CN103760517B - Underground scanning satellite high-precision method for tracking and positioning and device - Google Patents
Underground scanning satellite high-precision method for tracking and positioning and device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
A kind of underground scanning satellite high-precision method for tracking and positioning and device, belong to method for tracking and positioning and device.Described device comprises: generating laser, beam splitter, total reflection prism, turntable, angular encoder, motor, time synchronizing signal transmitter, locating device explosion-resistant enclosure, laser signal receivers and industrial computer.Described method is based on GPS the fixed position of the design principle and laser scanner technique, the each underground scanning satellite moment launches two towards periphery in 360 degree spaces and fans laser scanning face with angle information, the receiver of the equipment equipment of the one or more movements in underground environment receives laser signal, and the space angle information of receiver is transmitted in industrial computer.Calculated by algorithm, this device determines the particular location of mobile device or human body thus, and calculates underground mobile device travelling speed.Scanning accuracy of the present invention can reach grade within the scope of hundred meters, meets " the unmanned digging in underground " requirement to digging equipment track positioning accuracy completely.
Description
Technical field
The present invention relates to a kind of method for tracking and positioning and device, particularly a kind of underground scanning satellite high-precision method for tracking and positioning and device.
Background technology
At present along with China's coal-mine mining depth increases with digging condition more and more severe gradually, make the security threat of miner also more and more large.Therefore, development " the unmanned extraction technique in underground " is basic solution, is also the cutting edge technology that domestic and international coal industry is pursued jointly.And how to improve the equipment of digging in digging operation space track positioning accuracy be the unmanned digging in underground one of facing key scientific problems urgently to be resolved hurrily.
The position and attitude that track and localization technology is mainly directed to one or more space object is measured in real time.Track and localization technology for the underground coal mine moving target without gps signal have also been obtained certain attention in recent years, and its localization method mainly can be divided into two large classes according to the difference of used sensing station: (l) is based on the localization method (wireless location technology, infrared confirming orientation technology, ultrasound wave location technology, computer vision location technology etc.) of external sensor; (2) based on the localization method (accelerometer, gyroscope, odometer, magnetic compass etc.) of self-contained sensor.
Wireless location technology is by measuring some parameters of radiowave, judging the position of testee according to specific algorithm.The application of wireless location technology, mainly comprises: radio-frequency (RF) identification, bluetooth, ultra broadband, Wi-Fi and Zigbee etc.1. radio-frequency (RF) identification (RFID) technology utilizes RF-wise to carry out contactless bidirectional communication data exchange to reach identification and the location of target.But its operating distance is short is generally several meters; Positioning precision is the 20cm order of magnitude.2. ultra broadband (UWB) technology it does not need to use the carrier wave in traditional communication system, but transmit data by sending and receive the ultra-narrow pulse with nanosecond, thus there is the bandwidth of GHz magnitude.The positioning precision of ultra broadband is the 15cm order of magnitude, and usual orientation distance is limited to about 20m.3. Bluetooth technology is a kind of Radio Transmission Technology of short distance low-power consumption, but for the space environment of underground complexity, the less stable of Bluetooth system is large by noise signal interference.4. Wi-Fi transceiver all can only cover the space within tens meters, positioning precision places one's entire reliance upon the deployment scenario of Wi-Fi network, and when Wi-Fi signal is intensive, precision can reach 1 meter, and Wi-Fi signal is easy to the interference being subject to other signals, thus affect its positioning precision.5. ZigBee technology is short distance emerging in recent years, the radio network technique of low rate, and its performance, between radio-frequency (RF) identification and bluetooth, also may be used for location, underground.At present, wireless location technology employed both at home and abroad only has application report in personnel in the pit location and tracking, say from technological essence and be only a kind of attendance record system or only rest in the aspect of coarse localization, complete approximate location and determine, and really, accurate track and localization.
The principle of infrared confirming orientation technology is the infrared-ray being emitted through modulation by infrared ray IR, then receives these infrared-rays by optical sensor, realizes the location to target.But infrared confirming orientation technology positioning precision is not high, the locating effect that transmission range causes in underground environment compared with short-range missile is very poor, and is easily disturbed by fluorescent light and other light of underground, and there is certain limitation accurate location.
