CN103957508A - Accurate underground wireless positioning system and method based on combination of WiFi and gyroscope - Google Patents
Accurate underground wireless positioning system and method based on combination of WiFi and gyroscope Download PDFInfo
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Abstract
The invention discloses an accurate underground wireless positioning system and method based on the combination of the WiFi and a gyroscope. The underground wireless accurate positioning system comprises a ground part and an underground part. The ground part is mainly composed of a server and a corresponding database. The underground part mainly comprises a mobile terminal, an electronic tag and a wireless AP. The mobile terminal is composed of a positioning module, a processing module, a WiFi module and a power source part. The positioning module is mainly composed of a WiFi module and a gyroscope data collecting and processing module. The gyroscope is introduced to the underground wireless accurate positioning system, the positioning technology of the gyroscope and WiFi combination is adopted, and very high positioning accuracy can be achieved; in addition, the integrated wireless AP can be directly connected through an optical cable or a network cable, a set of wired routers are formed, data, voice, video images and other information sent by the mobile terminal are transmitted to a ground dispatching center through the wired routers formed among substations, and various underground comprehensive service information can be transmitted.
Description
Technical field
The invention belongs to downhole wireless placement technology field, colliery, relate to a kind of downhole wireless Precise Position System and method combining with gyroscope based on wireless WiFi.
Background technology
Personnel location system is the subsystem of downhole safety hedging six large systems, contributes to coordinated management and the scheduling of operating personnel under the complex environment of colliery, to safe coal, produces significant; When mine disaster occurs, rescue personnel can understand rapidly personnel in the pit's situation according to personnel in the pit's locating information, takes in time the measure of rescuing accordingly, improves the efficiency of emergency management and rescue work, reduces to greatest extent casualty loss.
At present, both at home and abroad expert has proposed wireless communication technologys such as ultrasonic wave, infrared, bluetooth, WiFi, radio-frequency (RF) identification (RFID), ultra broadband (UWB), ZigBee, assistant GPS to be applied to actual location.Wherein,, there is the typical indoor wireless location technologies such as light tracking technique, ultrasonic wave location technology, Bluetooth technology, RFID technology in the specific (special) requirements for indoor wireless location, and its corresponding positioning precision can reach several centimetres.
Different from ground, indoor situation, underground work and subsurface environment have particularity.Underworkings production operation place disperses, mobility of people is large, work under bad environment; Wireless transmission environment has features such as " confined space, multimedium, multi-path denses ".When wireless signal transmits in winding roadway and getting working face environment, according to tunnel size, peripheral obstacle feature, signal transmission characteristics has polytropy, if still adopt based on wireless signal strength moving target positioned, can cause larger position error, thereby cause locating inaccurate, this is also the not high main cause of current Mine Personnel Positioning System positioning precision.
At present, imperfection is gone back in the mode of the electromagnetic signal in underworkings and the research that wireless location is affected thereof so far, cannot provide theoretic guidance and support to the lifting of wireless location precision.Therefore, conventional wireless location technology, in the face of in Mine Complicated operational environment situation, to reach location in real time and accurately, also has a lot of key technical problems to need to solve.
For operational environment special under coal mine, the weak point major embodiment of the down-hole location technologies such as domestic and international applied RFID technology, ZigBee technology, WiFi technology is several aspects:
Positioning precision is inaccurate, and particularly, in scenes such as winding roadways, getting working face (time change), reliability of positioning and validity are very poor, have serious undetected, false retrieval problem, and are difficult to solve;
The navigation system majority of existing use is zone location, along with the propelling of information-based mine construction, forces area positioning technology to be upgraded to placement technology;
Communication, each architectonical of personnel positioning subsystem, do not have the network platforms such as unified wireless side technical scheme, access website deployment, and system repeated construction, causes the wasting of resources and inefficiency, deviates from mutually with industrial information and mine Internet of Things developing direction.
