CN105101411B - Self-healing is accurately positioned substation, system and link self-healing method - Google Patents
Self-healing is accurately positioned substation, system and link self-healing method Download PDFInfo
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- CN105101411B CN105101411B CN201510561772.7A CN201510561772A CN105101411B CN 105101411 B CN105101411 B CN 105101411B CN 201510561772 A CN201510561772 A CN 201510561772A CN 105101411 B CN105101411 B CN 105101411B
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- positioning
- substation
- link
- ethernet
- mainboard
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- 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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention proposes a kind of self-healing and is accurately positioned substation, system and link self-healing method, solve the problems, such as assigned personnel position substation be wirelessly connected disconnect after lose communication capacity, be applied to the fixed environments such as coal mine, factory, in high density of personnel scene.Self-healing is accurately positioned substation, including power module, mainboard, positioning core, interface board, Ethernet interface, RS485 interfaces, CAN interface and antenna, power module connects mainboard, positioning core, interface board, Ethernet, CAN interface and RS485 interfaces by power circuit, and mainboard is the processing core with link monitoring function；It is with the wireless transceiver for providing radio channel and precision ranging function to position core；Interface board includes Ethernet, RS485 and CAN2.0B fieldbus cores.The present invention can quickly judge to position substation wire link connection status, and start wireless communication when wire link disconnects, and positioning substation is made to resume work.
Description
Technical field
The present invention relates to personnel positioning technical fields, more particularly to one kind being applied to fixed environments, the high people such as coal mine, factory
Safety monitoring equipment in member's density scene, specially self-healing are accurately positioned substation, system and link self-healing method.
Background technology
Personnel location system at present, it is mostly to use the ZigBee based on 2.4G frequency ranges to position between substation and positioning terminal
Technology uses the communication modes such as Ethernet, CAN or RS485 to carry out formula hand in hand wired between positioning substation and positioning substation
Connection, however there is serious defects using the positioning substation of this communication structure：When personnel location system is applied to complexity
When adverse circumstances, such as underground, it is easy to happen the accident of personnel location system wired connection interruption, when having for a certain positioning substation
Line connection disconnects, and all positioning substations after wire link can all lose communication capacity, the positioning point of all disconnections
Station will be unable to carry out personnel positioning again, directly contribute personnel location system paralysis.Especially when major accident occurs, Ren Yuanding
Position system can not work normally, and the accurate location of staff when incident can not be accurately positioned in rescue team can not be rescued in time
Cause the serious consequence of personal damage.
For this defect, a kind of self-healing is provided and is accurately positioned substation and link self-healing method, can be realized quickly extensive
The connection between substation is positioned again, executes accurate positioning function.After wired connection disconnects, remain to obtain in sensing region rapidly
Personal information and the positioning substation reported in time, are those skilled in the art's urgent problems to be solved.
Invention content
The present invention loses communication capacity to solve the problems, such as that assigned personnel position after substation wireless connection disconnects, and carries
It is accurately positioned substation, system and link self-healing method for a kind of self-healing, is mainly used in the fixed environments such as coal mine, factory, height
In density of personnel scene.
To achieve the goals above, the present invention provides the following technical solutions:
Self-healing is accurately positioned substation, including power module, mainboard, positioning core, interface board, Ethernet interface, RS485
Interface, CAN interface and antenna, power module connect mainboard, positioning core, interface board, Ethernet, CAN by power circuit and connect
Mouth and RS485 interfaces.
The mainboard, for the processing core with link monitoring function, using based on high-performance ARM Cortex-M4 kernels
MCU be processing core, built-in link monitoring algorithm and location algorithm, link monitoring algorithm have monitoring wired link state,
Confirm link state and repairs the function of link using radio channel.
The positioning core, using based on linear frequency modulation（Chirp Spread Spectrum, CSS）Wireless transceiver
Chip NLSG0501A（nanoLOC TRX Transceiver）, after the processing of the low noise amplification of 2.4G, to position substation
There is provided power continuously adjustable radio channel.Meanwhile it is also accurately fixed with being carried out using electromagnetic wave differential time of flight to position core
The distance measuring method of position increases 2.4G signal enhanced processing modules and the location algorithm based on the optimization of long and narrow tunnel, to ensure
Apart from realizing that error being accurately positioned less than 1 meter before and after substation in 2 kilometer ranges.
The interface board integrates Ethernet, RS485 and CAN2.0B fieldbus cores, by with 2000VAC photoelectricity
The interface protection module of isolation provides the integrated data transmission channel of Ethernet, CAN and RS485 for positioning substation.
