CN103702417A - Underground positioning method based on directive antennae - Google Patents
Underground positioning method based on directive antennae Download PDFInfo
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- CN103702417A CN103702417A CN201310754702.4A CN201310754702A CN103702417A CN 103702417 A CN103702417 A CN 103702417A CN 201310754702 A CN201310754702 A CN 201310754702A CN 103702417 A CN103702417 A CN 103702417A
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Abstract
The invention discloses an underground positioning method based on directive antennae. The method comprises the steps of broadcasting messages in an underground tunnel by each wireless base station through a pair of directive antennae; if a mobile terminal intercepts a message, sending each intercepted message to the wireless base station broadcasting the message; identifying two wireless base stations which are closest to the mobile terminal; sending signals comprising own position information by the two identified wireless base stations; intercepting the signals comprising the position information by the mobile terminal, computing the distances between the mobile terminal and the two wireless base stations, and positioning the position of the mobile terminal. The method has the advantage of low cost; the signal gain of the wireless base stations adopting the directive antennae is larger, the transmission distance is longer, and the number of the wireless base stations needing to be built is reduced; in addition, the judgment of the position is more accurate. When the accurate positioning of underground personnel is performed, the method is more economic, simpler and more reliable, and is applicable to the fields of underground positioning, tunnel positioning, indoor positioning and the like.
Description
Technical field
The present invention relates to down-hole field of locating technology, relate in particular to a kind of down-hole localization method based on directional antenna.
Background technology
Development along with national economy and urban construction, it is increasingly narrow and small that urban ground activity space seems, urban infrastructure construction is progressively to underground space development, for example: urban water supply and electric power system are laid on underground, and subterranean railway and underground bus day by day universal etc.The deep utilization of the underground space brings series of problems immediately, and down-hole tunneling personnel's communication and location are keys wherein.Tunnel construction is in the scope of underground 5～20m, and according to the difference of construction method, line resource, the degree of depth in same tunnel, cross section are all different.Therefore under general condition, the wireless signal of telecom operators cannot penetrate soil layer and enter tunnel, and because cross section is uneven, moves towards complicated, and the equipment such as general intercom are used and are also subject to many limitations.Therefore, the operation maintenance personnel in tunnel state in being hedged off from the outer world usually in tunnel, down-hole, cannot obtain external information in time, also cannot return in time own work in tunnel and find.And, once there is emergency, also cannot notify in time the external world, inform that self-position obtains rescue.Therefore, develop effective Mine Personnel Positioning System, significant.
The underground personnel positioning method existing at present mainly contains two kinds, the one, in tunnel, lay leaky cable, and on cable integrated positioning device, tunneling personnel carry corresponding radio-frequency card, the mode of communicating by letter with locator by radio-frequency card positions.The 2nd, in tunnel, set up a plurality of wireless base stations, and in system the location fingerprint information of each position in typing tunnel, the mobile terminal that tunneling personnel carry receives the signal that wireless base station sends, by the location fingerprint information in the signal and systems relatively receiving, thus the position of acquisition mobile terminal.
The mode of laying leaky cable in tunnel has following shortcoming: the loss of leaky cable is large, is only applicable to the high and uniform scene of coverage requirement; Due to whole be a series system, the in the situation that of long in tunnel, the amplifier use of need to connecting, system noise is higher, has reduced the reliability of signal; If it is longer to reveal cable length, its signal attenuation is obvious, and use cost significantly rises.The mode positioning by location fingerprint technology has following shortcoming: after wireless base station sets up, need in scene, record the location fingerprint (signal strength signal intensity etc.) in each space, expend a large amount of manpowers; Owing to may there is other signal in space, the received signals fingerprint of the same space is easily interfered, and affects positioning precision; When wireless base station breaks down, near the received signals fingerprint in space can change, and cannot position.
Summary of the invention
Based on this, the invention provides a kind of down-hole localization method based on directional antenna.
