CN106842116B - Tunnel personnel positioning system and method based on CSS technology - Google Patents
Tunnel personnel positioning system and method based on CSS technology Download PDFInfo
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- CN106842116B CN106842116B CN201710051010.1A CN201710051010A CN106842116B CN 106842116 B CN106842116 B CN 106842116B CN 201710051010 A CN201710051010 A CN 201710051010A CN 106842116 B CN106842116 B CN 106842116B
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- 238000000034 method Methods 0.000 title claims description 23
- 238000005516 engineering process Methods 0.000 title claims description 15
- 238000004891 communication Methods 0.000 claims abstract description 29
- 238000012544 monitoring process Methods 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 5
- 230000002146 bilateral effect Effects 0.000 claims description 2
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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
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and 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
Abstract
The tunnel personnel positioning system comprises reference nodes which are arranged at two sides of a tunnel at intervals, wherein the reference nodes comprise a microprocessor module, a data receiving and transmitting module, an antenna module and a power supply module for supplying power to the microprocessor module and the data receiving and transmitting module; the microprocessor module is connected with the wireless network bridge, and the wireless network bridge transmits the ranging data to the remote server through the wireless network communication module; every four reference nodes are divided into a group, each group comprises a main reference node and three secondary reference nodes, the main reference nodes are provided with serial port communication modules, and the microprocessor modules are connected with the wireless bridge through the serial port communication modules. The tunnel personnel carry mobile tags that can be detected by the reference nodes, which are all cyclically detected by the reference nodes. The invention can determine the number, the positions and the distribution information of constructors, has low implementation cost and is reliable and convenient to use.
Description
Technical Field
The invention relates to the field of tunnel construction safety, in particular to a tunnel personnel positioning system and method based on a CSS technology.
Background
Tunnel construction is frequently encountered in the construction of land traffic infrastructures such as railways and highways, and more highways and railways can be built especially by further implementation of strategies such as western large development, middle rising, northeast plain and the like. However, china is a country with multiple mountains, a plurality of areas are in Chong mountain and drastic mountains, and the mountain area accounts for 69% of the territory area, which means that the construction of tunnels in China enters a brand-new climax stage. With the gradual increase of tunnel engineering in China, the personal safety problem in the construction process is gradually highlighted due to engineering specificity. At present, the tunnel personnel positioning system in China is widely applied to ZigBee positioning technology or RFID positioning technology, and has the defects of relatively poor penetrability and anti-interference capability and relatively short ranging range, and a large number of reference nodes are required to be arranged in the implementation process, so that time and labor are wasted. In order to locate personnel during tunnel construction, guarantee construction safety, especially when the accident happens, confirm the personnel's in danger quantity, position and distribution information, in time carry out rescue work, and then improve rescue efficiency, reduce the arrangement of current positioning system reference node quantity simultaneously, need develop a novel tunnel personnel positioning system.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a tunnel personnel positioning system and method based on a CSS technology, which can realize real-time accurate positioning of personnel, ensure construction safety and reduce the deployment number of reference nodes.
In order to achieve the above purpose, the tunnel personnel positioning system based on CSS technology of the present invention adopts the following technical scheme:
the system comprises reference nodes which are arranged at two sides of a tunnel at intervals, wherein the reference nodes comprise a microprocessor module, a data receiving and transmitting module, an antenna module and a power supply module for supplying power to the microprocessor module and the data receiving and transmitting module; the microprocessor module is connected with a wireless network bridge, and the wireless network bridge transmits ranging data to a remote server through the wireless network communication module; the tunnel personnel carry mobile tags that can be detected by the reference nodes, which are all cyclically detected by the reference nodes.
The reference nodes are arranged at the two sides of the tunnel at intervals of 60m, and each reference node is 2m from the ground.
Every four reference nodes are divided into a group, each group comprises a main reference node and three secondary reference nodes, the main reference nodes are provided with serial port communication modules, and the microprocessor module is connected with a wireless bridge through the serial port communication modules.
All primary reference nodes are arranged on one side of the tunnel, and the wireless bridge interval 120m is deployed above the primary reference nodes.
The remote server comprises a remote monitoring computer, a remote server and a mobile phone terminal.
The wireless network bridge is externally connected with a display module capable of displaying the ranging data.
The microprocessor module adopts an Atmega128L chip, and the data transceiver module adopts a nano PAN5375 module; the antenna module comprises a BOJU2.4G antenna and a power amplifier; the wireless network communication module selects a GPRS wireless network communication module, and the GPRS wireless network communication module is connected with the remote server through the ODBC interface.