According to an aspect of the invention, there is provided two-way Ethernet, two-way RS485, two-way CAN bus and No. 2 antennas.
A kind of accurate personnel location system of self-healing：Including server i.e. manage PC machine, interchanger, multiple positioning substations and
Multiple positioning terminals, the positioning substation, including power module, mainboard, positioning core, interface board, Ethernet interface, RS485
Interface, CAN interface and antenna, power module by power circuit be separately connected mainboard, positioning core, interface board, Ethernet,
CAN interface and RS485 interfaces；The mainboard is the processing core with link monitoring function, built-in link monitoring algorithm and survey
Away from algorithm, link monitoring algorithm has monitoring wired link state, confirms link state and repairs link using radio channel
Function；The positioning core is with the wireless transceiver for providing radio channel and precision ranging function；The interface board includes
Ethernet, RS485 and CAN2.0B fieldbus cores；The Ethernet, the RS485 and the CAN2.0B fieldbus point
It Zhi Shaobaokuo not two interfaces；Ethernet, RS485 and CAN2.0B fieldbus on interface board have 2000VAC Phototube Couplings
Interface protection module；The mainboard is electrically connected with the positioning core, the interface board respectively；
The positioning substation is connected to by interchanger in management PC machine by Ethernet in a manner of hand-in-hand, described fixed
Position core, which is established in a manner of chirped with the positioning terminal, to be wirelessly connected；
The present invention also provides a kind of link self-healing methods, include the following steps：
After the power is turned on, positioning substation normal work starts link monitoring to the accurate personnel location system of self-healing：Mainboard by with
Too net establishes TCP with server（Transmission Control Protocol, transmission control protocol）Connection starts timing
Transmission link heartbeat data packets are spaced, server replys heartbeat response data packet after receiving the heartbeat packet that positioning substation is sent out, fixed
Position substation receives correct heartbeat response data packet, and to can determine whether that TCP connection connect with physical link unimpeded, divides once positioning
It stands and is not received by heartbeat packet more than the fixed time interval time, mainboard reads ethernet physical layer Link Status register flag,
The connection status of transmission medium is judged, if all show that physical link has disconnected, and sentences inside physical layer in setting time
Conclude that a substation loses Ethernet connection.At this point, positioning substation starts radio channel discovery and Establishing process：Position substation timing
By antenna, broadcast radio links find data packet around, close on the Radio Link OK data packets for positioning substation response when receiving
Afterwards, school bag is cached and is parsed, choose that wherein wireless signal is strongest closes on positioning substation, establish wireless escape truck therewith,
Restore personnel location system function.
Compared with prior art, the present invention can quickly judge to position substation wire link connection status, and in wired chain
Road starts wireless communication when disconnecting, and substation is positioned when burst accident being made to occur still can work normally.Meanwhile this
The locating module of invention has accurate positioning function, can quick locating personnel accurate location, provide help to succour in time.
Description of the drawings
In conjunction with subsequent attached drawing, the above and other mesh of the present invention can be obviously obtained from following detailed description
, feature and advantage.In the accompanying drawings：
Fig. 1 is self-healing Precise Position System structural schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram that self-healing of the present invention is accurately positioned substation.
Fig. 3 is that the logic of link self-healing method of the present invention is illustrated.
Fig. 4 is the link monitoring algorithm flow chart of link self-healing method of the present invention.
Fig. 5 is the wireless link flow chart of link self-healing method of the present invention.
Specific real-time mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
A kind of self-healing is accurately positioned substation, including power module, mainboard, positioning core, interface board, Ethernet interface,
RS485 interfaces, CAN interface and antenna, power module by power circuit connect mainboard, positioning core, interface board, Ethernet,
CAN interface and RS485 interfaces.
The mainboard, for the processing core with link monitoring function, using based on high-performance ARM Cortex-M4 kernels
MCU be processing core, built-in link monitoring algorithm and location algorithm, link monitoring algorithm have monitoring wired link state,
Confirm link state and repairs the function of link using radio channel.
The positioning core, using based on linear frequency modulation（Chirp Spread Spectrum, CSS）Wireless transceiver
Chip NLSG0501A（nanoLOC TRX Transceiver）, after the processing of the low noise amplification of 2.4G, to position substation
There is provided power continuously adjustable radio channel.Meanwhile it is also accurately fixed with being carried out using electromagnetic wave differential time of flight to position core
The distance measurement function of position, to ensure to realize error being accurately positioned less than 1 meter in 2 kilometer ranges before and after substation.