Through inquiry Intellectual Property in China net---China and foreign countries' patent database service platform, find 229 of the patents of invention of wireless location technology correlative study, 108 of utility model patents, 4 of appearance designs.But these patents are mainly for ground environment, wherein locating relevant patent to down-hole has 86; For the high precision wireless location correlative study under coal mine only have 2 of patents of invention, 2 of utility model patents, mainly comprise:
Blue tooth underground radio positioning system (CN200710078442.8), Bluetooth down-hole radio locating base station (CN200720124162.1), downhole wireless positioning method based on cognitive (CN200810046191.X), a kind of colliery underground radio positioning system (CN201320076493.8) based on WiFi, a kind of colliery underground radio positioning system based on WiFi is provided, its basic structure comprises terrestrial wireless navigation system and underground radio positioning system, terrestrial wireless navigation system comprises center switch, location-server, Dynamic Host Configuration Protocol server and management server, location-server wherein, Dynamic Host Configuration Protocol server is all connected with center switch with management server, underground radio positioning system comprises the mining network switch, WAP (wireless access point) and mine intrinsic safety WiFi phone, wherein, mine intrinsic safety WiFi phone is connected with the mining network switch by WAP (wireless access point), the mining network switch is connected with terrestrial wireless navigation system by down-hole Industrial Ethernet, this patent does not have the transmission problem of clear and definite down-hole positioning precision problem and the multiple integrated service information in down-hole.Compare with above existing patent, the present invention introduces gyroscope, and the location technology that adopts gyroscope to combine with WiFi, can obtain very high positioning precision; Integrated wireless AP in the present invention can directly connect by optical cable or netting twine in addition, form a set of wired route, the information exchanges such as the data that mobile terminal is transmitted, voice, video image are crossed the wired route forming between each substation and are passed to ground maneuvers center, and then realize the transmission of the multiple integrated service information in down-hole.
In sum, the correlative study of wireless location technology is very active, and existing all kinds of patents 400 are multinomial.But these patents are mainly for ground environment, less for research and the achievement of colliery subsurface environment.And this patent solves emphatically the hi-Fix problem of personnel in the pit and mobile device.
Summary of the invention
In order to overcome the defect existing in prior art, the invention provides a kind of downhole wireless Precise Position System and method combining with gyroscope based on wireless WiFi, at the engineering-environment for Mine Complicated, research and develop the Precise Position System that wireless WiFi technology combines with gyroscope technology, the trend that adapts to integrated base station platform construction, for the informatization in colliery provides support.Its technical scheme is as follows:
The downhole wireless Precise Position System combining with gyroscope based on wireless WiFi, mainly comprises above ground portion and down-hole part, and wherein above ground portion mainly consists of server and corresponding database; Down-hole part mainly comprises mobile terminal, electronic tag, wireless aps, described mobile terminal is carried by personnel in the pit, by locating module, and processing module, WiFi module and power unit form, wherein, the function of locating module: the function of the WiFi module in locating module, for gathering output locating information, adopts serial communication mode timing output to processing module.The function of gyro data acquisition processing module is: the component three tarnsition velocities in measured relative inertness space and three linear accelerations along position indicator coordinate system, through coordinate transform, acceleration information is converted into along the acceleration of navigation coordinate system, and calculate the information such as position, speed, course and horizontal attitude of position indicator, then output to processing module.The function of processing module is: processing module adopts ARM treatment system, processing module connects mobile terminal and WiFi module, processing module receives WiFi locating information and gyro data information, adopt Kalman filtering algorithm to process correction to information, judge that whether information is available, then positioning result is exported to WiFi module.The function of WiFi module: the locating information that WiFi module is exported according to communication protocol receiving processing module, and positioning result is outputed to WiFi access point AP.The function of power unit is to be each module for power supply, guarantee their normal work, the data of mobile terminal are transferred to aboveground by down-hole AP, WiFi access point AP is fixed on the conduit wall of down-hole, utilize optical fiber to be connected with master controller, master controller is sent to ground monitoring computer by the data of the receiving collation pass Ethernet of packing, when personnel's process electronic tag, electronic tag enters the transmitting antenna service area of card reader, card reader and WiFi module are responsible for periodically reading and transmitting electronic labeling information, and be sent in corresponding database, ground-based computer receives the signal from WiFi access point AP, from database, read the relevant Information Monitoring of this card reader, the acquisition and recording of realization to personal information, analyzing and processing, make the various information of inquiry that administrative staff can be promptly and accurately, particularly when having an accident, timely understanding personnel's distribution situation, for rescue operation is provided convenience.
Preferably, for realizing the seamless roam between integrated wireless AP, adopt a plurality of gateways to form a hierarchy, each gateway is responsible for a plurality of wireless aps, when roaming between each AP at same gateway, by this gateway control information, is transmitted; When need to from the wireless aps of different gateways between while roaming, make gateway obtain business information from the gateway of higher level.
