CN107071896B - Method for positioning coal mine curved roadway target by using non-line-of-sight signal - Google Patents
Method for positioning coal mine curved roadway target by using non-line-of-sight signal Download PDFInfo
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Abstract
The existing underground coal mine positioning method is mostly provided for a linear roadway, and an actual roadway is often bent, so that the application of the existing positioning method has certain limitation. Aiming at the problem, the invention provides a method for realizing coal mine curved roadway target positioning by using non-line-of-sight signals, which fully utilizes the position information of a roadway, and firstly reconstructs an NLOS (non line of sight) ranging value of the curved roadway for the first time to obtain an estimated value of the linear distance between a moving target and a corresponding base station; secondly, projecting the solution point of the observation equation to a roadway space through second reconstruction to obtain a projection point with higher precision; and finally, designing a Kalman filter to further optimize the positioning precision of the projection point, thereby realizing the positioning under a more general curve roadway. The invention effectively excavates NLOS ranging information, is suitable for more complex mine environments, and provides a reliable positioning method for development and application of a rapid and effective emergency rescue system of a coal mine.
Description
Technical Field
The invention relates to a method for accurately positioning underground coal mines, in particular to a method for accurately positioning in a curved roadway by unifying non-line-of-sight and line-of-sight signal scenes and simultaneously obtaining distance measurement values of a mobile node and 2 fixed base stations. The method belongs to the technical field of radio positioning, and is suitable for development of underground precise positioning systems and search and rescue systems of coal mines.
Background
The development of wireless positioning technology makes the Time of Arrival (TOA) based positioning method with higher positioning accuracy gradually become the mainstream technology of the mine personnel positioning system. Because the underground space is narrow, the electromagnetic environment is severe, and the multipath effect is severe, the measured arrival time is influenced by a Non Line of Sight (NLOS) signal, so that the problem of inhibiting the NLOS error is a key problem to be solved for optimizing the positioning accuracy of the mine personnel positioning system. Almost all the mature location tracking algorithms currently minimize the impact of NLOS signals on location as much as possible. However, the mine space is narrow, the shielding phenomenon is a high-probability event, an actual roadway is often bent, and NLOS signals are completely abandoned to be unfavorable for underground positioning. Therefore, useful information contained in the NLOS signal is excavated and reasonably utilized, the NLOS scene and the LOS scene are unified under the mine environment, the positioning method is popularized and applied to a more general curve roadway, and the method has important significance for development of a coal mine underground search and rescue system and a positioning system undoubtedly.
Disclosure of Invention
In order to effectively inhibit the influence of an underground coal mine NLOS signal on positioning accuracy and fully excavate NLOS signal information to realize positioning of a curved roadway, the invention provides a method for realizing coal mine curved roadway target positioning by using a non-line-of-sight signal. The method considers that an actual mine roadway is not completely linear, and an NLOS phenomenon must exist between a mobile node and a positioning base station when an underground positioning system is in a curved roadway, so that the method has the solution thought that an NLOS signal and an LOS signal are processed in a unified mode, and the positioning accuracy under the curved roadway is guaranteed under the condition that NLOS errors are fully restrained.
In order to achieve the purpose, the technical scheme of the invention is as follows: a method for realizing coal mine curved roadway target positioning by using non-line-of-sight signals, wherein the coal mine curved roadway is composed of a section of circular curve type roadway part and two sections of linear roadways which are respectively connected at two ends of the circular curve type roadway part, 2 stations of ranging planes are adopted for positioning, 2 positioning base stations are arranged in a non-line-of-sight manner and are respectively arranged in two sections of linear roadway areas, and the length of the roadway between the two is smaller than the maximum distance which can be transmitted by a used ranging radio in the roadway; establishing a positioning plane coordinate system by taking a connecting line of the two base stations as an x axis and taking the roadway width direction as a y axis; obtaining a pseudo range between the moving target and a base station through TOA ranging, namely a range value with a measurement error; the non-line-of-sight signal refers to a pseudo range measured by the mobile node and one base station in a non-line-of-sight state, and the pseudo range measured by the other base station in the line-of-sight state jointly provide ranging information for positioning of the mobile target in a curved roadway.