A down-hole localization method based on directional antenna, comprises the following steps:
Each wireless base station is by a pair of directional antenna broadcast in tunnel, down-hole;
If the mobile terminal in tunnel, down-hole listens to a piece of news, each mobile terminal having been listened to message is sent to the wireless base station of this message of broadcast;
Each having listened to according to mobile terminal message, identifies two wireless base stations with distance of mobile terminal minimum;
Two wireless base stations that identify send the signal that comprises self-position information;
Mobile terminal listens to the signal that comprises positional information, the distance of calculating and two wireless base stations, and the position of mobile terminal is positioned.
Compare with general technology, the present invention is based in the down-hole localization method of directional antenna, wireless base station has been equipped with directional antenna, in conjunction with the long and narrow feature in tunnel, down-hole, has improved the radiation utilance of signal, has advantage cheaply.The in the situation that of equal transmit power, than adopting omnidirectional antenna, adopt the wireless base station signal gain of directional antenna larger, long transmission distance, therefore the required wireless base station quantity of setting up reduces.And the present invention can narrow down to the position of mobile terminal in two regions between adjacent wireless base stations, position is differentiated more accurate.Carrying out personnel in the pit while accurately locating, more economical, more simply and more reliable, applicable to fields such as location, down-hole, tunnel placement and indoor positioning.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet that the present invention is based on the down-hole localization method of directional antenna.
Embodiment
For further setting forth the technological means that the present invention takes and the effect obtaining, below in conjunction with accompanying drawing and preferred embodiment, to technical scheme of the present invention, know and complete description.
Refer to Fig. 1, for the present invention is based on the schematic flow sheet of the down-hole localization method of directional antenna.
A down-hole localization method based on directional antenna, comprises the following steps:
Each wireless base station of S101 is by a pair of directional antenna broadcast in tunnel, down-hole;
If the mobile terminal in tunnel, S102 down-hole listens to a piece of news, each mobile terminal having been listened to message is sent to the wireless base station of this message of broadcast;
Each message that S103 has listened to according to mobile terminal, identifies two wireless base stations with distance of mobile terminal minimum;
Two wireless base stations that S104 identifies send the signal that comprises self-position information;
S105 mobile terminal listens to the signal that comprises positional information, the distance of calculating and two wireless base stations, and the position of mobile terminal is positioned.
In tunnel, down-hole, before broadcast, several wireless base stations are installed in tunnel, down-hole; Wherein, between adjacent wireless base stations, there is the relative directional antenna of direction.Preferably, between adjacent wireless base stations, distance equates.
Wireless base station with directional antenna is installed in tunnel, down-hole, and each wireless base station is equipped with a pair of alignment antenna.Distance between adjacent wireless base stations is fixed, and the direction of the directional antenna of adjacent wireless base stations is relative.Can guarantee that like this each position in tunnel, down-hole all can receive the wireless signal from the transmitting of wireless base station, both sides, is conducive to accurately locate the mobile terminal in tunnel, down-hole.
In tunnel, down-hole, a message is broadcasted respectively in each wireless base station, and mobile terminal is intercepted the message of described wireless base station, and exchanges with wireless base station the message self having listened to.
As one of them embodiment, according to each wireless base station, tunnel, down-hole is divided into some sections of unit line spaces; Wherein, the end points in every section of unit line space is two adjacent wireless base stations.
Each having listened to according to mobile terminal message, whether identification mobile terminal is positioned at one section of unit line space;
If identify mobile terminal, be positioned at one section of unit line space, two end points in this section of unit line space be identified as to two wireless base stations with distance of mobile terminal minimum.
If can identify mobile terminal, be positioned at one section of unit line space, represent that mobile terminal is positioned at this section of unit line space, it is minimum with distance of mobile terminal that the wireless base station of two end points representatives can be thought.So just, can orient exactly the band of position of mobile terminal, the scope of next step identification is narrowed down in unit line interval.