Further preferably, described integrated wireless AP directly connects by optical cable or netting twine, form a set of wired route, the information exchanges such as the data that WiFi mobile terminal is transmitted, voice, video image are crossed the wired route forming between each substation and are passed to ground maneuvers center, mobile terminal possesses the functions such as electronical display, voice, location, and in real time the downhole data information receiving and surrounding enviroment information are delivered to substation, under off-grid pattern, can realize terminal room self-organized network communication simultaneously.
A kind of downhole wireless accurate positioning method combining with gyroscope based on wireless WiFi, comprise the following steps: the entrained mobile terminal of miner judges that according to the information collecting whether WiFi signal is stronger, if signal is more determined personnel in the pit and device location according to WiFi signal, after processing, processing module, by WiFi module, locator data is passed to AP, then send to aboveground server and analyze identification, thus the accurate location of realizing personnel in the pit and equipment.If WiFi signal a little less than, with gyroscope location, according to the digital information identification code reading, determine the geographical location information of personnel in the pit and mobile device, and change accurately location its displacement, speed and track according to the move angle of localizing objects.Then, by the WiFi module being integrated on mobile terminal, the locating information of obtaining is sent to the access point AP being connected with down-hole Ethernet, and send information to aboveground location-server and analyze identification, thereby realize the accurate location of personnel in the pit and mobile device.
Beneficial effect of the present invention: the present invention and ground, indoor situation are different, and underground work and subsurface environment have particularity.Underworkings production operation place disperses, mobility of people is large, work under bad environment; Wireless transmission environment has features such as " confined space, multimedium, multi-path denses ".When wireless signal transmits in winding roadway and getting working face environment, according to tunnel size, peripheral obstacle feature, signal transmission characteristics has polytropy, if still adopt based on wireless signal strength moving target positioned, can cause larger position error, thereby cause locating inaccurate, this is also the not high main cause of current Mine Personnel Positioning System positioning precision.
At present, imperfection is gone back in the mode of the electromagnetic signal in underworkings and the research that wireless location is affected thereof so far, cannot provide theoretic guidance and support to the lifting of wireless location precision.Therefore, conventional wireless location technology, in the face of in Mine Complicated operational environment situation, to reach location in real time and accurately, also has a lot of key technical problems to need to solve.
For operational environment special under coal mine, the weak point major embodiment of the down-hole location technologies such as domestic and international applied RFID technology, ZigBee technology, WiFi technology is several aspects:
Positioning precision is inaccurate, and particularly, in scenes such as winding roadways, getting working face (time change), reliability of positioning and validity are very poor, have serious undetected, false retrieval problem, and are difficult to solve;
The navigation system majority of existing use is zone location, along with the propelling of information-based mine construction, forces area positioning technology to be upgraded to placement technology; Communication, each architectonical of personnel positioning subsystem, do not have the network platforms such as unified wireless side technical scheme, access website deployment, and system repeated construction, causes the wasting of resources and inefficiency, deviates from mutually with industrial information and mine Internet of Things developing direction.
The present invention introduces gyroscope, and the location technology that adopts gyroscope to combine with WiFi, can obtain very high positioning precision; Integrated wireless AP in the present invention can directly connect by optical cable or netting twine in addition, form a set of wired route, the information exchanges such as the data that mobile terminal is transmitted, voice, video image are crossed the wired route forming between each substation and are passed to ground maneuvers center, and then realize the transmission of the multiple integrated service information in down-hole.
Accompanying drawing explanation
Fig. 1 is based on wireless WiFi and gyrostatic wireless placement technology schematic diagram;
Fig. 2 is mobile terminal hardware composition frame chart;
The downhole wireless accurate positioning method flow chart of Fig. 3 for combining with gyroscope based on wireless WiFi.
Embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in more detail.
It between existing Mine Personnel Positioning System and wireless communication transmissions system, is subsystem system independently, proposition of the present invention is intended to the engineering-environment for Mine Complicated, research and develop the Precise Position System that wireless WiFi technology combines with gyroscope technology, the trend that adapts to integrated base station platform construction, for the informatization in colliery provides support.System configuration is as shown in Figure 1: mainly comprise above ground portion and down-hole part, wherein above ground portion is mainly by server with corresponding database is soft forms; Down-hole part mainly comprises mobile terminal, electronic tag, wireless aps etc.