Ultrasound wave location technology adopts reflective telemetry, and namely launch ultrasound wave and also receive the echo produced by measured object, the mistiming according to echo and transmitted wave calculates testing distance.Because ultrasound wave is subject to the impact of multipath effect and down-hole complex environment, thus limit it and develop in the continuation of underground coal mine.
Computer vision location technology refers to and replaces human eye to identify target, follow the tracks of and gather with video camera and computer, by processing to the picture gathered or video the position and the attitude data that obtain measured target.Although vision location technology has relatively high positioning precision, the distance of location is short.These limit the development of computer vision location technology at underground coal mine.
In addition to the above method, scholar is also had to utilize the methods such as graphical analysis, magnetic field and beacon location to study.
Localization method based on self-contained sensor mainly contains accelerometer, gyroscope, odometer, magnetic compass etc.
Gyroscope and accelerometer directly measure measured target angular velocity in the movement direction and linear acceleration, by carrying out integral operation to acceleration and angular velocity, obtains position and the attitude data of measured target.Odometer is the revolution that the principle utilizing gear to count obtains measured target walking gear, and the girth that revolution is multiplied by walking gear obtains the distance of equipment walking, thus determines the position of equipment at workplace.Magnetic compass is made according to compass principle, the spatial attitude angle of the directivity measurement target utilizing terrestrial magnetic field intrinsic, obtains the attitude data of target.
From existing achievement in research, about the research of above-mentioned aspect, still there are the following problems:
(1) radio tracking location technology is the popular direction of Recent study, but the restriction due to radiowave self-characteristic causes the precision of its track and localization not high, " the unmanned digging in underground " requirement (reaching inferior centimeter order) to digging equipment high precision tracking location cannot be met.
(2) infrared ray location survey distance is too near, ultrasound wave is subject to multipath effect and the impact of down-hole complex environment, the orientation distance of computer vision is short and be subject to illumination effect, and they also cannot meet " the unmanned digging in underground " requirement to digging equipment high precision tracking location in addition.
Impact makes its error constantly increase (can reach meter level), causes it cannot meet " the unmanned digging in underground " requirement to digging equipment high precision tracking location.In addition, what they obtained is only the relative value of digging equipment position and attitude and is not the absolute value in three dimensions, the foundation that automatically can not control as digging equipment.
Although said method can realize the track and localization to underground moving target from the above analysis, but the precision of its track and localization in digging operation space not high (tens centimetres even several meters), cannot meet " the unmanned digging in underground " requirement to digging equipment high precision tracking location.
Summary of the invention
Technical matters: the object of the invention is to provide a kind of underground to scan satellite high-precision method for tracking and positioning and device, the problem solve the low precision existing for prior art, being easily disturbed.
Technical scheme: the object of the present invention is achieved like this: this underground scanning satellite high-precision track and localization comprises method and apparatus;
Underground scanning satellite positioning device comprises: underground scanning satellite, ground control system, laser signal receivers, wireless exchange board; Have a laser signal receivers at least, laser signal receivers is arranged on mobile device or human body; Underground scanning satellite is multiple, and interval is arranged on the top of underground activities face hydraulic support, is 360 degree of Emission Lasers signals during work; Wireless exchange board is located in the ground in work space wall crossheading, and the output terminal of underground scanning satellite is connected with the input end of ground control system by optical cable transmission network, and laser intelligence receiver is connected by wireless exchange board with ground control system.
Described underground scanning satellite comprises: total reflection prism, generating laser, beam splitter, angular encoder, motor, turntable and ground control system; Generating laser is positioned at the top of beam splitter, is connected with total reflection prism in the bottom of beam splitter, and total reflection prism is arranged on turntable, and turntable shaft is connected with the axle of motor, between turntable and motor, be connected with angular encoder.
