CN104316904A - High-precision positioning method for wireless mobile terminal at mine tunnel - Google Patents
High-precision positioning method for wireless mobile terminal at mine tunnel Download PDFInfo
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- CN104316904A CN104316904A CN201410408078.7A CN201410408078A CN104316904A CN 104316904 A CN104316904 A CN 104316904A CN 201410408078 A CN201410408078 A CN 201410408078A CN 104316904 A CN104316904 A CN 104316904A
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- positioning
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Classifications
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
- G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station
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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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention being title as ''High-precision positioning method for a wireless mobile terminal at a mine tunnel'' provides a high-precision positioning method and system for a wireless mobile terminal in a mine tunnel environment, thereby solving a problem that high-precision positioning of a wireless mobile terminal at a mine tunnel can be not be realized by using the existing wireless positioning method and method. According to key points in the technical scheme, an on-site surveying is carried out to realize tunnel wireless signal sampling and a tunnel signal transmission distance correction model; a positioning base station receives a positioning request signal of a mobile terminal and a positioning response signal is returned; a mobile terminal transmits positioning interaction data to a positioning base station; the positioning base station calculates a theoretical distance of the mobile terminal; the theoretical distance is calculated by using the tunnel signal transmission distance correction model to obtain a maximum likehood position; and a final position of the mobile terminal is obtained by using a heuristic position correction algorithm in the method. The provided method can be widely applied to wireless high-precision positioning of the personnel and mobile equipment at the mine tunnel.
Description
Technical field
Mine laneway mobile radio terminal detects and the method for its position of accurate Calculation about a kind of in system of the present invention, the method of hi-Fix is particularly carried out according to the tunnel signal transmission distance calibration model and heuristic the Position Registration Algorithm of measuring positioning signal flight time (Time Of Flight, TOF) and the field exploring foundation obtained between locating base station and mobile radio terminal.
Background technology
Mine laneway accurately locates the method and TOA method that mainly contain based on RSSI.In RSSI method, intensity constant when supposing that positioning signal is launched, according to the positioning signal strength value that base station receives, calculates the loss of signal in communication process, according to signal propagation losses model that is theoretical or experience, propagation loss is converted into distance, finally calculates the position of mobile terminal.Because wireless signal is affected by environment very large, adds serious multipath effect, cause RSSI positioning precision not high, only have 5 ~ 10 meters.TOA method, utilizes calculate signal propagation time the time of arrival of measurement and positioning signal, calculates distance according to time and distance relation.This method requires to realize strict time synchronization between base station and mobile radio terminal, and this is very difficult for mobile device, and time synchronization error directly causes distance error.For NLOS(None Line Of Sight, non line of sight) signal, due to the impact of reflection, diffraction, the distance error directly calculated is larger.Mine laneway is long and narrow bending, utilizes the method for many base stations elimination positioning error no longer applicable.
Summary of the invention
The present invention is directed to the defect that current wireless location method can not realize mine laneway hi-Fix, research and develop and a kind ofly detect mine laneway mobile radio terminal and the method for its position of accurate Calculation, positioning signal flight time (the Time Of Flight obtained is measured between comprehensive utilization locating base station and mobile radio terminal, TOF), field exploring set up tunnel signal transmission distance calibration model and heuristic the Position Registration Algorithm, realize the wireless hi-Fix of mine laneway personnel and equipment.
The invention provides and a kind ofly at mine laneway, the method and system of hi-Fix is carried out to mobile radio terminal, to realize the hi-Fix of personnel and equipment in mine laneway.
