CN107064870A - Based on the underground coal mine location algorithm research under reflection environment - Google Patents
Based on the underground coal mine location algorithm research under reflection environment Download PDFInfo
- Publication number
- CN107064870A CN107064870A CN201710326851.9A CN201710326851A CN107064870A CN 107064870 A CN107064870 A CN 107064870A CN 201710326851 A CN201710326851 A CN 201710326851A CN 107064870 A CN107064870 A CN 107064870A
- Authority
- CN
- China
- Prior art keywords
- module
- pms
- reduce
- coal mine
- numbers
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- 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)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of underground coal mine alignment system based on towards reflection environment, traditional positioning does not consider the reflection case of signal, therefore the present invention proposes the polygon localization method based on reaching time-difference, the system binding time synchronization module effectively solves the problem of underground location degree of accuracy under reflection environment is low, the present invention can effectively reduce position error, and a kind of new method is provided for the positioning of underground coal mine.
Description
Technical field
Present invention is mainly applied to the alignment system of underground coal mine, it is particularly applicable in underground coal mine receiving node and transmitting is saved
Point deposits the positioning under reflection case.
Background technology
Although there is error in polygon positioning, what the principle of polygon positioning was used in most alignment systems is very extensive
, but in traditional polygon alignment system, the overwhelming majority, which ignores between receiving node and transmitting node, has reflection,
But in a practical situation, this is inevitable situation in the presence of reflection for receiving node and transmitting node, and this is resulted in colliery
There is larger error in the positioning of underground.The problem of present invention is directed to the above, has invented one kind and has been connect in underground coal mine localizing environment
Receive the underground coal mine location algorithm that there is reflection case between node and transmitting node presence.
The content of the invention
In order to overcome underground coal mine to be positioned at the problem of error is larger.In view of in underground coal mine positioning in actual environment
Reflection is inevitable, and the present invention improves the setting accuracy that underground coal mine positioning has reflection case.
The technical solution adopted in the present invention includes：
Reduce the module of beaconing nodes number, the number for reducing PMS beaconing nodes；
The module 1 of unqualified PMS numbers is reduced, before optimal location is found, if two circles can not intersect, PMS are reduced
Number；
The module 2 of unqualified PMS numbers is reduced, underproof PMS numbers are reduced using abnormal error amount；
Time synchronized module, makes sending node synchronous, and then reduces error；
Kalman filtering module, error is further reduced for finding during optimal location, improve setting accuracy.
Compared with prior art, the beneficial effects of the invention are as follows：When signal, which exists, to be reflected, difference are reached based on the time more
Side positioning can effectively improve setting accuracy.
Brief description of the drawings
Fig. 1 is reflection case exemplary plot
Fig. 2 is potential positioning schematic diagram
Fig. 3 is two kinds of underproof PMS schematic diagrames
Fig. 4 is three side positioning principle schematic diagrames
Fig. 5 is overall processing module block diagram
Embodiment：
The present invention is further described below in conjunction with the accompanying drawings：
As shown in Figure 1：This is the example that a beaconing nodes have reflection, is r apart from beaconing nodes distanceiDistance group
Into a circle, reflected because signal is present, so may result in measurement distance and there is larger error.Wherein solid line C1 is without anti-
Situation about penetrating, dotted line C3 is that, on the symmetrical situations of plane P, C2 is actual situation.P represents the plane of reflection, works as riDistance
Air line distance more than beaconing nodes to plane can just form reflection.I.e.
ri>di
Wherein di represents beaconing nodes to the air line distance of plane.
Reduce the module of beaconing nodes number：
When the reflection that there is signal when (only consider primary event), PMS number will be increased, it is assumed that PSSi0 represents
Measurement distance when not reflecting, PSSi jIndicate measurement distance when reflection.Theory analysis, at least needs B1, B2, B3
Three beaconing nodes could be positioned, as shown in figure 3, B3 only has PSS3 0, B1 expression PSSs corresponding with B2 presence reflections1 0、PSS1 1、
PSS2 0、PSS2 1.Because B1, B2 can run into the situation of reflection receiving signal, B3 is without there is situation about reflecting.So only
There is the A in Fig. 2 to be only correct position fixing process, and then improve accuracy and reduce workload.
Reduce the module 1 of unqualified PMS numbers：
Theoretically analysis is understood, if a potential solution space (PSS) in PMS can not be intersected, that
We can be concluded that PSS is underproof certainly, and PSS must be abandoned when following either condition is met.Such as Fig. 3 institutes
Show
D>R1+R2+2ERRMAX
R1-ERRMAX>D+R2+ERRMAX
Wherein D represents the actual range between receiving node and transmitting node, R1And R2Represent two round radiuses, wherein R1
Represent the radius compared with great circle.
Reduce the module 2 of unqualified PMS numbers：
When there is abnormal worst error in measurement, measured value be substantially it is invalid,Have been presented for error amount.It is bright when Positioning estimation error is significantly greater than worst error value
It is aobvious to give up.