Underground scanning satellite positioning method: comprise the steps:
1) based on GPS positioning principle, underground scanning satellite utilizes principle of triangulation to set up three-dimensional coordinate system at subsurface, underground scanning satellite rotates with the angular velocity of setting, and towards periphery in 360 degree spaces transmitting two fan laser scanning face with angle information and time synchronizing signal; After measured target and laser signal receivers receive the signal laser scanning plane signal of underground scanning satellite,, strobe signal poor according to the angle in laser scanning face and angular velocity, laser pulse time of arrival and the information of laser signal mistiming, determine that the space angle information between satellite is scanned in measured target and underground;
2) mathematical model is transmitted by underground scanning global position system dynamic error, the position angle and the angle of pitch that obtain underground scanning satellite are obtaining the dynamic error characteristic in engineering, set up its evaluation of uncertainty in dynamic measurement discrimination models, asynchronism and time measurement asynchronism is measured for underground scanning satellite angle, adopt 2 extrapolation methods by the synchronizing information of acquisition to a time point, to realize the synchronous of angle and time measurement data, thus disclose the dynamic error transfer law of scanning global position system in underground in digging operation constraint space.Scanning satellite system has intelligentized dynamic group net station-keeping ability, carry out in real time calculating by system and judge, reduce different humidity, temperature and dust concentrations and the impact of time error, set up the effective measures that dynamic track and localization error intellectuality compensation is equipped in digging in constraint space;
3) in conjunction with spatial information and the system dynamic error of receiver transmission, utilize complex condition underground, underground to scan the quick track and localization efficient algorithm of satellite self-adaptation, control system is according to four angles (aA, aB, bA, bB) and underground scanning satellite A and B between transformational relation matrix (R
at
a, R
bt
b), the three dimensional space coordinate position P (x of measured target is accurately calculated by the principle of space angle intersection, y, z), calculate the volume coordinate of underground work device or people, realize the accurate location to apparatus for work or people, compare with the parameter set by system simultaneously, the position correctness of personnel and device being judged, providing foundation for controlling on the ground;
4), after the existing space coordinate of control system record or device, circulation performs step (1)-(3);
5) scanning satellite in underground is 360 degree of continuation emission scan laser according to the angular velocity that setpoint frequency reflects, real-time high-precision grasps the positional information of underground work device or human body, control system sets up real-time position information database, utilizes underground to scan satellite self-adaptation quick track and localization efficient algorithm and calculates the real-time speed of apparatus for work, direction and speed.
Beneficial effect: owing to have employed such scheme, rotates with the angular velocity of setting during the scanning satellite operation of underground, and towards periphery in 360 degree spaces transmitting two fan laser scanning face with angle information and time synchronizing signal.After laser signal receivers receives double excitation sweep signal, the information such as strobe signal and laser signal mistiming poor according to the angle of double excitation scanning plane and angular velocity, laser pulse time of arrival determines that the space angle information between satellite is scanned in measured target and underground.
According to the principle of above-mentioned underground scanning satellite high-precision localization method, invent and utilize underground scanning satellite to carry out the device of locating implement accurate tracking in underground activities space.Underground scanning satellite operation, 360 degree of Emission Lasers signals, the receiver be arranged on device or personnel receives laser signal, space angle information is sent to by the wireless exchange board be arranged on device the wireless exchange board being arranged on wall.Utilize finite element network, aboveground control center receives useful signal.By being preset in the quick Tracking and Orientation Arithmetic of self-adaptation in industrial computer, calculate the locus of device or personnel.Device is installed multiple laser signal receivers, algorithm can be utilized to calculate the operating angle of device.Supvr can the active situation of downhole hardware at any time on aboveground control center viewing computer or personnel.
Advantage: a kind of accurate positioning method merged mutually based on GPS the fixed position of the design principle and laser scanner technique---underground scanning satnav method.Laser scanner technique is the dynamic measuring tech based on precision measurement engineering, and have high speed, high precision, high resolving power and round-the-clock feature, its scanning accuracy can reach grade within the scope of hundred meters.Underground scanning satellite system said method has higher positioning precision, meets " the unmanned digging in underground " requirement to digging equipment track positioning accuracy.Method is practical, safe and reliable, installs and easy to operate.