For realizing the seamless roam between integrated wireless AP, can adopt a plurality of gateways to form a hierarchy, each gateway is responsible for a plurality of wireless aps, when roaming between each AP at same gateway, by this gateway control information, is transmitted; When need to from the wireless aps of different gateways between while roaming, make gateway obtain business information from the gateway of higher level.Integrated wireless AP can directly connect by optical cable or netting twine, forms a set of wired route, and the information exchanges such as the data that mobile terminal is transmitted, voice, video image are crossed the wired route forming between each substation and passed to ground maneuvers center.
Mobile terminal is core of the present invention, mainly by locating module, and processing module, WiFi module, power unit forms, and wherein locating module is mainly by WiFi module, and gyro data acquisition processing module forms, as shown in Figure 2:
Processing module adopts ARM treatment system, and processing module connects mobile terminal and WiFi module, and the function of the WiFi module in locating module, for gathering output locating information, adopts serial communication mode timing output to processing module.The function of gyro data acquisition processing module is: the component three tarnsition velocities in measured relative inertness space and three linear accelerations along position indicator coordinate system, through coordinate transform, acceleration information is converted into along the acceleration of navigation coordinate system, and calculate the information such as position, speed, course and horizontal attitude of position indicator, then output to processing module.Processing module receives WiFi locating information and gyro data information, and information is processed to correction, judges that whether information is available, then positioning result is exported to WiFi module.
The locating information that WiFi module is exported according to communication protocol receiving processing module, and positioning result is outputed to WiFi access point AP.WiFi access point AP can be fixed on the conduit wall of down-hole, utilizes optical fiber to be connected with master controller, and master controller is sent to ground monitoring computer by the data of the receiving collation pass Ethernet of packing.When personnel's process electronic tag, electronic tag enters the transmitting antenna service area of card reader, and card reader and WiFi module are responsible for periodically reading and transmit electronic labeling information, and are sent in corresponding database.
Ground-based computer receives the signal from WiFi access point AP, from database, read the relevant Information Monitoring of this card reader, realization is to the acquisition and recording of personal information, analyzing and processing, make the various information of inquiry that administrative staff can be promptly and accurately, particularly, when having an accident, can understand in time personnel's accurate distribution situation.
Navigation system is mainly based on wireless WiFi deploying troops on garrison duty of identifying at underworkings according to the demand of positioning precision by the geographical position under coal mine, and by these geographical position data storage in aboveground location-server, its corresponding positioning principle is as shown in Figure 1.
As shown in Figure 3, the entrained mobile terminal of miner judges that according to the information collecting whether WiFi signal is stronger, if signal is more determined personnel in the pit and device location according to WiFi signal, locator data is passed to AP, then send to aboveground server and analyze identification, thus the accurate location of realizing personnel in the pit and equipment.If WiFi signal a little less than, with gyroscope location, according to the digital information identification code reading, determine the geographical location information of personnel in the pit and mobile device, and change accurately location its displacement, speed and track according to the move angle of localizing objects.Then, by the WiFi module being integrated on mobile terminal, the locating information of obtaining is sent to the access point AP being connected with down-hole Ethernet, and send information to aboveground location-server and analyze identification, thereby realize the accurate location of personnel in the pit and mobile device.
Wherein aboveground location-server consists of server and corresponding database, is responsible for management and the control of whole navigation system, thereby realize, personnel in the pit and corresponding equipment is monitored in real time.WiFi access point AP can be fixed on the conduit wall of down-hole, utilizes optical fiber to be connected with master controller, and master controller is sent to ground monitoring computer by the data of the receiving collation pass Ethernet of packing.When personnel's process electronic tag, electronic tag enters the transmitting antenna service area of card reader, and card reader and WiFi module are responsible for periodically reading and transmit electronic labeling information, and are sent in corresponding database.Ground-based computer receives the signal from WiFi access point AP, from database, read the relevant Information Monitoring of this card reader, realization is to the acquisition and recording of personal information, analyzing and processing, make the various information of inquiry that administrative staff can be promptly and accurately, particularly when having an accident, can understand in time personnel's distribution situation, for rescue operation is provided convenience.
For realizing the seamless roam between integrated wireless AP, can adopt a plurality of gateways to form a hierarchy, each gateway is responsible for a plurality of wireless aps, when roaming between each AP at same gateway, by this gateway control information, is transmitted; When need to from the wireless aps of different gateways between while roaming, make gateway obtain business information from the gateway of higher level.