The method for positioning the coal mine curved roadway target by using the non-line-of-sight signal specifically comprises the following steps:
(1) setting 5 mark points in the positioned curved roadway section and determining the roadway length Ls between two base stations; the 5 marking points are specifically arranged at the following positions of the curved roadway: 2 base stations are located, and the positions of two ends of the arc section and the position of the middle point of the arc section are located;
(2) obtaining pseudo ranges of the moving target rP to 2 base stations through TOA measurement;
(3) reconstructing the non-line-of-sight pseudo range to obtain a linear pseudo range of the moving target rP and the base station in the non-line-of-sight state;
(4) establishing a measurement equation on a positioning coordinate system:
i is 1, 2; wherein d isiIs the linear pseudo range of the moving object and the ith base station, (x)i,yi) The position coordinates of the ith positioning base station are (x, y) the position coordinates of the moving target rP; solving the measurement equation by using a Taylor series iteration method to obtain a position coordinate mP (x, y) of a solution point;
(5) performing fine reconstruction on the position mP (x, y) of the solution point to obtain an observation point R2(x, y) after the fine reconstruction;
(6) designing a Kalman filter, inputting coordinates of an observation point R2(x, y) as an observation value of the Kalman filter, and taking an output value of the Kalman filter after filtering the coordinates of the observation point as an estimation of a real value of the moving target in the curved roadway.
In the step (3), reconstructing the non-line-of-sight pseudoranges comprises the following steps:
(1) calculating a pseudo-range deviation interval delta epsilon at two ends of the moving target rP by using the delta epsilon as L1+ d2-Ls, wherein L1 represents a pseudo-range value at one end of NLOS, and d2 represents a pseudo-range value at one end of LOS;
(2) simultaneously setting the mark points, and obtaining a midpoint position R1 of the deviation interval delta epsilon;
(3) the base station distance d1 between R1 and NLOS side was obtained, and d1 was used as the reconstructed value of L1.
In the step (5), the fine reconstruction of the solution point position mP (x, y) includes the following steps:
(1) simultaneously setting the mark points, and determining a line segment where the solution point mP (x, y) is located, wherein the line segment is determined by two adjacent mark points in the set mark points;
(2) projecting the mP point to the determined line segment by adopting a linear interpolation method;
(3) the obtained projection point R2 is used as a fine reconstruction point of the solution point mP.
The invention has the following beneficial effects in 2 points:
1. has high cost performance. The method fully utilizes the roadway position information under the condition of only adopting two base stations and having no redundant positioning information, can obtain ideal positioning precision indexes, and is suitable for underground coal mine positioning systems and search and rescue systems.
2. The NLOS signal is innovatively used for target positioning and has larger universality. The method fully excavates the ranging information in the NLOS signal, remarkably reduces the influence of positioning accuracy reduction caused by the NLOS signal, is uniformly applied to roadway target positioning together with the LOS signal, can realize the positioning of a target under a more general curved roadway, and has higher universality compared with other methods. A reliable technical support is provided for implementing quick and effective emergency rescue of coal mines in complex environments.
Drawings
Fig. 1 is a schematic view of a scenario of curved roadway positioning of the present invention.