Accompanying drawing explanation
The pinpoint ultimate principle figure of Fig. 1 underground scanning satellite system.
Fig. 2 underground scanning satellite structure sketch.
Fig. 3 underground scanning satellite obtains space angle information principle figure.
The quick Tracking and Orientation Arithmetic process flow diagram of Fig. 4 self-adaptation.
Accurate tracking positioning system figure in the unmanned mining work space of Fig. 5.
In figure: 1, underground scanning satellite; 2, ground control system; 3, total reflection prism; 4, generating laser; 5, beam splitter; 6, angular encoder; 7, motor; 8, turntable; 9, laser signal receivers; 10, wireless exchange board; 11, hydraulic support; 12, crossheading; 13, coalcutter; 14, optical cable transmission network.
Embodiment
Embodiment: this underground scanning satellite high-precision track and localization comprises method and apparatus;
Underground scanning satellite positioning device comprises: underground scanning satellite 1, ground control system 2, laser signal receivers 9, wireless exchange board 10; Have a laser signal receivers 9 at least, laser signal receivers 9 is arranged on mobile device or human body; Underground scanning satellite 1 is multiple, and according to algorithm computer azimuth and distance, is arranged on underground environment hydraulic support 11 top, is 360 degree of Emission Lasers signals during work; The gyro frequency of underground scanning satellite 1 is 40-55Hz, specifically sets before plant running to gyro frequency; In underground activities space wall crossheading 12, multiple wireless exchange board 10 is installed, the output terminal of underground scanning satellite 1 is connected with the input end of ground control system 2 by optical cable transmission network 14, and laser intelligence receiver 9 and ground control to be that 2 all wireless exchange boards 10 of crossing are connected.Underground scanning satellite 1 works, laser signal receivers 9 receives laser signal, space angle information is sent to by the wireless exchange board 10 be connected with laser signal receivers the wireless exchange board 10 being arranged on wall, utilize optical cable transmission network 14, ground control system 2 receives useful signal.
Described underground scanning satellite 1 comprises: total reflection prism 3, generating laser 4, beam splitter 5, angular encoder 6, motor 7, turntable 8 and ground control system 2.Generating laser 4 is positioned at the top of beam splitter 5, is connected with total reflection prism 3 in the bottom of beam splitter 5, and total reflection prism 3 is arranged on turntable, and turntable 8 axle is connected with the axle of motor 7, between turntable 8 and motor 7, be connected with angular encoder.
Underground scanning satellite positioning method: comprise the steps:
1) based on GPS positioning principle, underground scanning satellite 1 utilizes principle of triangulation to set up three-dimensional coordinate system, underground scanning satellite 1 rotates with the angular velocity of setting, and towards periphery in 360 degree spaces transmitting two fan laser scanning face with angle information and time synchronizing signal; After measured target and laser signal receivers 9 receive the signal laser scanning plane signal of underground scanning satellite 1,, strobe signal poor according to the angle in laser scanning face and angular velocity, laser pulse time of arrival and the information of laser signal mistiming, determine that the space angle information between satellite is scanned in measured target and underground;
2) mathematical model is transmitted by underground scanning global position system dynamic error, the position angle and the angle of pitch that obtain underground scanning satellite 1 are obtaining the dynamic error characteristic in engineering, set up its evaluation of uncertainty in dynamic measurement discrimination models, asynchronism and time measurement asynchronism is measured for underground scanning satellite angle, adopt 2 extrapolation methods by the synchronizing information of acquisition to a time point, to realize the synchronous of angle and time measurement data, thus disclose the dynamic error transfer law of scanning global position system in underground in digging operation constraint space.Scanning satellite system has intelligentized dynamic group net station-keeping ability, carry out in real time calculating by system and judge, reduce different humidity, temperature and dust concentrations and the impact of time error, set up the effective measures that dynamic track and localization error intellectuality compensation is equipped in digging in constraint space;
3) in conjunction with spatial information and the system dynamic error of laser signal receivers 9 transmission, complex condition underground, underground is utilized to scan the quick track and localization efficient algorithm of satellite self-adaptation, control system is according to four angle (aA, aB, bA, bB) and underground scanning satellite A and B between transformational relation matrix (R
at
a, R
bt
b), the three dimensional space coordinate position P (x of measured target is accurately calculated by the principle of space angle intersection, y, z), calculate the volume coordinate of underground work device or people, realize the accurate location to apparatus for work or people, compare with the parameter set by system simultaneously, the position correctness of personnel and device being judged, providing foundation for controlling on the ground;
4), after the existing space coordinate of ground control system record or device, circulation performs step (1)-(3);
5) scanning satellite in underground is 360 degree of continuation emission scan laser according to the angular velocity that setpoint frequency reflects, real-time high-precision grasps the positional information of underground work device or human body, ground control system sets up real-time position information database, utilizes the underground quick track and localization efficient algorithm of scanning satellite self-adaptation to calculate the real-time speed (direction and speed) of apparatus for work.