NLSG0501A built-in signal intensity detection circuits support wireless power freely to be adjusted from -40dBm ~ 0dBm, pass through
The two stage treatment of radio frequency amplifier, signal strength reach as high as 25dBm.
The interface board integrates Ethernet, RS485 and CAN2.0B fieldbus cores, by with 2000VAC photoelectricity
The interface protection module of isolation provides the integrated data transmission channel of Ethernet, CAN and RS485 for positioning substation.
As shown in Fig. 2, according to an aspect of the invention, there is provided two-way Ethernet, two-way RS485, two-way CAN bus
With No. 2 antennas.Two-way Ethernet interface connects as major cable link connection channel, two-way CAN interface, two-way RS485
Mouth expands access channel, two 2.4G wireless interfaces, as positioning and wireless data transmission channel as field device.
As shown in figure 3, one aspect of the present invention, the ethernet feature module for positioning substation is used with the MCU on mainboard
IO bus modes connect, and radio function module is connected with the MCU on mainboard by the way of spi bus.
Ethernet feature module uses DM9006 for processing core, and 100BaseFX single mode optical fibers are as communication media, object
It manages layer and realizes communication media and the management of physical link state and the encoding and decoding etc. of logical links layer data；At logic link layer
The addressing of reason equipment and data envelope are unpacked；TCP/IP is provided reliable and unreliable on logic link layer basis for application layer
The data channel of connection；The various application functions of application layer bearing system.
Radio function module uses NLSG0501A for RF core, built-in signal intensity detection circuit, supports wireless power
It is freely adjusted from -40dBm ~ 0dBm, by the two stage treatment of radio frequency amplifier, signal strength reaches as high as 25dBm.
Specifically, the accurate personnel location system of self-healing being made of the present invention, including server manage PC machine, exchange
Machine, positioning substation and positioning terminal, using 100BaseFX single mode optical fibers as communication media when system works, positioning substation is logical
Ethernet is crossed in a manner of hand-in-hand by being connected on server on interchanger.Substation is positioned by positioning core linear frequency modulation
Mode and positioning terminal establish and be wirelessly connected, using the principle of electromagnetic wave differential time of flight, accurately measurement and positioning terminal arrives
The distance h for positioning substation optimizes processing, to obtain the accurate position of positioning terminal using the algorithm built in positioning substation
Confidence ceases, and location information is sent via link to server, is further processed by server.
Specific localization method is to be accurately positioned using electromagnetic wave differential time of flight, is the essence of prior art comparative maturity
True localization method：Positioning terminal sends first time location data packet to positioning node, and positioning substation receives first time location data
Bao Hou sends out first time response message immediately, and positions substation and record and receive first time location data packet to sending out first
The period of secondary response message is recorded as T2, and positioning terminal receives the first time response message that positioning substation is sent out, and it is fixed to record
Position terminal is recorded as T1 from first time location data packet is sent to the period for receiving first time response message；Position substation
Second of location data packet is sent out to positioning terminal, second of location data packet contains T2 temporal informations, and receives positioning eventually
The response message beamed back is held, record location substation is from second of location data packet is sent out to the time segment record for receiving response message
For T3, positioning terminal receives and sends out response message to positioning substation after second of location data packet, and positioning terminal record is from reception
Period to transmission is T4, and positioning substation, which receives after the response message of positioning terminal, has the data packet of T3 information to send record
To positioning terminal.
Positioning terminal according to T1, T2, T2, bring following formula into and carry out calculating positioning terminal and position substation by T4 temporal informations
Distance h：
h=（T1-T2+T3-T4）/4*C
Wherein C is the light velocity.
The present invention also provides a kind of link self-healing methods, include the following steps：
After the power is turned on, positioning substation normal work starts link monitoring to the accurate personnel location system of self-healing：It is logical to position substation
It crosses Ethernet and establishes TCP connection with server, start fixed time interval transmission link heartbeat data packets, server receives positioning substation
Heartbeat response data packet is replied after the heartbeat packet sent out, positioning substation receives correct heartbeat response data packet and can determine whether
TCP connection connected with physical link it is unimpeded, once positioning substation is more than the fixed time interval time to be not received by heartbeat packet, mainboard reading
Ethernet physical layer Link Status register flag is taken, to judge the connection status of transmission medium, if in setting time
It all shows that physical link has disconnected inside physical layer, then judges that positioning substation loses Ethernet connection.At this point, positioning substation starts
Radio channel is found and Establishing process：Positioning substation timing, broadcast radio links find data packet around by antenna, work as receipts
To after closing on the Radio Link OK data packets that positioning substation is responded, school bag is cached and parsed, it is most strong to choose wherein wireless signal
Close on positioning substation, establish wireless escape truck therewith, restore personnel location system function.
