CN103941227B - A kind of mine personnel localization method based on pulse duty cycle - Google Patents

Abstract

The present invention is that mine safety operation provides a kind of mine personnel new location method based on pulse duty cycle.The dynamic identifying method numbered including positioning principle and fixed wireless rf terminal.It is characterized according to measuring the pulse duty cycle corresponding to the RF signal strength obtained in local coordinate system and determining, according to dutycycle characteristic sequence, position, direction and the numbering of corresponding fixed wireless rf terminal, the position being converted in mine global coordinate system by homogeneous coordinate transformation and the direction of movement that personnel move.The localization method provided has stronger capacity of resisting disturbance, higher positioning accuracy and mine laneway landform adaptability, and algorithm is simple, cost-effective.

Description

A kind of mine personnel localization method based on pulse duty cycle

Technical field

The present invention relates to a kind of mine personnel localization method, divide by International Patent Classification (IPC) and belong to fixed buildings portion, Mining branch, safety first-aid technical field.

Background technology

Mine personnel location is an important safety prevention measure in mining and means.Before, also have a lot Relevant invention and product occur, such as: by ground computer management system based on Internet technology, there is line computation in main tunnel Machine network system, work surface communication system based on ZIGBEE, the location that all kinds of safety index sensors and personnel in the pit carry The personnel positioning of terminal five part composition and search and rescue system.The radio-frequency (RF) transmitter fixed by down-hole, the radio frequency that personnel carry forwards Device, network communication device and the personnel location system etc. of floor control computer composition.Owing to being limited by Mine Complicated working environment System, the problems such as it is big that some personnel location systems exist position error, and cost is high, difficult in maintenance.Set forth herein a kind of mine personnel New location method, has prominent advantage at aspects such as improving personnel positioning precision, Minepit environment adaptability, economic performance.

Summary of the invention

It is an object of the invention to provide the simple efficient mine personnel localization method of a kind of applicable Minepit environment.

For achieving the above object, a kind of mine personnel localization method based on pulse duty cycle of the present invention, including location and The Dynamic Recognition of fixed wireless rf terminal numbering,

Described location includes using any two is adjacent in mine laneway fixed wireless rf terminal i, i+1 and one just Take formula less radio-frequency terminal c, with fixed wireless rf terminal i as initial point, with the line of fixed wireless rf terminal i and i+1 as x Axle sets up local plane rectangular coordinate system o_i-x_i,y_iIf the distance of fixed wireless rf terminal i and i+1 is l_i, then fixing nothing Line rf terminal i and i+1 coordinate in this coordinate system can be expressed as (0,0) and (l_i,0)；Assume to use portable mobile wireless The personnel that rf terminal c records are l with the distance of fixed wireless rf terminal i_ia, personnel are with fixed wireless rf terminal i+1's Distance is l_ib, then, in this local plane rectangular coordinate system o_i-x_i,y_iIn, the positional representation of personnel is (x_i,y_i):

$\begin{array}{c}{x}_i=l_{ia}{\mathrm{cos\φ}}_i\\ y_i=l_{ia}{\mathrm{sin\φ}}_i\\ {\mathrm{\φ}}_i={\cos }^{-1}\frac{l_{ia}^2+l_i^2-l_{ib}^2}{2l_{ia}{l}_i},{\mathrm{\φ}}_i\∈\[0,\mathrm{\π}/2\]\end{array}---\left(1\right)$

In mine laneway global coordinate system O-XY, the positional representation of personnel is (X, Y):

$\left[\begin{array}{c}X\\ Y\\ 1\end{array}\right]=T_0^1{T}_1^2...T_{i-1}^i\left[\begin{array}{c}{x}_i\\ y_i\\ 1\end{array}\right]---\left(2\right)$

$T_i^{i+1}=\left[\begin{array}{ccc}{\mathrm{cos\φ}}_i& -{\mathrm{sin\φ}}_i& l_i\\ {\mathrm{sin\φ}}_i& {\mathrm{cos\φ}}_i& 0\\ 0& 0& 1\end{array}\right],i=0,1,...,n---\left(3\right)$