For realizing above technical purpose, technical scheme of the present invention is
A set of mobile radio terminal hi-Fix algorithm and system, it comprises the following step: the precise mounting position determining all wireless location base stations in mine laneway, accurately measures and records its coordinate; Exploration is on-the-spot, and field level signal is sampled, and set up tunnel signal transmission distance calibration model, this model contains the statistical nature of specific roadway position process opinion range correction parameter; The peripherad locating base station of mobile radio terminal launches positioning request signal; Locating base station replys location response signal to mobile terminal; Positioning interaction data are issued locating base station by mobile radio terminal; Identify and receive mobile terminal positioning interaction data two base stations the earliest; According to the time of arrival (toa) recorded in positioning interaction data, compute location signal one-way flight time TOF, and calculate the theoretical of mobile radio terminal to two base stations further; Signal transmission distance calibration model is utilized to calibrate theoretical; According to the coordinate of two base stations, calculate the possible position coordinate of mobile terminal respectively, get the maximum likelihood position of weighted mean as mobile terminal of two coordinates; Utilize the heuristic the Position Registration Algorithm in this method, maximum likelihood position is corrected: with reference to historical position sequence, determine the movement tendency of maximum likelihood position and average movement rate, the current location that location sudden change and movement tendency change is corrected or rejected, thus draws position coordinates accurately; Add historical position sequence; Outgoing position coordinate is as the positioning result of wireless terminal.
Described mobile terminal includes but not limited to personnel positioning identification card.
Described TOF is obtained by locating base station and mobile radio terminal cooperative.
The positioning interaction data packets that under described method reception mine, roadway wireless locating base station sends.
The invention has the beneficial effects as follows: comprehensive utilization tunnel signal transmission distance calibration model and heuristic the Position Registration Algorithm, utilize positioning signal flight time (the Time Of Flight of mobile radio terminal and two wireless location base station cooperatives, TOF) exact position of mobile radio terminal is calculated, this invention has taken into full account design feature and the organization of production feature of mine laneway, take into full account the characteristic of transmission of wireless signals in mine laneway, achieve the hi-Fix of personnel and equipment in mine laneway, the positioning precision of this invention reaches 0.3 meter, regional area is less than 0.15 meter.
Accompanying drawing explanation
Fig. 1 is installation site, base station and mobile terminal locations schematic diagram in tunnel
Fig. 2 is that mobile terminal locations calculates schematic diagram
Fig. 3 is mine laneway sampled distance distribution plan
Fig. 4 is the workflow diagram of invention
Fig. 5 is that mobile terminal accurately locates schematic diagram
Embodiment
The invention provides positioning signal flight time (the Time Of Flight of a kind of comprehensive wireless mobile terminal and two wireless location base station cooperatives, TOF), tunnel signal transmission distance calibration model and heuristic the Position Registration Algorithm, detect mobile radio terminal and the method and system of its position of accurate Calculation, be applied to the wireless hi-Fix of personnel and equipment in mine laneway.
Refer to Fig. 1.Fig. 1 illustrates the installation site of wireless location base station and the position of mobile radio terminal in one section of typical mine laneway, tunnel.Mobile radio terminal can be personnel positioning mark card, but is not limited to this, such as, also can be WIFI mobile phone.
In a preferred embodiment of the invention, the signal transmission distance calibration model of mine laneway is utilized.The method setting up this model can (include but not limited to): select one section of representative tunnel being provided with wireless location base station, and in tunnel, selected one group of measurement point position, accurately measures the accurate distance of every bit position to base station; At each measurement point position place, to the distance of base station, one group of measurement is carried out to measurement point position by method of the present invention, after statistical study is carried out to measurement result, obtain the statistical distance value at each some position place, using the accurate distance of above-mentioned one group of measurement point position and the statistical distance value signal transmission distance calibration model as this section of tunnel.
Please refer to Fig. 4.Fig. 4 shows the workflow diagram according to present pre-ferred embodiments.In step S100, mobile radio terminal sends positioning request signal.Exclusive identification code (including but not limited to the MAC Address of terminal), the unique network address of mobile radio terminal is comprised in signal.Usually, this method needs mobile radio terminal and locating base station to set up wireless network to be connected.In step S110, locating base station receives the positioning request signal of mobile terminal, returns mobile terminal location response signal.The exclusive identification code (including but not limited to the MAC Address of base station) of base station, unique network address, destination network addresses is comprised in response signal.In step S120, base station receives the positioning interaction data that wireless terminal sends.The information such as mobile terminal exclusive identification code, positioning request signal transmitting time, location response signal reception time, positioning interaction data transmitting time, locating base station exclusive identification code are comprised in positioning interaction data.Base station is the information such as additional request signal time of reception, location response signal sending time, interaction data time of reception in interaction data, and interaction data is issued native system.Usually, this method needs to be connected in network, and can network-in-dialing with wireless location base station.
