance between range difference and two locating base station, determine the distance between another base station in positioning mark card and two locating base station; According to the distance between positioning mark card and this another base station, the position of this another base station and the coordinate information of tunnel environment, determine the position of positioning mark card.
Further, in the localization method that the embodiment of the present invention provides, the position of positioning mark card just can be determined by the distance received between two locating base station between time difference of locating wireless signal and two locating base station, and in prior art, at least need three locating base station, the time point receiving locating wireless signal is provided, like this in tunnel environment, not only need the distribution more crypto set made between locating base station, and need the transmitting power strengthening positioning mark card, increase construction cost, and it is too complicated by the position of hyp method determination positioning mark card, the system resource that when making to carry out hyp calculating, location algorithm server expends is larger, therefore in the embodiment of the present invention, the localization method provided, not only save construction cost, also a saving the system resource that location algorithm server expends.
Embodiment 3:
In the embodiment of the present invention 3, when from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is more than three or three, provide a kind of personnel positioning method be applied in tunnel environment, as shown in Figure 4, specifically comprise the steps:
S401, receive the time point that multiple locating base station sends respectively, wherein, the time point that locating base station sends is the time point of this locating base station when receiving the locating wireless signal that positioning mark card sends.
S402, from above-mentioned multiple locating base station, determine more than three or three locating base station receiving the locating wireless signal that same positioning mark card sends.
Further, the locating wireless signal that same positioning mark card sends is received for three locating base station, when the position residing for positioning mark card and a locating base station position very close to time, the locating wireless signal that this locating base station and two adjacent with this locating base station position respectively locating base station may be made all to receive this positioning mark card send.
Suppose that the first locating base station, the second locating base station and the 3rd locating base station are three locating base station arranged in turn in tunnel environment, the position of the first locating base station is A, the position of the second locating base station is B, the position of the 3rd locating base station is C, positioning mark is positioned between the second locating base station and the 3rd locating base station, and very near the D place, position of the second locating base station, so the first locating base station, the second locating base station and the 3rd locating base station all may receive the locating wireless signal that positioning mark card sends.
S403, every two locating base station of to determine for more than three or three that determine in step S402 in base station, determine the difference between the time point that these two locating base station send respectively.
Continue above-mentioned example, the difference t between the time point for two locating base station every in the first locating base station, the second locating base station and the 3rd locating base station, determine the first locating base station respectively, carrying in locating information that the second locating base station sends respectively respectively
1, the difference t between the time point determine the second locating base station respectively, carrying in locating information that the 3rd locating base station sends respectively respectively
2, and determine the first locating base station respectively, difference t between the time point that carries respectively in locating information that the 3rd locating base station sends respectively
3.
S404, the product of the transmission rate of the difference determined and wireless signal is defined as the distance of positioning mark card apart from a locating base station in these two locating base station, and positioning mark card apart from another locating base station in these two locating base station distance between range difference.
The transmission rate of assumed wireless signal is c, then positioning mark card is apart from the distance of the first locating base station, and the range difference between the distance of positioning mark card distance the second locating base station is ct
1, positioning mark card is apart from the distance of the second locating base station, and the range difference between the distance of positioning mark card distance the 3rd locating base station is ct
2, positioning mark card is apart from the distance of the first locating base station, and the range difference between the distance of positioning mark card distance the 3rd locating base station is ct
3.
S405, according to the numerical relation between the distance between the range difference determined and this two locating base station, estimate the position of positioning mark card, obtain estimation results.
Continue above-mentioned example, by the position relationship between positioning mark card and three locating base station, obtains following equation:
Distance between AD+BD=A and B; Formula 3
| AD-BD|=ct
1; Formula 4
Distance between BD+DC=B and C; Formula 5
| BD-DC|=ct
2; Formula 6
Distance between AD+DC=A and C; Formula 7
| AD-DC|=ct
3; Formula 8
Formula 3 and formula 4 are the method for the position according to the position relationship determination positioning mark card between positioning mark card and the first locating base station and the second locating base station, formula 5 and formula 6 are the method for the position according to the position relationship determination positioning mark card between positioning mark card and the second locating base station and the 3rd locating base station, and formula 7 and formula 8 are the method for the position according to the position relationship determination positioning mark card between positioning mark card and the first locating base station and the 3rd locating base station.