Wherein, φ_iRepresent edge, tunnel straightway and coordinate system o at fixed wireless rf terminal i place_i-x_i, y_iX-axis Between angle, be clockwise negative, counterclockwise is just；I represents the numbering of any one fixed wireless rf terminal in tunnel；

The Dynamic Recognition of described fixed wireless rf terminal numbering includes that the signal differential of portable radio frequency terminal is put Greatly, modulation /demodulation, storage and phase demodulation；The function that signal differential amplifies is that record portable radio frequency terminal two are adjacent The signal intensity of fixed wireless rf terminal carries out bipolar differential processing and amplifying；The function of modulation /demodulation is bipolar record Property differential amplification process after signal intensity change into corresponding pulse width signal；When signal difference is positive maximum, pulsewidth duty Ratio is equal to s_max；When signal difference is for negative maximum, pulse duty cycle is equal to s_min；When signal difference is zero, pulse duty cycle etc. In (s_max+s_min)/2；The function of storage and phase demodulation is to store the typical position between every a pair adjacent fixed wireless rf terminal The dutycycle of the pulse width signal put, differentiates size and the feature of duty cycle sequence of present position dutycycle；According to duty Personnel's moving direction is determined than the feature of sequence；There is the feature of duty cycle sequence every time in detection, and amendment fixed wireless radio frequency is eventually Hold counter thus dynamically change the numbering of fixed wireless rf terminal；If the duty of present position pulse width signal Ratio is s_i, location coordinates component x that can calculate in current coordinate system according to following formula_i:

$x_i=\frac{l_i}{s_{max}-s_{\min }}{s}_i---\left(4\right)$

Location coordinates component y in current coordinate system_iIt is set to 0, ignores the difference of span length.

Mine personnel localization method proposed by the invention has the advantage that

1. calculating personnel position in local coordinate system by pulse width signal dutycycle, capacity of resisting disturbance is strong, and precision is higher. Personnel's site error in mine global coordinate system depends on the precision of each fixed wireless rf terminal distributing position, personnel There are not cumulative errors in global position.

2. by pulse width signal duty cycle sequence feature, it is easy to the personnel that are dynamically determined moving direction in mine laneway, Thus the numbering of each fixed wireless rf terminal it is dynamically determined according to the dutycycle feature stored.

3. location algorithm is simple, and operand and amount of storage are the least, it is simple to realize and cost-effective.

4. Minepit environment adaptability is good, bending tunnel in also can apply, between each fixed wireless rf terminal away from Take from appointing according to environment terrain in range of effective radiation.

Accompanying drawing explanation

Less radio-frequency terminal adjacent for Fig. 1 two is distributed in one section of straight tunnel schematic diagram.

Less radio-frequency terminal adjacent for Fig. 2 two is distributed in one section of spill tunnel schematic diagram.

Less radio-frequency terminal adjacent for Fig. 3 two is distributed in one section of convex tunnel schematic diagram.

Detailed description of the invention

Further illustrating this patent below in conjunction with the accompanying drawings, the present invention includes: (A) positions；(B) fixed wireless rf terminal is compiled Number Dynamic Recognition,

In the present invention, (A) location includes using fixed wireless rf terminal i, i+1 that in mine laneway, any two is adjacent With portable radio frequency terminal c, with fixed wireless rf terminal i as initial point, with fixed wireless rf terminal i and i+1 Line be that x-axis sets up local plane rectangular coordinate system o_i-x_i,y_iIf the distance of fixed wireless rf terminal i and i+1 is l_i, So fixed wireless rf terminal i and i+1 coordinate in this coordinate system can be expressed as (0,0) and (l_i,0).Assume to use The personnel that portable radio frequency terminal c records are l with the distance of fixed wireless rf terminal i_ia, personnel and fixed wireless radio frequency The distance of terminal i+1 is l_ib, then, in this local plane rectangular coordinate system o_i-x_i,y_iIn, the position of personnel is represented by (x_i, y_i):