In step S130, identify two base stations receiving data at first.In an embodiment of the present invention, wireless location base station can adopt directional antenna to receive the signal of mobile radio terminal, in this case, only can identify the packet of the wireless location base station receiving interaction data at first.
In step S140, calculate the theoretical of wireless terminal to two base stations.Theoretical produces according to radio signal propagation Velocity-time formulae discovery in mine laneway:
In above formula, parameter V is velocity of radio wave, it has been generally acknowledged that identical with the light velocity, and in vacuum, the light velocity is c=299792458 meter per second.TOF is the travel-time of wireless signal between mobile radio terminal and base station.The present invention does not need to carry out time synchronized between mobile terminal and base station, arrived by tracer signal respectively and leave the time TOA of base station and mobile radio terminal, can time difference between abatement apparatus, obtain signal propagation time TOF, and finally calculate theoretical D between mobile terminal and base station.
In step S150, utilize the theoretical calculated in signal transmission distance calibration model aligning step S140.Mine laneway signal transmission distance calibration model have recorded the statistical nature of the theoretical error of tunnel specific location, according to theoretical distance value, can extrapolate corresponding actual distance.Due to the discrete type of range correction model, interpolation calculation can be adopted in force to go out the margin of error.
In step S160, calculate the maximum likelihood position of two positions weighted mean value as mobile terminal.According to the position coordinates of two base stations and mobile terminal to the distance of the two, calculate the possible position coordinate of mobile terminal respectively, get the maximum likelihood position of weighted mean as mobile terminal of two coordinates.In step S170, utilize the heuristic the Position Registration Algorithm in this method, maximum likelihood position is corrected.
Heuristic the Position Registration Algorithm step is as follows: obtain the positional information in historical position sequence successively, according to the relative distance of each position and base station, draws the historical movement trend of the relative base station of mobile terminal; Calculate the movement tendency of current maximum likelihood position; If the movement tendency of bag is consistent, as being all away from base station or near base station, then think that this this location does not exist front and back jump situation, this secondary data is effective; Otherwise movement tendency changes, need to wait for that next locator data is determined further, position data is put into historical position sequence, next data of wait-receiving mode.Get this effective data, calculate its Instantaneous velocity values, as beyond normal velocity range, then according to mean motion speed, maximum likelihood position coordinates is revised, thus draw position coordinates accurately.
In step S180, position coordinates is joined in historical position sequence.
In step S190, export positioning result.
Generally speaking, the present invention fully utilizes positioning signal flight time (the Time Of Flight of mobile radio terminal and wireless location base station cooperative, TOF), tunnel signal transmission distance calibration model and heuristic the Position Registration Algorithm, calculate the position of mobile radio terminal, thus achieve the wireless hi-Fix of personnel and equipment in mine laneway.
The foregoing is only preferred embodiment of the present invention, all equalizations done according to the claims in the present invention scope change and modify, and all should belong to the coverage of patent of the present invention.
Claims (9)
1., for calculating a method for the position of mine laneway mobile radio terminal, it comprises:
Mobile radio terminal;
The position of wireless base station in tunnel accurately;
The flight time TOF of positioning signal;
Mine laneway signal transmission distance calibration model;
Historical position sequence;
Heuristic the Position Registration Algorithm.
2. method according to claim 1, wherein said mobile radio terminal includes but not limited to personnel positioning identification card, such as, also can be the mobile phone etc. that locating module is housed.
3. method according to claim 1, the communication modes of its wireless terminal includes but not limited to WIFI, such as, also can be ZIGBEE, UWB etc.
4. method according to claim 1, installation site, mine laneway wireless base station is obtained by measurement accurately, comprises tunnel, place Name & Location coordinate, and its coordinate reference system is provided by corresponding mine Mapping departments.
5. method according to claim 1, mine laneway signal transmission distance calibration model is by carrying out statistical study foundation to on-site land survey sampled data, and this model contains the statistical nature of tunnel specific location distance error.