The invention discloses a tunnel personnel positioning method based on CSS technology, which comprises the following steps:
step one, calculating a relative distance S between the mobile tag and the reference node through a formula (1):
wherein T is 1 、T 3 The propagation delay time for the ranging of the reference node and the electronic tag; t (T) 2 、T 4 The delay time of ranging is processed for both, and V is the propagation speed of the signal in the air medium.
Step two, the reference node sends measurement data, and the position of the mobile tag is calculated according to the formula (1);
step three, screening reference nodes;
step four, preferably four reference nodes, performing rough calculation of the mobile tag according to the trilateration method, wherein the coordinates of the four reference nodes are (x) i ,y i ) The reference node is at a distance d from the mobile tag i I=1, 2,3,4; the mobile tag coordinates are (m, n);
the formula (2) is listed according to known conditions as follows:
and fifthly, carrying out coordinate average processing on the rough position of the mobile tag preliminarily calculated by the formula (2) by using the formula (3), and marking the rough position as the position of the mobile tag as (x, y), wherein the calculation formula is as follows:
and the step three is to discard the reference node with the distance between the reference node and the mobile label being smaller than 3m during screening.
Compared with the prior art, the tunnel personnel positioning system has the following beneficial effects: when the mobile tag enters a wireless network positioning system formed by reference nodes, the system selects the number of people needing to be measured each time according to the number of people in the tunnel, and then circularly measures the distance batch by batch. The reference node transmits the measured data to the wireless network bridge, the wireless network bridge transmits one path of the data to the project department for processing and displaying, and the other path of the data is transmitted to the remote server for remote monitoring through the wireless network communication module. The invention can realize accurate automatic attendance checking, solve the problem of omission caused by manual attendance checking in the past, the system records real-time attendance checking information of personnel, the accuracy and the reliability are greatly improved, the influence of human factors is minimized, the number, the position and the distribution information of constructors can be determined, once accidents occur, the positions of the constructors are determined according to field data, rescue work is carried out in time, and the rescue efficiency is improved. The invention has high working reliability, and compared with the ZigBee and RFID which are widely applied to a tunnel personnel positioning system at present, the CSS has strong penetrability and anti-interference capability, and signals are rarely interrupted due to obstacles. The invention has the advantages of lower realization cost, long service life and convenient installation and operation. The method has strong practicability, can be combined with a tunnel video monitoring system, and can timely find, stop and correct illegal operations and dangerous actions of constructors, so that personnel loss and economic loss are reduced to the minimum. The system can save a great deal of manpower and material resources, improves the scientific management level and brings convenience to tunnel construction.
Compared with the prior art, the positioning method based on the tunnel personnel positioning system has the following beneficial effects: and measuring the two-way signal propagation time between the reference node and the mobile tag by adopting a symmetrical two-way double-sided ranging method (SDS-TWR), obtaining the distance between the reference node and the mobile tag according to a speed, time and distance formula, and finally calculating the position of the mobile tag by utilizing a positioning algorithm. The distance measuring method is easy to implement without clock synchronization between the reference nodes and the mobile tags or clock synchronization between the reference nodes, and the number, the positions and the distribution information of constructors can be determined.
Drawings
FIG. 1 is a schematic illustration of a job site layout of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the system of the present invention;
FIG. 3 is a schematic diagram of the structural principles of the system of the present invention;
in the accompanying drawings: 1-a microprocessor module; 2-a data receiving and transmitting module; 3-an antenna module; 4-a power module; a 5-wireless bridge; 6-a wireless network communication module; 7-a remote server; 8-display module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, a CSS reference node is deployed at each 60m interval on both sides of the tunnel, the height from the ground is about two meters, each four reference nodes are divided into a group, a main reference node is defined in each group, and the rest is secondary reference nodes, wherein the difference is that the main reference node has a serial port communication module, and can transmit ranging data to the wireless network bridge 5. All the main reference nodes are distributed on one side of the tunnel, a pair of wireless network bridges 5 are erected every 120m on the side, and the specific positions of the wireless network bridges are arranged above the corresponding main reference nodes and can be properly adjusted for transmitting measurement data of the whole system. The data transmitted from the tunnel is connected to the project part in one path for local management; the other path is transmitted to a remote server 7 through a wireless network communication module 6, so that remote monitoring is facilitated. Because the nanoPAN5375 module supports the external antenna and the peripheral power amplifier, the power amplification and the installation of the external antenna can be properly carried out according to specific situations in the implementation process, thereby further reducing the arrangement of reference nodes and lowering the cost.