$\begin{array}{c}{x}_i=l_{ia}{\mathrm{cos\φ}}_i\\ y_i=l_{ia}{\mathrm{sin\φ}}_i\\ {\mathrm{\φ}}_i={\cos }^{-1}\frac{l_{ia}^2+l_i^2-l_{ib}^2}{2l_{ia}{l}_i},{\mathrm{\φ}}_i\∈\[0,\mathrm{\π}/2\]\end{array}---\left(1\right)$

In mine laneway global coordinate system O-XY, the position of personnel is represented by (X, Y):

$\left[\begin{array}{c}X\\ Y\\ 1\end{array}\right]=T_0^1{T}_1^2...T_{i-1}^i\left[\begin{array}{c}{x}_i\\ y_i\\ 1\end{array}\right]---\left(2\right)$

$T_i^{i+1}=\left[\begin{array}{ccc}{\mathrm{cos\φ}}_i& -{\mathrm{sin\φ}}_i& l_i\\ {\mathrm{sin\φ}}_i& {\mathrm{cos\φ}}_i& 0\\ 0& 0& 1\end{array}\right],i=0,1,...,n---\left(3\right)$

Wherein, φ_iRepresent edge, tunnel straightway and coordinate system o at fixed wireless rf terminal i place_i-x_i,y_iX-axis Between angle, be clockwise negative, counterclockwise is just；I represents the numbering of any one fixed wireless rf terminal in tunnel.

In mine laneway global coordinate system O-XY, in fact it could happen that following situations:

Two adjacent fixed wireless rf terminals are distributed in same section of tunnel, now, and φ_i=0；

Two adjacent fixed wireless rf terminals are distributed in two sections of spill tunnels, now, and φ_i＜ 0；

Two adjacent fixed wireless rf terminals are distributed in two sections of convex tunnels, now, and φ_i＞ 0.

In the present invention, the Dynamic Recognition of (B) fixed wireless rf terminal numbering includes the signal of portable radio frequency terminal Differential amplification, modulation /demodulation, storage and phase demodulation；The function that signal differential amplifies is record portable radio frequency terminal two The signal intensity of individual adjacent fixed wireless rf terminal carries out bipolar differential processing and amplifying；The function of modulation /demodulation is recording The signal intensity of bipolar differential change into corresponding pulse width signal, when signal difference is positive maximum, pulse duty cycle etc. In s_max；When signal difference is for negative maximum, pulse duty cycle is equal to s_min；When signal difference is zero, pulse duty cycle is equal to (s_max+s_min)/2；The function of storage and phase demodulation is to store the exemplary position between every a pair adjacent fixed wireless rf terminal The dutycycle of pulse width signal, differentiate size and the feature of duty cycle sequence of present position dutycycle, according to dutycycle The feature of sequence determines personnel's moving direction；Such as, if at differential amplifying part fixed wireless rf terminal i as positive polarity Input, fixed wireless rf terminal i+1 inputs as negative polarity, adjacent three duty cycle sequence features of storage be [big, in, Little] or successively decrease, showing that the direction that personnel increase along terminal number is moved, i.e. positive direction moves；Whereas if storage is adjacent Three duty cycle sequence features are [little, in, big] or be incremented by, and show that the direction that personnel reduce along terminal number is moved, the most instead Direction is moved；There is the feature of duty cycle sequence every time in detection, revises fixed wireless rf terminal counter thus dynamic State changes the numbering of fixed wireless rf terminal.If the dutycycle of present position pulse width signal is s_i, can count according to following formula Calculate location coordinates component x in current coordinate system_i:

$x_i=\frac{l_i}{s_{max}-s_{\min }}{s}_i---\left(4\right)$

Location coordinates component y in current coordinate system_iCan simply be set to 0, ignore the difference of span length.

For existing mine personnel positioning system, it is only necessary to increase less radio-frequency letter in portable radio frequency terminal Number bipolar differential is amplified, modulation /demodulation and storage phase discrimination function module, and writes according to personnel positioning method of the present invention Program, for new upper mine personnel positioning system, needs to set up local coordinate system according to mine laneway landform segmentation, measures each The position of fixed wireless rf terminal, according to the portable radio frequency terminal that location algorithm of the present invention exploitation is new, other Network communicating system etc. need not change.