When contingency to Ethernet connection disconnection occurs, the link monitoring algorithm built in the present invention monitors wired company
It connects already off, after being handled by interference filter, finally confirms link state, once confirm that wire link disconnects, positioning point
It stands and begins setting up radio channel, positioning substation starts to adjust the Radio Link transmitting of itself and receives power, searches for and selects
It takes the strongest positioning substation that closes on of link signal to establish wireless escape truck, restores data communication.
Link monitoring algorithm flow is as shown in figure 4, the accurate personnel location system of self-healing powers on start-up operation, positioning substation
Heartbeat packet is sent to server, heartbeat packet is carried out and accepts filter, if receiving the TCP heartbeat response data packets that server is sent out,
Then judge to position the connection of substation Ethernet normally, positioning substation waits for transmission time interval timing to send heartbeat packet；If not connecing
The TCP heartbeat response data packets that server is sent out are received, then judge whether Ethernet physical link breaks into Uplink State filtering
It opens；The time interval of link state to be detected such as if judging that Ethernet physical link is not turned off resets TCP connection, restores
Timing sends heartbeat packet；Ethernet physical link state reparation, Ethernet object are carried out if judging that Ethernet physical link disconnects
After managing the completion of link state repair process, judge whether Ethernet physical link is repaired；If judging Ethernet physical link
It repairs, then further judges whether Radio Link has been turned on, close Radio Link if Radio Link has been turned on, wait chain to be detected
TCP connection is reset after the time interval of line state, is restored timing and is sent heartbeat packet；If judging, Ethernet physical link is not repaired,
Then whether further Radio Link has been turned on, and starts wireless link channel if Radio Link is not actuated and establishes wireless connection, if
Radio Link has been turned on the time interval of the link state to be detected such as then, repeats to repair link state work.
Wireless link flow is as shown in figure 5, after positioning substation startup radio channel, and broadcasting link is found around
Data packet responds Radio Link OK data packets, repeated broadcast after separated in time if not receiving；If receiving Radio Link
OK data packets then cache and analyze response data packet, have suitable positioning substation then to establish wireless escape truck when finding to close on,
There is suitable positioning substation foundation connection then to continue fixed time interval broadcasting link discovery data packet, Zhi Daofa when there is no discovery to close on
It now suitably closes on substation and establishes connection.
It, should although having described embodiment of the present invention and its various functions component in a particular embodiment
Understand, can realize embodiment of the present invention, and the present invention with hardware, software, firmware, middleware or combination thereof
Embodiment can be used in multiple systems, subsystem, component or its sub-component in.
The above, the preferable specific implementation mode of patent only of the present invention, but the protection domain of patent of the present invention is not
It is confined to this, any one skilled in the art can readily occur in the technical scope of patent diselosesll of the present invention
Change or replacement, should all cover within the protection domain of patent of the present invention.
In addition, can obviously obtain other advantages and modification for those of ordinary skill in the art.Therefore,
With more extensive areas, the invention is not limited in herein shown and described illustrate and exemplary embodiment.
Claims (5)
1. self-healing is accurately positioned substation, including power module, mainboard, positioning core, interface board, Ethernet interface, RS485 connect
Mouth, CAN interfaces and antenna, power module connect mainboard, positioning core, interface board, Ethernet, CAN by power circuit and connect
Mouth and RS485 interfaces, it is characterised in that：The mainboard, for the processing core with link monitoring function, built-in link monitoring
Algorithm and location algorithm, link monitoring algorithm are had monitoring wired link state, confirm link state and repaiied using radio channel
The function of multiple link；The positioning core, for the wireless transceiver for providing radio channel and precision ranging function；It is described
Interface board, including Ethernet, RS485 and CAN2.0B fieldbus cores；
The Ethernet, the RS485 and the CAN2.0B fieldbus include at least two interfaces respectively；
Ethernet, RS485 and CAN2.0B fieldbus on interface board have the interface protection module of 2000VAC Phototube Couplings；
The mainboard is electrically connected with the positioning core, the interface board respectively.
2. self-healing as described in claim 1 is accurately positioned substation, it is characterised in that：It positions core and uses NLSG0501A cores
Piece.
3. self-healing as described in claim 1 is accurately positioned substation, it is characterised in that：The processing core is ARM
Cortex-M4 processors.