Fig. 2 is a flow chart of the positioning method of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a scene schematic diagram of a coal mine curved roadway target positioning method, 2 base stations TOA are adopted for ranging and positioning, positioning base stations B1 and B2 are arranged at two ends of a curved roadway, a connecting line of two base stations B1 and B2 is taken as an x axis, a roadway width direction is taken as a y axis, and a B1 base station is taken as an origin, and a positioning plane coordinate system is established; determining the length Ls of the roadway between B1 and B2, ensuring that the Ls does not exceed the effective propagation distance of the adopted ranging electromagnetic wave signals, and calibrating 5 mark points such as M1, M2 … M5 and the like in the roadway, namely B1, the left end point of the arc, the center point of the arc, the right end point of the arc and B2 in sequence. Now, it is necessary to locate the moving target rP, and L1 and d2 are distances from the target node rP to the base stations B1 and B2 obtained through TOA measurement, and since there is no direct path between the target node rP and the base station B1, the measured distance is actually the length of the roadway from rP to the base station B1, and is not the straight-line distance between the two, and is denoted by L1 here. In both NLOS and LOS states, the measured range of the TOA is in error, not an accurate range value, and is therefore referred to as a pseudorange. Referring to fig. 2, the following steps are performed to locate the moving target rP in the following steps:
(1) reconstructing the non-line-of-sight pseudorange L1 to obtain a linear pseudorange of the moving target rP and the base station in the non-line-of-sight state, which comprises the following steps:
a. obtaining a deviation interval delta epsilon of two ends of the rP from the delta epsilon as L1+ d 2-Ls;
b. determining that the middle point position of the delta epsilon falls between the mark points M4 and M5, and simultaneously solving the coordinate of the middle point position R1 of the deviation interval delta epsilon through the straight lines determined by the mark points M4 and M5;
c. obtaining a linear distance d1 between R1 and a B1 base station, and taking d1 as a reconstruction value of L1;
(2) and establishing an observation equation of the position relation between the rP and the positioning base station and solving.
Wherein (x1, y1) (x2, y2) are the coordinates of B1 and B2 respectively, and (x, y) are the coordinates of the moving target point rP, the equations of simultaneous ① and ② can solve (x, y), and there are various methods for solving ① and ② nonlinear equations.
(3) The position of the solution point mP (x, y) is refined. The fine reconstitution is carried out according to the following steps:
a. simultaneously setting the mark points, comparing the x value of the mP point with each mark point, and determining that the section where the solution point mP (x, y) is positioned is the section marked by the line segment M4M 5;
b. the linear equation of the line segment M4M5 can be obtained through M4M5, and the mP point is projected to the line segment M4M5 by adopting a linear interpolation method;
c. the obtained projection point R2 is used as a fine reconstruction point of the solution point mP;
(4) and the Kalman filtering carries out filtering optimization on the R2, so that the positioning precision is further improved, and the positioning of the rP is completed.
The Kalman filtering state equation adopts a first-order kinematics equation shown as the following formula to describe the random motion state of the roadway moving target:
S(k)＝Φk/k-1S(k-1)+GW(k-1)
wherein the content of the first and second substances,
indicating displacement, velocity, in the x-direction and y-direction. State transition array
Where T denotes the sampling time of the kalman filter.
Driving the array for system noise, the system noise sequence being
The observation equation of kalman filtering is: z (k) ═ hs (k) + q (k), where the matrix is observed
Q (k) is an observed noise variance matrix. Is provided with
The input observation value of Kalman filtering is the coordinate value of R2 point, the filtering output is the unbiased estimation of rP, and the precision of the R2 point estimation value is further optimized. Thereby completing the positioning of rP.
When the point to be located is located near the base station B1, it is in the non-line-of-sight state with the B2 side, which is completely consistent with the non-line-of-sight case of B1 listed in the above example, and therefore, it is a clear fact and will not be described herein again.
An actual experiment is given below. Mean curvature is used here
The mean error of a pseudo range d1 is 5.1872, the mean error of a pseudo range d2 is 5.183m, and the root mean square error of positioning is 0.891 m.