Claims (1)

1. a mine personnel localization method based on pulse duty cycle, including moving that location and fixed wireless rf terminal are numbered State identification, is characterized in that,

Described location include using any two is adjacent in mine laneway fixed wireless rf terminal i, i+1 and one portable Less radio-frequency terminal c, with fixed wireless rf terminal i as initial point, builds with the line of fixed wireless rf terminal i and i+1 for x-axis Vertical local plane rectangular coordinate system o_i-x_i,y_iIf the distance of fixed wireless rf terminal i and i+1 is l_i, then fixed wireless is penetrated Frequency terminal i and i+1 coordinate in this coordinate system can be expressed as (0,0) and (l_i,0)；Assume to use portable radio frequency The personnel that terminal c records are l with the distance of fixed wireless rf terminal i_ia, personnel and the distance of fixed wireless rf terminal i+1 For l_ib, then, in this local plane rectangular coordinate system o_i-x_i,y_iIn, the positional representation of personnel is (x_i,y_i):

$\begin{array}{c}{x}_i=l_{ia}{\mathrm{cos\φ}}_i\\ y_i=l_{ia}{\mathrm{sin\φ}}_i\\ {\mathrm{\φ}}_i={\cos }^{-1}\frac{l_{ia}^2+l_i^2-l_{ib}^2}{2l_{ia}{l}_i},{\mathrm{\φ}}_i\∈\[0,\mathrm{\π}/2\]\end{array}---\left(1\right)$

In mine laneway global coordinate system O-XY, the positional representation of personnel is (X, Y):

$\left[\begin{array}{c}X\\ Y\\ 1\end{array}\right]=T_0^1{T}_1^2...T_{i-1}^i\left[\begin{array}{c}{x}_i\\ y_i\\ 1\end{array}\right]---\left(2\right)$

$T_i^{i+1}=\left[\begin{array}{ccc}{\mathrm{cos\φ}}_i& -{\mathrm{sin\φ}}_i& l_i\\ {\mathrm{sin\φ}}_i& {\mathrm{cos\φ}}_i& 0\\ 0& 0& 1\end{array}\right],i=0,1,...,n---\left(3\right)$

Wherein, φ_iRepresent edge, tunnel straightway and coordinate system o at fixed wireless rf terminal i place_i-x_i, y_iX-axis between Angle, be clockwise negative, counterclockwise is just；I represents the numbering of any one fixed wireless rf terminal in tunnel；

The Dynamic Recognition of described fixed wireless rf terminal numbering includes that the signal differential of portable radio frequency terminal amplifies, adjusts System demodulation, storage and phase demodulation；The function that signal differential amplifies is that record portable radio frequency terminal two are adjacent fixing The signal intensity of less radio-frequency terminal carries out bipolar differential processing and amplifying；The function of modulation /demodulation is poor for the bipolarity recorded Signal intensity after point processing and amplifying changes into corresponding pulse width signal；When signal difference is positive maximum, pulse duty cycle etc. In s_max；When signal difference is for negative maximum, pulse duty cycle is equal to s_min；When signal difference is zero, pulse duty cycle is equal to (s_max+s_min)/2；The function of storage and phase demodulation is to store the exemplary position between every a pair adjacent fixed wireless rf terminal The dutycycle of pulse width signal, differentiate size and the feature of duty cycle sequence of present position dutycycle；According to dutycycle The feature of sequence determines personnel's moving direction；There is the feature of duty cycle sequence every time in detection, revises fixed wireless rf terminal Counter thus dynamically change fixed wireless rf terminal numbering；If the dutycycle of present position pulse width signal For s_i, location coordinates component x that can calculate in current coordinate system according to following formula_i:

$x_i=\frac{l_i}{s_{\max }-s_{\min }}{s}_i---\left(4\right)$

Location coordinates component y in current coordinate system_iIt is set to 0, ignores the difference of span length.