Integrated wireless AP can directly connect by optical cable or netting twine, forms a set of wired route, and the information exchanges such as the data that WiFi mobile terminal is transmitted, voice, video image are crossed the wired route forming between each substation and passed to ground maneuvers center.Mobile terminal possesses the functions such as electronical display, voice, location, and can in real time the downhole data information receiving and surrounding enviroment information be delivered to substation, can realize terminal room self-organized network communication under off-grid pattern simultaneously.
The above; it is only preferably embodiment of the present invention; protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses, the simple change of the technical scheme that can obtain apparently or equivalence are replaced and are all fallen within the scope of protection of the present invention.
Claims (4)
1. the downhole wireless Precise Position System combining with gyroscope based on wireless WiFi, is characterized in that, mainly comprises above ground portion and down-hole part, and wherein above ground portion mainly consists of server and corresponding database, down-hole part mainly comprises mobile terminal, electronic tag, wireless aps, described mobile terminal is carried by personnel in the pit, by locating module, and processing module, WiFi module and power unit form, wherein, the function of locating module: the function of the WiFi module in locating module, for gathering output locating information, adopts serial communication mode timing output to processing module, the function of gyro data acquisition processing module is: the component three tarnsition velocities in measured relative inertness space and three linear accelerations along position indicator coordinate system, through coordinate transform, acceleration information is converted into along the acceleration of navigation coordinate system, and calculate the information such as position, speed, course and horizontal attitude of position indicator, then output to processing module, the function of processing module is: processing module adopts ARM treatment system, processing module connects mobile terminal and WiFi module, processing module receives WiFi locating information and gyro data information, adopt Kalman filtering algorithm to process correction to information, judge that whether information is available, then positioning result is exported to WiFi module, the function of WiFi module: the locating information that WiFi module is exported according to communication protocol receiving processing module, and positioning result is outputed to WiFi access point AP, the function of power unit is to be each module for power supply, guarantee their normal work, the data of mobile terminal are transferred to aboveground by down-hole AP, WiFi access point AP is fixed on the conduit wall of down-hole, utilize optical fiber to be connected with master controller, master controller is sent to ground monitoring computer by the data of the receiving collation pass Ethernet of packing, when personnel's process electronic tag, electronic tag enters the transmitting antenna service area of card reader, card reader and WiFi module are responsible for periodically reading and transmitting electronic labeling information, and be sent in corresponding database, ground-based computer receives the signal from WiFi access point AP, from database, read the relevant Information Monitoring of this card reader, the acquisition and recording of realization to personal information, analyzing and processing, make the various information of inquiry that administrative staff can be promptly and accurately, particularly when having an accident, timely understanding personnel's distribution situation, for rescue operation is provided convenience.
2. the downhole wireless Precise Position System combining with gyroscope based on wireless WiFi according to claim 1, it is characterized in that, adopt a plurality of gateways to form a hierarchy, each gateway is responsible for a plurality of wireless aps, when roaming between each AP at same gateway, by this gateway control information, transmitted; When need to from the wireless aps of different gateways between while roaming, make gateway obtain business information from the gateway of higher level.
3. the downhole wireless Precise Position System combining with gyroscope based on wireless WiFi according to claim 2, it is characterized in that, described integrated wireless AP directly connects by optical cable or netting twine, form a set of wired route, the data that WiFi mobile terminal is transmitted, voice, the information exchanges such as video image are crossed the wired route forming between each substation and are passed to ground maneuvers center, mobile terminal possesses electronical display, voice, the function of location, and in real time the downhole data information receiving and surrounding enviroment information are delivered to substation, under off-grid pattern, can realize terminal room self-organized network communication simultaneously.
4. the downhole wireless accurate positioning method combining with gyroscope based on wireless WiFi, it is characterized in that, comprise the following steps: the entrained mobile terminal of miner judges that according to the information collecting whether WiFi signal is stronger, if signal is more determined personnel in the pit and device location according to WiFi signal, after processing, processing module, by WiFi module, locator data is passed to AP, then send to aboveground server and analyze identification, thus the accurate location of realizing personnel in the pit and equipment; If WiFi signal a little less than, with gyroscope location, according to the digital information identification code reading, determine the geographical location information of personnel in the pit and mobile device, and change accurately location its displacement, speed and track according to the move angle of localizing objects; Then, by the WiFi module being integrated on mobile terminal, the locating information of obtaining is sent to the access point AP being connected with down-hole Ethernet, and send information to aboveground location-server and analyze identification, thereby realize the accurate location of personnel in the pit and mobile device.
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