6. method according to claim 1, heuristic the Position Registration Algorithm is used for calibrating current location, specific algorithm includes but not limited to: the signal transmission distance calibration model in contrast tunnel, place, theoretical is corrected, obtain maximum likelihood position, then according to the determined movement tendency in maximum likelihood position and the average movement rate of mobile radio terminal, with reference to historical position sequence, the current location that location sudden change and movement tendency change is corrected or rejected, thus draws position coordinates accurately.
7. method according to claim 1, the flight time TOF of positioning signal (comprising request and response signal) is obtained by wireless location base station and mobile terminal cooperative, for finally calculating the position of wireless terminal, and be sent to location-server or host computer by network.
8. method according to claim 1, comprising historical position sequence, for the positional information of preserve mobile radio terminal a period of time in the past, and as the Data Source of heuristic the Position Registration Algorithm.
9., for determining a method for mine laneway mobile radio terminal exact position, described method comprises step:
A () field data is sampled, set up tunnel signal transmission distance calibration model;
B () determines the accurate location coordinate of all wireless location base stations;
The positioning request signal of (c) locating base station mobile terminal receive, restoring to normal position response signal;
D () mobile terminal sends positioning interaction data to locating base station;
E () locating base station calculates the theoretical of mobile terminal;
F () utilizes tunnel signal transmission distance calibration model described in (a) to correct the theoretical in (e), obtain maximum likelihood position;
G () utilizes the heuristic the Position Registration Algorithm in this method, correct maximum likelihood position;
H position after correction is added historical position sequence by ();
(i) export the position of wireless terminal as positioning result.
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| CN201410408078.7A CN104316904A (en) | 2014-08-19 | 2014-08-19 | High-precision positioning method for wireless mobile terminal at mine tunnel |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105676177A (en) * | 2016-01-07 | 2016-06-15 | 长春东煤高技术股份有限公司 | Two-dimensional positioning system |
| CN105957382A (en) * | 2016-05-18 | 2016-09-21 | 北京永安信通科技有限公司 | Vehicle positioning system and underground vehicle positioning method |
| CN107071896A (en) * | 2017-03-31 | 2017-08-18 | 中国矿业大学(北京) | One kind realizes colliery winding roadway object localization method using non line of sight signal |
| CN107948920A (en) * | 2017-12-27 | 2018-04-20 | 合肥工业大学 | A kind of more base station location regional determination methods of underground UWB based on ADS TWR |
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| CN105676177A (en) * | 2016-01-07 | 2016-06-15 | 长春东煤高技术股份有限公司 | Two-dimensional positioning system |
| CN105957382A (en) * | 2016-05-18 | 2016-09-21 | 北京永安信通科技有限公司 | Vehicle positioning system and underground vehicle positioning method |
| CN107071896A (en) * | 2017-03-31 | 2017-08-18 | 中国矿业大学(北京) | One kind realizes colliery winding roadway object localization method using non line of sight signal |
| CN108957393A (en) * | 2017-05-25 | 2018-12-07 | 中国辐射防护研究院 | Data transmission and control method for indoor wireless positioning personal dosimeter |
| CN107948920A (en) * | 2017-12-27 | 2018-04-20 | 合肥工业大学 | A kind of more base station location regional determination methods of underground UWB based on ADS TWR |
| CN107948920B (en) * | 2017-12-27 | 2020-03-17 | 合肥工业大学 | Underground UWB (ultra wide band) multi-base-station positioning area judgment method based on ADS-TWR (automatic dependent surveillance-time-frequency radar) |
| CN110007264B (en) * | 2019-04-19 | 2021-09-21 | 中国矿业大学(北京) | Non-line-of-sight error judgment method for accurate positioning of mine personnel |
| CN110007264A (en) * | 2019-04-19 | 2019-07-12 | 中国矿业大学(北京) | A kind of mine personnel accurate positioning non-market value determination method |
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| CN111010667A (en) * | 2019-12-18 | 2020-04-14 | 视境技术(深圳)有限公司 | Positioning method and system |
| CN112312306A (en) * | 2020-10-30 | 2021-02-02 | 歌尔光学科技有限公司 | Positioning method and device |
| CN113031606A (en) * | 2021-03-08 | 2021-06-25 | 中国科学院计算技术研究所 | Wireless virtual guide rail system and vehicle positioning and control method |
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