As one of them embodiment, any two wireless base stations in tunnel, down-hole all form one section of region space of lines, in test regional space of lines, whether comprise mobile terminal; And the region space of lines that comprises mobile terminal is carried out to mark;
For count value of every section of unit line spatial placement, and to compose initial value be 0;
The region space of lines that comprises mobile terminal superposes between two, if a unit line space is covered by the region space of lines after stack between two, the count value of this unit line space corresponding is added to 1, otherwise subtracts 1;
Obtain the unit line space of count value maximum, and two end points in this unit line space are identified as to two wireless base stations with distance of mobile terminal minimum.
In equidistant situation between adjacent wireless base stations, tunnel, Ke Jiang down-hole, each wireless base station is divided into some sections of unit line spaces, and the end points in every section of unit line space is adjacent wireless base station.It is 0 that initial value is composed in every section of unit line space, if the space of lines of the involved unknown mobile terminal in unit line space covers, described unit line space corresponding count value is added to 1, otherwise subtract 1, after regional space of lines is overlapping, obtain the unit line space of count value maximum, be the band of position at mobile terminal place.
Existing band of position determination methods can only obtain under coverage that mobile terminal is in a plurality of wireless base stations.The benefit of doing is like this that the method that adopts region space of lines stack to judge, can narrow down to the position at mobile terminal place in two regions between adjacent wireless base stations, position is differentiated more accurate.
As one of them embodiment, mobile terminal, according to the signal strength signal intensity listening to, calculates the distance with two wireless base stations.
In tunnel, down-hole, according to the signal strength signal intensity listening to, can calculate uniquely the distance between mobile terminal and wireless base station.The distance that can adopt various known methods calculating and two wireless base stations, can guarantee accuracy.When adopting the method for above-mentioned zone space of lines stack judgement, mobile terminal is intercepted the signal with self-position information of end points wireless base station transmitting in the unit line space of described count value maximum, and calculate the distance between mobile terminal and wireless base station by the signal strength signal intensity receiving, thereby obtain the particular location of mobile terminal.
As one of them embodiment, two wireless base stations that identify described in the positional information of the mobile terminal behind location is sent to.
Two wireless base stations that identify described in the positional information of mobile terminal behind location is sent to, wireless base station can be sent to outside related personnel and equipment by the locating information of mobile terminal, thereby realizes on the ground and the synchronizeing of down-hole locating information.In addition, the positional information of the mobile terminal behind location can be sent to any wireless base station, as long as there is a wireless base station to receive locating information, just can be sent out down-hole, on arrival point, applies further.
Compare with general technology, the present invention is based in the down-hole localization method of directional antenna, wireless base station has been equipped with directional antenna, in conjunction with the long and narrow feature in tunnel, down-hole, has improved the radiation utilance of signal, has advantage cheaply.The in the situation that of equal transmit power, than adopting omnidirectional antenna, adopt the wireless base station signal gain of directional antenna larger, long transmission distance, therefore the required wireless base station quantity of setting up reduces.And the present invention can narrow down to the position of mobile terminal in two regions between adjacent wireless base stations, position is differentiated more accurate.Carrying out personnel in the pit while accurately locating, more economical, more simply and more reliable, applicable to fields such as location, down-hole, tunnel placement and indoor positioning.
The above embodiment has only expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.
Claims (8)
1. the down-hole localization method based on directional antenna, is characterized in that, comprises the following steps:
Each wireless base station is by a pair of directional antenna broadcast in tunnel, down-hole;
If the mobile terminal in tunnel, down-hole listens to a piece of news, each mobile terminal having been listened to message is sent to the wireless base station of this message of broadcast;
Each having listened to according to mobile terminal message, identifies two wireless base stations with distance of mobile terminal minimum;
Two wireless base stations that identify send the signal that comprises self-position information;
Mobile terminal listens to the signal that comprises positional information, the distance of calculating and two wireless base stations, and the position of mobile terminal is positioned.
2. the down-hole localization method based on directional antenna according to claim 1, is characterized in that, describedly in tunnel, down-hole, before the step of broadcast, comprises the following steps:
Several wireless base stations are installed in tunnel, down-hole; Wherein, between adjacent wireless base stations, there is the relative directional antenna of direction.