S406, will obtain in each estimation results, the position that identical estimation results characterizes is defined as the position of the personnel that carry corresponding to positioning mark card.
Continue above-mentioned example, because positioning mark to be positioned between the second locating base station and the 3rd locating base station and very near the position of the second locating base station, the value of AD+BD is greater than the distance between A and B, therefore, the positional information of the positioning mark card that through type 3 and formula 4 are determined, with through type 5 and formula 6, or the positional information of the positioning mark card that through type 7 and formula 8 are determined is different, that is, through type 5 and formula 6, and the positional information of positioning mark card that through type 7 and formula 8 are determined is identical, therefore by through type 5 and formula 6, and the positional information of positioning mark card that through type 7 and formula 8 are determined, as the position of positioning mark card.
Based on same inventive concept, the embodiment of the present invention additionally provides and is a kind ofly applied to personnel positioning apparatus in tunnel environment and system, the principle of dealing with problems due to these devices and system is similar to the personnel positioning method of aforementioned applications in tunnel environment, therefore the enforcement of this device and system see the enforcement of preceding method, can repeat part and repeats no more.
Embodiments provide a kind of personnel positioning apparatus be applied in tunnel environment, as shown in Figure 5, comprising:
Difference determination module 501, for for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, wherein, the time point information that locating base station sends characterizes time point when this locating base station receives the locating wireless signal that positioning mark card sends, and described positioning mark card is carried by the personnel be in tunnel environment;
Range difference determination module 502, product for the transmission rate by described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, and described same positioning mark card apart from another locating base station in described two locating base station distance between difference;
Estimate module 503, for according to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results;
Position determination module 504, for based on each estimation results determined, determines the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding.
Further, described device also comprises:
Receiver module 505, for at described difference determination module 501 for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, before determining the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, receive the time point information that multiple locating base station sends respectively;
Locating base station determination module 506, for from described multiple locating base station, determines at least two locating base station receiving the locating wireless signal that same positioning mark card sends.
Further, the time point information that described receiver module 505 receives is carried in the locating information of locating base station transmission, and also comprises the identification information of positioning mark card in described locating information;
Locating base station determination module 506, specifically for each locating information sent respectively for described multiple locating base station, by locating base station corresponding for each locating information identical for the identification information of the positioning mark card carried, be defined as the locating base station receiving the locating wireless signal that same positioning mark card sends.
Further, estimate module 503, specifically for according to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between a locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and a described locating base station, the position of a described locating base station and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station; Or
According to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between another locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and another locating base station described, the position of another locating base station described and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station.
Further, described position determination module 504, specifically for working as from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is two, by the position of the described same positioning mark card that the estimation results determined based on described two locating base station characterizes, be defined as the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal sent received by described two locating base station.
Further, described position determination module 504, specifically for working as from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is more than three or three, by in each estimation results of determining, the position of the described same positioning mark card that identical estimation results characterizes is defined as the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal sent received by described more than three or three locating base station.
A kind of personnel location system be applied in tunnel environment that the embodiment of the present invention provides, comprising: location algorithm server, and multiple locating base station of arranging along tunnel;
Described location algorithm server, for for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively; The product of the transmission rate of described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, with the difference of described same positioning mark card apart from the distance of another locating base station in described two locating base station; According to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results; Based on each estimation results determined, determine the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding;
Described locating base station, for receiving the locating wireless signal that positioning mark card sends, and the time point information of the time point characterized when receiving described locating wireless signal is sent to described location algorithm server, wherein, described positioning mark card is carried by the personnel be in tunnel environment.
The function of above-mentioned each unit may correspond to the respective handling step in flow process shown in Fig. 1 to Fig. 4, does not repeat them here.