Implement underground scanning satellite high-precision method for tracking and positioning as follows:
1) the underground scanning pinpoint ultimate principle of satellite system and implementation method
The pinpoint ultimate principle of underground scanning satellite system as shown in Figure 1.
Underground scanning satellite is based on GPS the fixed position of the design principle and laser scanner technique phase fusion and positioning method, and what it was outwards launched is the microwave signal that laser scanning signal instead of gps satellite.The principle of the space angle intersection that underground scanning satellite adopts, as shown in Figure 1, the each underground scanning satellite moment launches two towards periphery in 360 degree spaces and fans laser scanning face with angle information, laser signal receivers scans the laser scanning signal of satellite launch under receiving two tablelands, laser signal receivers the information feed back received to control system.When apparatus of the present invention are installed, determine and define position and the spatial coordinated information of underground scanning satellite in strict accordance with algorithm of the present invention.Control system can according to the transformational relation matrix (R between four angles (aA, aB, bA, bB) and underground scanning satellite A and B
at
a, R
bt
b), three dimensional space coordinate position P (x, y, z) of measured target is accurately calculated by the principle of space angle intersection.
2) scanning satellite in underground accurately obtains the method for space angle information automatically
Scan satnav principle under base area, we devise underground scanning satellite structure simplified schematic diagram and see Fig. 2, and described underground scanning satellite 1 comprises: total reflection prism 3, generating laser 4, beam splitter 5, angular encoder 6, motor 7, turntable 8.Generating laser is positioned at the top of beam splitter, is connected with total reflection prism in the bottom of beam splitter, and total reflection prism is arranged on turntable, and turntable shaft is connected with the axle of motor, is connected with angular encoder 6 between turntable and motor.During work, underground scanning satellite rotates with specific angular velocity, and towards periphery in 360 degree spaces transmitting two fan laser scanning face with angle information and time synchronizing signal.After measured target (laser signal receivers 9) receives laser scanning signal, scan under base area the angle in satellite 1 laser scanning face and angular velocity, laser pulse time of arrival poor, strobe signal and the information such as laser signal mistiming scan the space angle information between satellite 1 to determine measured target and underground, that intends adopting accurately obtains the embodiment of space angle information as shown in Figure 3 automatically.
3) scanning satellite in underground accurately obtains the quick Tracking and Orientation Arithmetic of space angle information self-adapting automatically
The condition in digging operation space is very complicated: humidity is high, dust concentration is large, may be used for the space of angle intersection suffers restraints and constantly changes, it is the process of a Nonlinear Dynamic change, underground is required at this complex condition, scanning satellite system of the present invention has intelligentized dynamic group net station-keeping ability, takes the dynamic group net scheme based on grey correlation matching theory.The present invention utilizes underground to scan global position system at this complex condition and obtains the three-dimensional coordinate position that angle information calculates measured target quickly and accurately, the method adopting nonlinear least square fitting to combine with Kalman filtering scans the quick track and localization of satellite self-adaptation to realize underground in digging operation space, and concrete algorithm flow is shown in Fig. 4.Obtain the space angle information of laser signal receivers transmission, transfer the coordinate information of underground scanning satellite, the space angle information of light-stream adjustment to laser pickoff is utilized to carry out least-squares calculation, improve coplanar constraint method and select compensation point, the information meeting systemic presupposition constraint condition generates initial coordinate, the method that the nonlinear least square fitting adopted combines with Kalman filtering, export optimal value, control system carries out record to this value.