3. the down-hole localization method based on directional antenna according to claim 2, is characterized in that, in the described step that several wireless base stations are installed in tunnel, down-hole, between adjacent wireless base stations, distance equates.
4. the down-hole localization method based on directional antenna according to claim 3, is characterized in that, described in identify the step with two wireless base stations of distance of mobile terminal minimum before, comprise the following steps:
According to each wireless base station, tunnel, down-hole is divided into some sections of unit line spaces; Wherein, the end points in every section of unit line space is two adjacent wireless base stations.
5. the down-hole localization method based on directional antenna according to claim 4, is characterized in that, described in identify the step with two wireless base stations of distance of mobile terminal minimum, comprise the following steps:
Each having listened to according to mobile terminal message, whether identification mobile terminal is positioned at one section of unit line space;
If identify mobile terminal, be positioned at one section of unit line space, two end points in this section of unit line space be identified as to two wireless base stations with distance of mobile terminal minimum.
6. the down-hole localization method based on directional antenna according to claim 5, is characterized in that, described in identify the step with two wireless base stations of distance of mobile terminal minimum, comprise the following steps:
Any two wireless base stations in tunnel, down-hole all form one section of region space of lines, in test regional space of lines, whether comprise mobile terminal; And the region space of lines that comprises mobile terminal is carried out to mark;
For count value of every section of unit line spatial placement, and to compose initial value be 0;
The region space of lines that comprises mobile terminal superposes between two, if a unit line space is covered by the region space of lines after stack between two, the count value of this unit line space corresponding is added to 1, otherwise subtracts 1;
Obtain the unit line space of count value maximum, and two end points in this unit line space are identified as to two wireless base stations with distance of mobile terminal minimum.
7. the down-hole localization method based on directional antenna according to claim 6, is characterized in that, described mobile terminal listens to the signal that comprises positional information, and the step of the distance of calculating and two wireless base stations, comprises the following steps:
Mobile terminal, according to the signal strength signal intensity listening to, calculates the distance with two wireless base stations.
8. the down-hole localization method based on directional antenna according to claim 1, is characterized in that, after the described step that the position of mobile terminal is positioned, comprises the following steps:
Two wireless base stations that identify described in the positional information of the mobile terminal behind location is sent to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310754702.4A CN103702417A (en) | 2013-12-31 | 2013-12-31 | Underground positioning method based on directive antennae |
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| CN201310754702.4A CN103702417A (en) | 2013-12-31 | 2013-12-31 | Underground positioning method based on directive antennae |
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| CN104950288A (en) * | 2015-04-30 | 2015-09-30 | 成都恒高科技有限公司 | Positioning method, device and system of roadway environment and positioning tag card |
| WO2016082496A1 (en) * | 2014-11-24 | 2016-06-02 | 中兴通讯股份有限公司 | Indoor positioning method, wireless receiving device, wireless transmission device and storage medium |
| CN107688352A (en) * | 2017-09-27 | 2018-02-13 | 广东工业大学 | A kind of bearing calibration of adaptive unmanned plant running track and system |
| CN108828571A (en) * | 2018-07-19 | 2018-11-16 | 嘉兴太和信息技术有限公司 | A kind of wireless indoor positioning system and its localization method |
| CN114189823A (en) * | 2021-12-08 | 2022-03-15 | 北京长焜科技有限公司 | Terminal positioning device and positioning method for 5G network |
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| WO2016082496A1 (en) * | 2014-11-24 | 2016-06-02 | 中兴通讯股份有限公司 | Indoor positioning method, wireless receiving device, wireless transmission device and storage medium |
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| CN107688352A (en) * | 2017-09-27 | 2018-02-13 | 广东工业大学 | A kind of bearing calibration of adaptive unmanned plant running track and system |
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| CN108828571A (en) * | 2018-07-19 | 2018-11-16 | 嘉兴太和信息技术有限公司 | A kind of wireless indoor positioning system and its localization method |
| CN114189823A (en) * | 2021-12-08 | 2022-03-15 | 北京长焜科技有限公司 | Terminal positioning device and positioning method for 5G network |
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Application publication date: 20140402 |