A kind of personnel positioning method, Apparatus and system be applied in tunnel environment that the embodiment of the present invention provides, for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively; The product of the transmission rate of this difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of this same positioning mark card apart from a locating base station in these two locating base station, with the difference of the distance of another locating base station of this same positioning mark card in two locating base station; According to the numerical relation between the distance between this range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results; Based on each estimation results determined, determine to send the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal received by above-mentioned at least two locating base station.The embodiment of the present invention is applied to tunnel environment, due in tunnel environment, the locating wireless signal that personnel between two locating base station launch is difficult to be received by the locating base station outside these two locating base station, and the locator data that the localization method that the embodiment of the present invention provides can provide according at least two locating base station positions the personnel in tunnel environment, carry out compared with complicated hyperbola calculates and could position positioning mark card with the data provided according at least three locating base station in prior art, save system resource, be more suitable for applying in tunnel environment.
Through the above description of the embodiments, those skilled in the art can be well understood to the embodiment of the present invention can by hardware implementing, and the mode that also can add necessary general hardware platform by software realizes.Based on such understanding, the technical scheme of the embodiment of the present invention can embody with the form of software product, it (can be CD-ROM that this software product can be stored in a non-volatile memory medium, USB flash disk, portable hard drive etc.) in, comprise some instructions and perform method described in each embodiment of the present invention in order to make a computer equipment (can be personal computer, server, or the network equipment etc.).
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, the module in accompanying drawing or flow process might not be that enforcement the present invention is necessary.
It will be appreciated by those skilled in the art that the module in the device in embodiment can carry out being distributed in the device of embodiment according to embodiment description, also can carry out respective change and be arranged in the one or more devices being different from the present embodiment.The module of above-described embodiment can merge into a module, also can split into multiple submodule further.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (11)
1. be applied to the personnel positioning method in tunnel environment, it is characterized in that, comprising:
For every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, wherein, the time point information that locating base station sends characterizes time point when this locating base station receives the locating wireless signal that positioning mark card sends, and described positioning mark card is carried by the personnel be in tunnel environment;
The product of the transmission rate of described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, with the difference of described same positioning mark card apart from the distance of another locating base station in described two locating base station;
According to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results;
Based on each estimation results determined, determine the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding;
Wherein, according to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, specifically comprise:
According to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between a locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and a described locating base station, the position of a described locating base station and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station; Or
According to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between another locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and another locating base station described, the position of another locating base station described and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station.
2. the method for claim 1, it is characterized in that, for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, before determining the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, also comprise:
Receive the time point information that multiple locating base station sends respectively;
From described multiple locating base station, determine at least two locating base station receiving the locating wireless signal that same positioning mark card sends.
3. method as claimed in claim 2, is characterized in that, time point information is carried in the locating information of locating base station transmission, and also comprises the identification information of positioning mark card in described locating information;
From described multiple locating base station, determine at least two locating base station receiving the locating wireless signal that same positioning mark card sends, specifically comprise:
For each locating information that described multiple locating base station sends respectively, by locating base station corresponding for each locating information identical for the identification information of the positioning mark card carried, be defined as the locating base station receiving the locating wireless signal that same positioning mark card sends.
4. the method as described in any one of claim 1-3, it is characterized in that, when from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is two, based on each estimation results determined, determine the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding, specifically comprise:
By the position of the described same positioning mark card that the estimation results determined based on described two locating base station characterizes, be defined as the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal sent received by described two locating base station.
5. the method as described in any one of claim 1-3, it is characterized in that, when from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is more than three or three, based on each estimation results determined, determine the position of the personnel carrying described same positioning mark card, specifically comprise:
By in each estimation results of determining, the position of the described same positioning mark card that identical estimation results characterizes is defined as the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal sent received by described more than three or three locating base station.
6. be applied to the personnel positioning apparatus in tunnel environment, it is characterized in that, comprising:
Difference determination module, for for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, wherein, the time point information that locating base station sends characterizes time point when this locating base station receives the locating wireless signal that positioning mark card sends, and described positioning mark card is carried by the personnel be in tunnel environment;
Range difference determination module, product for the transmission rate by described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, and described same positioning mark card apart from another locating base station in described two locating base station distance between difference;
Estimate module, for according to the numerical relation between the distance between described range difference and this two locating base station, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results;
Position determination module, for based on each estimation results determined, determines the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding;
Wherein, described in estimate module, specifically for according to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between a locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and a described locating base station, the position of a described locating base station and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station; Or
According to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between another locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and another locating base station described, the position of another locating base station described and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station.