4) equipment of underground scanning global position system accurate tracking location in underground work space
According to the principle of above-mentioned underground scanning satellite high-precision localization method, invent and utilize underground scanning satellite to carry out the device of locating implement accurate tracking in underground activities space.The systematic schematic diagram of the high precision tracking location that Fig. 5 is equipped for example to mine in unmanned mining work space.Determine and define position and the locus coordinate of underground satellite according to algorithm, underground satellite 1 is placed on hydraulic support 11, and realize the networking of all undergrounds satellite 1.Mining work space wall crossheading 12 installs wireless exchange board 10.Underground scanning satellite 1 works, and 360 degree of Emission Lasers signals, the laser signal receivers 9 be arranged on coalcutter 13 receives laser signal, by the wireless exchange board 10 on coalcutter, space angle information is sent to the wireless exchange board 10 being arranged on wall.Utilize optical cable transmission network 14, ground control system 2 receives useful signal.By being preset in the quick Tracking and Orientation Arithmetic of self-adaptation in industrial computer, calculate the locus of coalcutter.Coalcutter is installed multiple laser signal receivers 9, algorithm can be utilized to calculate the operating angle of coalcutter 13.Supvr can watch down-hole mining machine 13 active situation on computer in aboveground control center at any time.
Claims (2)
1. a underground scanning satellite high-precision tracing positioning apparatus, is characterized in that: underground scanning satellite positioning device comprises: underground scanning satellite, ground control system, laser signal receivers, wireless exchange board; Have a laser signal receivers at least, laser signal receivers is arranged on mobile device or human body; Underground scanning satellite is multiple, and interval is arranged on the top of underground activities face hydraulic support, is 360 degree of Emission Lasers signals during work; Wireless exchange board is located in the ground in work space wall crossheading, and the output terminal of underground scanning satellite is connected with the input end of ground control system by optical cable transmission network, and laser signal receivers is connected by wireless exchange board with ground control system;
Described underground scanning satellite comprises: total reflection prism, generating laser, beam splitter, angular encoder, motor, turntable and ground control system; Generating laser is positioned at the top of beam splitter, is connected with total reflection prism in beam splitter bottom, and total reflection prism is arranged on turntable, and turntable shaft is connected with the axle of motor, between turntable and motor, be connected with angular encoder.
2. the method for underground scanning satellite high-precision tracing positioning apparatus according to claim 1, is characterized in that: underground scanning satellite positioning method: comprise the steps:
1) based on GPS positioning principle, underground scanning satellite utilizes principle of triangulation to set up three-dimensional coordinate system in underground environment, underground scanning satellite rotates with the angular velocity of setting, and towards periphery in 360 degree spaces transmitting two fan laser scanning face with angle information and time synchronizing signal; After measured target and laser signal receivers receive the signal laser scanning plane signal of underground scanning satellite,, strobe signal poor according to the angle in laser scanning face and angular velocity, laser pulse time of arrival and the information of laser signal mistiming, determine that the space angle information between satellite is scanned in measured target and underground;
2) mathematical model is transmitted by underground scanning global position system dynamic error, the position angle and the angle of pitch that obtain underground scanning satellite are obtaining the dynamic error characteristic in engineering, set up its evaluation of uncertainty in dynamic measurement discrimination models, asynchronism and time measurement asynchronism is measured for underground scanning satellite angle, adopt 2 extrapolation methods by the synchronizing information of acquisition to a time point, to realize the synchronous of angle and time measurement data, thus disclose the dynamic error transfer law of scanning global position system in underground in digging operation constraint space; Scanning satellite system has intelligentized dynamic group net station-keeping ability, carry out in real time calculating by system and judge, reduce different humidity, temperature and dust concentrations and the impact of time error, set up the effective measures that dynamic track and localization error intellectuality compensation is equipped in digging in constraint space;
3) in conjunction with spatial information and the system dynamic error of receiver transmission, utilize complex condition underground, underground to scan the quick track and localization efficient algorithm of satellite self-adaptation, control system is according to four angles (aA, aB, bA, bB) and underground scanning satellite A and B between transformational relation matrix (
r a t a , R b t b ), the three dimensional space coordinate position of measured target is accurately calculated by the principle of space angle intersection
p (x, y, z), calculating the volume coordinate of underground work device or people, realize the accurate location to apparatus for work or people, compare with the parameter set by system simultaneously, the position correctness of personnel and device is judged, providing foundation for controlling on the ground;
4), after the existing space coordinate of control system record or device, circulation performs step (1)-(3);
5) scanning satellite in underground is 360 degree of continuation emission scan laser according to the angular velocity that setpoint frequency reflects, real-time high-precision grasps the positional information of underground work device or human body, control system sets up real-time position information database, utilizes underground to scan satellite self-adaptation quick track and localization efficient algorithm and calculates the real-time speed of apparatus for work, direction and speed.