Referring to fig. 2, the positioning system of the present invention generally includes a power module 4, an antenna module 3, a data transceiver module 2, a microprocessor module 1, a wireless network bridge 5, a display module 8, a wireless network communication module 6, and a remote server 7, where the remote server 7 includes a remote monitoring computer, a remote server, and a mobile phone terminal. The reference node is composed of a power module 4, an antenna module 3, a data transceiver module 2, a microprocessor module 1 and the like, and the mobile tag and the reference node are of the same design, wherein the difference is that the antenna selection can be different, the reference node mainly considers the communication problem, the antenna module with a slightly large volume can be selected, and the mobile node mainly considers portability and low power, so that the antenna module with a small volume has to be selected.
Referring to fig. 3, the positioning system of the present invention specifically includes a power module 4, a BOJU2.4G antenna, a nano pan5375 wireless radio frequency module, an Atmega128L chip module, a wireless network bridge 5, an LED display module, a GPRS wireless network communication module, a remote server, a remote monitoring computer, and a mobile phone terminal. The BOJU2.4G antenna is connected with the external antenna interface of the wireless radio frequency module through the nano PAN5375, so that the communication distance is increased. The nanoPAN5375 module is connected with the Atmega128L chip module through an SPI communication interface, and the source module supplies power to the module. The node is composed of BOJU2.4G antenna, nano PAN5375 wireless radio frequency, atmega128L chip and power module. When the reference node finishes measuring the position information of the mobile tag, the reference node is connected with a wireless network bridge through an RS232 or USB (universal serial bus) to be connected with the wireless network bridge, the wireless network bridge transmits the ranging information out of the tunnel, one path of ranging information is transmitted to the project part, and the ranging information is displayed on the LED display module after being processed by an algorithm for local management; the other path is transmitted to a remote server through a GPRS wireless network communication module.
The GPRS wireless network communication module of the remote server is accessed to the remote server, and the remote server is connected with the remote monitoring computer and the mobile phone terminal and is used for receiving and storing data. The remote server is connected with the GPRS wireless network communication module, data received from the GPRS wireless network communication module is stored into the SQL database in the remote server through the ODBC interface, and the service platform of the remote monitoring computer is communicated with the SQL database of the remote server through the ODBC interface, so that real-time accurate positioning of tunnel personnel is realized, and construction safety is guaranteed. Meanwhile, the user can log in the server website by using the authorized user password through a computer or mobile phone terminal connected with the Internet anywhere, inquire about real-time positioning of tunnel personnel and conduct remote management.
The working principle and the working process of the invention are as follows:
when the mobile tag enters a wireless network positioning system formed by the reference nodes, the system selects the number of people needing to be measured each time according to the number of people in the tunnel, and then circularly measures the distance in a batch. Firstly, a primary reference node measures the distance of a mobile tag and informs a secondary reference node to measure the distance, and after the secondary reference node finishes the distance measurement, data is transmitted back to the primary reference node. And then the main reference node transmits the measurement data to the wireless network bridge 5 through an RS232 or USB switching network port connecting line, the wireless network bridge 5 transmits one path of data to the project part for processing and then displays the processed data on the LED screen, and the other path of data is transmitted to the remote server for remote monitoring through the GPRS wireless communication module.
The invention discloses a tunnel personnel positioning method based on CSS technology, which comprises the following steps:
step one, ranging is performed by adopting a symmetric two-way double-sided ranging method (SDS-TWR), the relative distance S between the mobile tag and the reference node can be obtained by a formula 1,
wherein T is 1 、T 3 The propagation delay time for the ranging of the reference node and the electronic tag; t (T) 2 、T 4 The delay time of the ranging is processed for both, and V is the propagation speed of the signal in the air medium.
Step two, the main reference node transmits the measurement data to a processing server, and the processing server calculates the position of the mobile tag according to the formula (1);
step three, screening reference nodes, namely, the linear frequency modulation spread spectrum technology belongs to a medium-long range wireless ranging technology, the short-range ranging error is relatively large and is 1-3 m, the relative error of measurement is 29.0-42.1%, and the error is relatively small rapidly after the relative error is larger than 3m, so that the reference nodes with the distance smaller than 3m between labels are removed and moved before the positioning algorithm is adopted for calculation;
step four, four reference nodes are optimized, the rough unknown calculation of the mobile tag is carried out according to the trilateration method, and the coordinates of the four reference nodes are assumed to be (x) i ,y i ) The reference node is at a distance d from the mobile tag i I=1, 2,3,4; moving the tag coordinates to (m, n), then listing equation (2) according to known conditions;
since there are four reference coordinates and trilateration requires three different coordinates, equation (2) can calculate the coarse position of four mobile tags.