7. device as claimed in claim 6, is characterized in that, also comprise:
Receiver module, for at described difference determination module for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, before determining the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively, receive the time point information that multiple locating base station sends respectively;
Locating base station determination module, for from described multiple locating base station, determines at least two locating base station receiving the locating wireless signal that same positioning mark card sends.
8. device as claimed in claim 7, is characterized in that, the time point information that described receiver module receives is carried in the locating information of locating base station transmission, and also comprises the identification information of positioning mark card in described locating information;
Locating base station determination module, specifically for each locating information sent respectively for described multiple locating base station, by locating base station corresponding for each locating information identical for the identification information of the positioning mark card carried, be defined as the locating base station receiving the locating wireless signal that same positioning mark card sends.
9. the device as described in any one of claim 6-8, it is characterized in that, described position determination module, specifically for working as from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is two, by the position of the described same positioning mark card that the estimation results determined based on described two locating base station characterizes, be defined as the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal sent received by described two locating base station.
10. the device as described in any one of claim 6-8, it is characterized in that, described position determination module, specifically for working as from described multiple locating base station, when the quantity determining the locating base station receiving the locating wireless signal that same positioning mark card sends is more than three or three, by in each estimation results of determining, the position of the described same positioning mark card that identical estimation results characterizes is defined as the position of the personnel that carry corresponding to the same positioning mark card of the locating wireless signal sent received by described more than three or three locating base station.
11. 1 kinds are applied to the personnel location system in tunnel environment, it is characterized in that, comprising: location algorithm server, and multiple locating base station of arranging along tunnel;
Described location algorithm server, for for every two locating base station received at least two locating base station of the locating wireless signal that same positioning mark card sends, determine the difference between the time point that the time point information that these two locating base station send respectively characterizes respectively; The product of the transmission rate of described difference and locating wireless signal is defined as range difference, wherein, described range difference is the distance of described same positioning mark card apart from a locating base station in these two locating base station, with the difference of described same positioning mark card apart from the distance of another locating base station in described two locating base station; According to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between a locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and a described locating base station, the position of a described locating base station and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results; Or, according to the numerical relation between the distance between described range difference and this two locating base station, determine the distance between another locating base station in described same positioning mark card and this two locating base station; According to the distance between described same positioning mark card and another locating base station described, the position of another locating base station described and the coordinate information of described tunnel environment, estimate the position of the same positioning mark card sending this locating wireless signal received by two locating base station, obtain estimation results; Based on each estimation results determined, determine the position of the personnel that carry that the same positioning mark card of the locating wireless signal described in sending received by least two locating base station is corresponding;
Described locating base station, for receiving the locating wireless signal that positioning mark card sends, and the time point information of the time point characterized when receiving described locating wireless signal is sent to described location algorithm server, wherein, described positioning mark card is carried by the personnel be in tunnel environment.
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| CN201310364676.4A CN103442434B (en) | 2013-08-20 | 2013-08-20 | A kind of personnel positioning method, Apparatus and system be applied in tunnel environment |
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| CN201310364676.4A CN103442434B (en) | 2013-08-20 | 2013-08-20 | A kind of personnel positioning method, Apparatus and system be applied in tunnel environment |
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| KR101528595B1 (en) | 2014-10-31 | 2015-06-12 | 콘티넨탈 오토모티브 시스템 주식회사 | Apparatus for location detecting and control method thereof |
| CN104950288B (en) * | 2015-04-30 | 2017-12-12 | 成都恒高科技有限公司 | Tunnel environmental positioning method, apparatus, system and positioning label card |
| CN105206089A (en) * | 2015-09-29 | 2015-12-30 | 深圳市金溢科技股份有限公司 | Vehicle positioning and automatic vehicle release control method and system and base stations |
| CN105682220A (en) * | 2016-02-01 | 2016-06-15 | 甘肃有色冶金职业技术学院 | Mine underground positioning system based on wireless sensor network |
| CN110307037B (en) * | 2019-07-08 | 2021-02-19 | 中国电建集团成都勘测设计研究院有限公司 | Automatic recognition and early warning method for tunnel engineering construction appearance |
| CN110221251B (en) * | 2019-07-10 | 2023-04-07 | 成都大汇智联科技有限公司 | Remote monitoring method for positioning personnel position coordinates of hydropower station |
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