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| CN105607034A (en) | 2015-12-23 | 2016-05-25 | 北京凌宇智控科技有限公司 | Three-dimensional space detection system, positioning method and system |
| CN105807286B (en) * | 2016-03-08 | 2018-06-29 | 苏州工业园区测绘地理信息有限公司 | For the application method of the high-precision self calibration laser tracking measurement system in tunnel |
| CN106980108A (en) * | 2016-06-02 | 2017-07-25 | 上海拆名晃信息科技有限公司 | The virtual reality device space-location method scanned based on light field |
| CN106646365B (en) * | 2016-11-25 | 2024-02-20 | 北京凌宇智控科技有限公司 | Positioning base station, positioning system and positioning method |
| CN106680772B (en) * | 2016-12-08 | 2019-06-25 | 成都理想境界科技有限公司 | A kind of signal recognition system, positioning system, locating base station and signal recognition method |
| CN107976197A (en) * | 2017-12-03 | 2018-05-01 | 丁云广 | A kind of mobile platform Combinated navigation method |
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| CN110865336B (en) * | 2019-11-28 | 2023-05-23 | 柳州辉视科技有限公司 | Laser tracking and positioning device |
| CN110988903B (en) * | 2019-12-26 | 2021-12-21 | 广州市慧建科技有限公司 | Laser surface scanning target positioning system and method |
| CN112113547B (en) * | 2020-08-19 | 2022-04-22 | 四川道通达工程技术有限公司 | Method for establishing self-adaptive control network |
| CN111913150B (en) * | 2020-08-19 | 2023-12-01 | 成都清正公路工程试验检测有限公司 | Station measuring positioning method based on laser scanning |
| CN112600621B (en) * | 2020-11-30 | 2022-07-19 | 武汉光谷航天三江激光产业技术研究院有限公司 | Communication positioning method of remote laser communication positioning device |
| CN112792825B (en) * | 2021-01-28 | 2024-07-26 | 中国建筑股份有限公司 | Mobile brick laying robot system for building construction and control method |
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| US6619406B1 (en) * | 1999-07-14 | 2003-09-16 | Cyra Technologies, Inc. | Advanced applications for 3-D autoscanning LIDAR system |
| EP1703300A1 (en) * | 2005-03-17 | 2006-09-20 | Leica Geosystems AG | Method and system for determining position and orientation of an object |
| KR100857192B1 (en) * | 2006-11-20 | 2008-09-05 | 한국랜드비젼(주) | Precise Underground Measurement Device and Method Thereof |
| SE532430C2 (en) * | 2008-05-30 | 2010-01-19 | Atlas Copco Rock Drills Ab | Method and apparatus for determining the reliability of an estimated position for a mining and / or construction machine |
| US20100130230A1 (en) * | 2008-11-21 | 2010-05-27 | Qualcomm Incorporated | Beacon sectoring for position determination |
| CN203673062U (en) * | 2014-01-14 | 2014-06-25 | 中国矿业大学 | Device for achieving high-precision tracking and positioning through underground scanning satellites |
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