4. a kind of accurate personnel location system of self-healing, including server, interchanger, multiple positioning substations and multiple positioning are eventually
End, it is characterised in that：The positioning substation, including power module, mainboard, positioning core, interface board, Ethernet interface,
RS485 interfaces, CAN interface and antenna, power module by power circuit be separately connected mainboard, positioning core, interface board, with
Too net, CAN interface and RS485 interfaces；The mainboard is the processing core with link monitoring function, built-in link monitoring algorithm
And location algorithm, link monitoring algorithm have monitoring wired link state, confirm link state and repair chain using radio channel
The function on road；The positioning core is with the wireless transceiver for providing radio channel and precision ranging function；The interface board
Including Ethernet, RS485 and CAN2.0B fieldbus cores；The Ethernet, the RS485 and the scenes the CAN2.0B are total
Line includes at least two interfaces respectively；Ethernet, RS485 and CAN2.0B fieldbus on interface board have 2000VAC photoelectricity
The interface protection module of isolation；The mainboard is electrically connected with the positioning core, the interface board respectively；The positioning substation is logical
It crosses Ethernet to be connected in management PC machine by interchanger in a manner of hand-in-hand, the positioning core is in a manner of chirped
It establishes and is wirelessly connected with the positioning terminal.
5. a kind of link self-healing method, includes the following steps： S1：The accurate personnel location system of self-healing after the power is turned on, positions substation
Normal work, positioning substation mainboard start link monitoring, and positioning substation is established TCP connection with server by Ethernet, started
Fixed time interval transmission link heartbeat data packets after server receives the heartbeat data packets, reply heartbeat response data packet； S2：
The mainboard receives correct heartbeat response data packet, and to can determine whether that TCP connection is connected with physical link unimpeded； S3：Work as institute
It states mainboard and is not received by heartbeat response data packet more than the fixed time interval time, mainboard reads ethernet physical layer link state and posts
Storage flag, to judge the connection status of transmission medium, if all showing physical link inside physical layer in setting time
It has been disconnected that, then judge that positioning substation loses Ethernet connection； S4：After positioning substation loses Ethernet connection, positioning substation opens
Dynamic radio channel is found and Establishing process：Positioning substation timing, broadcast radio links find data packet around by antenna, when
It receives after closing on the data wireless links packet that positioning substation is responded, by data pack buffer and parses, selection wherein wireless signal is most
Strong closes on positioning substation, establishes wireless escape truck therewith, restores personnel location system function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510561772.7A CN105101411B (en) | 2015-09-07 | 2015-09-07 | Self-healing is accurately positioned substation, system and link self-healing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510561772.7A CN105101411B (en) | 2015-09-07 | 2015-09-07 | Self-healing is accurately positioned substation, system and link self-healing method |
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| CN105101411A CN105101411A (en) | 2015-11-25 |
| CN105101411B true CN105101411B (en) | 2018-10-09 |
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| CN110839076B (en) * | 2019-11-11 | 2022-02-22 | 华滋奔腾（苏州）安监仪器有限公司 | Transmission substation and transmission method based on distributed strain monitoring system |
| CN114520892B (en) * | 2020-11-18 | 2023-04-07 | 华为技术有限公司 | Communication control method and device and optical network unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101599880A (en) * | 2008-06-06 | 2009-12-09 | 中国科学院自动化研究所 | Embedded mine data substation |
| CN101982986A (en) * | 2010-09-02 | 2011-03-02 | 安徽汉川电子科技有限公司 | Underground personnel positioning system |
| CN203406863U (en) * | 2013-07-15 | 2014-01-22 | 上海轶龙应用软件开发有限公司 | Mining wireless communication substation |
| CN103793669A (en) * | 2012-11-01 | 2014-05-14 | 上海秀派电子科技有限公司 | 3G mining reader and self-check method |
| CN205081974U (en) * | 2015-09-07 | 2016-03-09 | 太原科技大学 | Self -healing accurate positioning substation |
-
2015
- 2015-09-07 CN CN201510561772.7A patent/CN105101411B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101599880A (en) * | 2008-06-06 | 2009-12-09 | 中国科学院自动化研究所 | Embedded mine data substation |
| CN101982986A (en) * | 2010-09-02 | 2011-03-02 | 安徽汉川电子科技有限公司 | Underground personnel positioning system |
| CN103793669A (en) * | 2012-11-01 | 2014-05-14 | 上海秀派电子科技有限公司 | 3G mining reader and self-check method |
| CN203406863U (en) * | 2013-07-15 | 2014-01-22 | 上海轶龙应用软件开发有限公司 | Mining wireless communication substation |
| CN205081974U (en) * | 2015-09-07 | 2016-03-09 | 太原科技大学 | Self -healing accurate positioning substation |
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