Claims (3)
1. A method for realizing coal mine curved roadway target positioning by using non-line-of-sight signals is characterized in that the coal mine curved roadway is composed of a section of circular curve type roadway part and two sections of linear roadways which are respectively connected at two ends of the circular curve type roadway part, 2 stations of ranging planes are adopted for positioning, 2 positioning base stations are arranged in a non-line-of-sight mode and are respectively arranged in two sections of linear roadway areas, and the length of the roadway between the two is smaller than the maximum distance which can be transmitted by a used ranging radio in the roadway; establishing a positioning plane coordinate system by taking a connecting line of the two base stations as an x axis and taking the roadway width direction as a y axis; obtaining a pseudo range between the moving target and a base station through TOA ranging, namely a range value with a measurement error; the non-line-of-sight signal is a pseudo range measured when the moving target and one of the base stations are in a non-line-of-sight state; the method for positioning the coal mine curved roadway target by using the non-line-of-sight signal specifically comprises the following steps:
(1) setting 5 mark points in the positioned roadway section and determining the roadway length Ls between two base stations; the 5 marking points are specifically arranged at the following positions of the curved roadway: 2 base stations are located, and the positions of two ends of the arc section and the position of the middle point of the arc section are located;
(2) obtaining pseudo ranges of the moving target rP to 2 base stations through TOA measurement;
(3) reconstructing the non-line-of-sight pseudo range to obtain a linear pseudo range of the moving target rP and the base station in the non-line-of-sight state;
(4) establishing a measurement equation on a positioning coordinate system:
i is 1, 2; wherein d isiIs the linear pseudo range of the moving object and the ith base station, (x)i,yi) The position coordinates of the ith positioning base station are (x, y) the position coordinates of the moving target rP; solving the measurement equation by using a Taylor series iteration method to obtain a position coordinate mP (x, y) of a solution point;
(5) performing fine reconstruction on the position mP (x, y) of the solution point to obtain an observation point R2(x, y) after the fine reconstruction;
(6) designing a Kalman filter, inputting coordinates of an observation point R2(x, y) as an observation value of the Kalman filter, and taking an output value of the Kalman filter after filtering the coordinates of the observation point as an estimation of a real value of the moving target in the curved roadway.
2. The method for positioning the target of the curved roadway of the coal mine by using the non-line-of-sight signal as claimed in claim 1, wherein the reconstructing the non-line-of-sight pseudorange in the step (3) comprises the following steps:
(1) calculating a pseudo-range deviation interval delta epsilon at two ends of the moving target rP by using the delta epsilon as L1+ d2-Ls, wherein L1 represents a pseudo-range value at one end of NLOS, and d2 represents a pseudo-range value at one end of LOS;
(2) simultaneously setting the mark points, and obtaining a midpoint position R1 of the deviation interval delta epsilon;
(3) the base station distance d1 between R1 and NLOS side was obtained, and d1 was used as the reconstructed value of L1.
3. The method for realizing coal mine curved roadway target positioning by using non-line-of-sight signals according to claim 2, wherein the step (5) of performing fine reconstruction on the position mP (x, y) of the solution point comprises the following steps:
(1) simultaneously setting the mark points, and determining a line segment where the solution point mP (x, y) is located, wherein the line segment is determined by two adjacent mark points in the set mark points;
(2) projecting the mP point to the determined line segment by adopting a linear interpolation method;
(3) the obtained projection point R2 is used as a fine reconstruction point of the solution point mP.
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| CN110007272A (en) * | 2019-04-19 | 2019-07-12 | 中国矿业大学(北京) | A kind of underground moving-target accurate positioning method |
| CN112367610B (en) * | 2020-10-30 | 2022-10-14 | 合肥四相至新科技有限公司 | Positioning method and system thereof |
| CN115267667B (en) * | 2022-09-28 | 2023-04-07 | 长沙迪迈数码科技股份有限公司 | Underground high-precision positioning correction method, device, equipment and storage medium |
| CN117492620B (en) * | 2024-01-03 | 2024-03-05 | 天津矿智科技有限公司 | Roadway detection method and system for mine plane engineering drawing |
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