Step five, carrying out coordinate average processing on the rough position of the mobile tag preliminarily calculated by the formula (2) by using the formula (3), and marking the rough position as the position of the mobile tag as (x, y);
the invention adopts a symmetrical two-way bilateral ranging method (SDS-TWR), the two-way signal propagation time between a reference node and a mobile tag is measured, then the distance between the reference node and the mobile tag is obtained according to a speed, time and distance formula, and finally the position of the mobile tag is calculated by using a positioning algorithm. The ranging method is easy to implement without clock synchronization between the reference nodes and the mobile tag or clock synchronization between the reference nodes.
Claims (5)
1. A tunnel personnel positioning system based on CSS technology, characterized in that: the system comprises reference nodes which are arranged at two sides of a tunnel at intervals, wherein the reference nodes comprise a microprocessor module (1), a data receiving and transmitting module (2), an antenna module (3) and a power supply module (4) for supplying power to the microprocessor module (1) and the data receiving and transmitting module (2); the microprocessor module (1) is connected with the wireless network bridge (5), and the wireless network bridge (5) transmits ranging data to the remote server (7) through the wireless network communication module (6); the tunnel personnel carry mobile labels which can be detected by reference nodes, and all the reference nodes circularly detect the mobile labels; the reference node intervals 60m are arranged on two sides of the tunnel, and the ground clearance of each reference node is 2m; every four reference nodes are divided into a group, each group comprises a main reference node and three secondary reference nodes, the main reference nodes are provided with serial port communication modules, and the microprocessor module (1) is connected with the wireless network bridge (5) through the serial port communication modules; all the main reference nodes are arranged on one side of the tunnel, and the wireless network bridge (5) is arranged above the main reference nodes at intervals of 120 m;
the microprocessor module (1) is an Atmega128L chip, and the data transceiver module (2) is a nano PAN5375 module; the antenna module (3) comprises a BOJU2.4G antenna and a power amplifier; the wireless network communication module (6) is a GPRS wireless network communication module, and the GPRS wireless network communication module is connected with the remote server (7) through an ODBC interface;
and measuring the two-way signal propagation time between the reference node and the mobile tag by adopting a symmetrical two-way bilateral ranging method, obtaining the distance between the reference node and the mobile tag according to a speed, time and distance formula, and finally calculating the position of the mobile tag by utilizing a positioning algorithm.
2. The tunnel personnel positioning system based on CSS technology according to claim 1, wherein: the remote server (7) comprises a remote monitoring computer, a remote server and a mobile phone terminal.
3. The tunnel personnel positioning system based on CSS technology according to claim 1, wherein: the wireless network bridge (5) is externally connected with a display module (8) capable of displaying the ranging data.
4. A positioning method using a tunnel personnel positioning system based on CSS technology according to any of claims 1-3, characterized by the steps of:
step one, calculating a relative distance S between the mobile tag and the reference node through a formula (1):
wherein T is 1 、T 3 For reference node and electronic label measurementPropagation delay time of distance; t (T) 2 、T 4 The delay time of ranging is processed for both, and V is the propagation speed of the signal in the air medium.
Step two, the reference node sends measurement data, and the position of the mobile tag is calculated according to the formula (1);
step three, screening reference nodes;
step four, preferably four reference nodes, performing rough calculation of the mobile tag according to the trilateration method, wherein the coordinates of the four reference nodes are (x) i ,y i ) The reference node is at a distance d from the mobile tag i I=1, 2,3,4; the mobile tag coordinates are (m, n);
the formula (2) is listed according to known conditions as follows:
and fifthly, carrying out coordinate average processing on the rough position of the mobile tag preliminarily calculated by the formula (2) by using the formula (3), and marking the rough position as the position of the mobile tag as (x, y), wherein the calculation formula is as follows:
5. the positioning method according to claim 4, wherein: and the step three is to discard the reference node with the distance between the reference node and the mobile label being smaller than 3m during screening.
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| CN108828567B (en) * | 2018-04-23 | 2022-06-21 | 河北大学 | Improved bidirectional bilateral distance measurement method |
| CN110646762B (en) * | 2018-06-26 | 2021-09-10 | 苏州触达信息技术有限公司 | System, method and computer readable storage medium for monitoring position of person in tunnel |
| CN108877296B (en) * | 2018-08-01 | 2021-05-14 | 江苏省送变电有限公司 | Anti-collision system based on Internet of things |
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