Kalman filtering module：
The polygon positioning principle that measurement distance is used in traditional reaching time-difference (TDOA) method, as shown in figure 4, utilizing
Two kinds of signals be radiofrequency signal and ultrasonic signal respectively, because radio signal transmission speed is 30km/s, ultrasonic signal
Transmission rate be 340m/s, therefore the trickle time difference, to also result in error larger, and in order to reduce error, one is added herein
Individual time synchronized module reduces error.
Workload can be reduced by above method and accuracy is improved, on this basis with the method for Kalman filtering,
Further reduce position error by finding PMS based on the polygon localization method of Kalman filtering.
The process of Kalman filtering is as follows：
Predict destination node location information；
All measured values of amendment；
Find optimal solution；
Said process is repeated, optimal solution is found.
Claims (2)
1. a kind of underground coal mine alignment system towards under reflection environment, including：Reduce the module of beaconing nodes number；Reduce not
The module 1 of qualified PMS numbers；Reduce the module 2 of unqualified PMS numbers；Time synchronized module；Kalman filtering module.
2. a kind of underground coal mine alignment system according to claim 1, it is characterised in that：Reduce the mould of beaconing nodes number
Block, the number for reducing PMS beaconing nodes；The module 1 of unqualified PMS numbers is reduced, before optimal location is found, if two circles
It can not intersect, then reduce PMS numbers；The module 2 of unqualified PMS numbers is reduced, is not conformed to using abnormal error amount to reduce
The PMS numbers of lattice；Time synchronized module, makes sending node synchronous, and then reduces error；Kalman filtering module, for finding
Further reduce error during optimal location, improve setting accuracy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710326851.9A CN107064870A (en) | 2017-05-10 | 2017-05-10 | Based on the underground coal mine location algorithm research under reflection environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710326851.9A CN107064870A (en) | 2017-05-10 | 2017-05-10 | Based on the underground coal mine location algorithm research under reflection environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107064870A true CN107064870A (en) | 2017-08-18 |
Family
ID=59596830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710326851.9A Pending CN107064870A (en) | 2017-05-10 | 2017-05-10 | Based on the underground coal mine location algorithm research under reflection environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107064870A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111911232A (en) * | 2020-06-30 | 2020-11-10 | 北方民族大学 | Intelligent management system for coal mine safety production |
-
2017
- 2017-05-10 CN CN201710326851.9A patent/CN107064870A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111911232A (en) * | 2020-06-30 | 2020-11-10 | 北方民族大学 | Intelligent management system for coal mine safety production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11035941B2 (en) | UWB high-precision positioning system, positioning method and apparatus, and computer readable medium | |
| JP6709330B2 (en) | Positioning method, device and computer storage medium | |
| US10732254B2 (en) | Channel-based positioning device, channel-based positioning system and channel-based positioning method | |
| WO2018152899A1 (en) | Safe and reliable method, device, and system for real-time speed measurement and continuous positioning | |
| CN106714300A (en) | UWB and ZigBee integrated precise positioning system and operating method thereof | |
| WO2018218680A1 (en) | Obstacle detection method and device | |
| CN105589797A (en) | Method for synchronous data time delay detection between master database and slave database | |
| CN105156905A (en) | Leakage monitoring system, method and device for pipeline and server | |
| WO2006082520A3 (en) | A system and method for monitoring and surveying movements of the terrain, large infrastructures and civil building works in general, based upon the signals transmitted by the gps navigation satellite system | |
| WO2008063946A3 (en) | Method and system for automatically estimating the spatial positions of cameras in a camera network | |
| CN103024897B (en) | Wireless sensor network environment adaptive ring overlapped positioning algorithm based on received signal strength indicator (RSSI) | |
| US20200003891A1 (en) | Method and apparatus for determining a position of a terminal | |
| CN107064870A (en) | Based on the underground coal mine location algorithm research under reflection environment | |
| CN207036120U (en) | A kind of alignment system based on ultra wide band positioning and inertial navigation technology | |
| CN105376848A (en) | Method for continuously positioning workers and equipment in an underground mine in a highly precise manner | |
| CN102883272A (en) | RFID technology-based displacement sensing positioning system and positioning method thereof | |
| CN103033793A (en) | Positioning method and positioning system | |
| CN110596640B (en) | One-dimensional positioning system and method based on single-base-station double-tag ranging | |
| CN104930991A (en) | Displacement monitoring method based on carrier wave phase and displacement monitoring system | |
| CN104375413A (en) | Time synchronization system and method based on GPS/BD dual-mode time service | |
| CN110824422A (en) | High-precision indoor positioning device positioning method | |
| CN203982361U (en) | A kind of multiple serial communication proving installation | |
| CN115348539B (en) | Underground communication and positioning integrated system based on 5G+ | |
| KR102359205B1 (en) | TDoA based global positioning system | |
| CN204680036U (en) | A kind of radio frequency ID distance measuring structure based on variable power |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170818 |