CN108445448A - A kind of Zigbee difference Precision Orientation Algorithms based on subsurface environment - Google Patents
A kind of Zigbee difference Precision Orientation Algorithms based on subsurface environment Download PDFInfo
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- CN108445448A CN108445448A CN201810247104.0A CN201810247104A CN108445448A CN 108445448 A CN108445448 A CN 108445448A CN 201810247104 A CN201810247104 A CN 201810247104A CN 108445448 A CN108445448 A CN 108445448A
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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
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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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)
Abstract
A kind of ZigBee difference accurate positioning methods based on subsurface environment, belong to equipment telemonitoring and management domain, its outstanding feature is that this system carries out down-hole miner mobile node positioning using difference Precision Orientation Algorithm, its principle is to carry out three side positioning to mobile node by reference to node, and it introduces difference variable in three side position fixing process to be modified, there is error to eliminate the equipment of Zigbee mobile nodes, reaches to down-hole miner solid management, ensure safe effect.
Description
Technical field
The invention belongs to equipment telemonitoring and management domain, outstanding feature is that this system is accurately positioned calculation using difference
Method carry out down-hole miner mobile node positioning, principle be by reference to node to mobile node carry out three side positioning, and
Difference variable is introduced in three side position fixing process to be modified, and is had error to eliminate the equipment of Zigbee mobile nodes, is reached
To down-hole miner solid management, safe effect is ensured.
Background technology
The drawbacks of frequently exposing current Colliery Safety Supervise System of mine accident：Wired communication mode flexibility is poor,
Wiring is inconvenient, of high cost, and spreadability is insufficient, INFORMATION OF INCOMPLETE, and cannot provide subsurface environment information and staff in time
Location information etc., once accident occurs, it is difficult to be unfolded to rescue.Traditional downhole positioning system tends not to provide accurate underground position
Confidence ceases, and therefore, the situation once underground is caused danger can not effectively dredge down-hole miner and can not be by underground feelings
Condition is timely feedbacked to administrative staff in mine, cause the accident discovery and processing it is slow.Therefore, the maintenance cost that we study, base
It is of great significance in the Zigbee difference Precision Orientation Algorithms of subsurface environment.
Invention content
In underground mounting arrangements reference mode, the Zigbee mobile nodes being integrated on miner's safety helmet can carry out in real time
Difference is accurately positioned, and administrative staff in mine is made to grasp the location information of all miners.
A kind of ZigBee difference accurate positioning methods based on subsurface environment include at least following steps：
Step 1：In underground, reference mode is set；
Step 2：Choose the corresponding distance Curve of scene；
Step 3：Judge whether the signal received is more than or equal to 3；
If being equal to 3, using three side location algorithms, Difference Calculation amendment is carried out, obtains mobile node coordinate；
If it is greater than 3, then strongest 4 reference modes are chosen, totally 4 kinds of combinations, 4 are obtained using three side location algorithms
A coordinate carries out Difference Calculation amendment, takes the center of gravity of 4 coordinates, obtains mobile node coordinate；
If it is less than 3, then rejudge.
Three side location algorithm is
The ranging of signal strength is carried out using RSSI, is selected with drag：
RSSI=- (10nlog10d+A) (1)
Wherein, radio frequency parameter A is defined as receiving signal strength at the transmitting node 1m indicated with dBm；N is signal
Transmission, it is related with the transmission environment of signal；D is the distance away from transmitting node.
Distance is converted into position coordinates according to three side location algorithms, completes Differential positioning；Formula is as follows：
If equation (3) has solution, judge that the distance of wherein which point-to-point is close, chooses the point as point D；
If equation (4) has solution, judge that the distance of wherein which point-to-point is close, chooses the point as point F；
If equation (5) has solution, judge that the distance of wherein which point-to-point is close, chooses the point as point E；
The center of gravity of triangle DEF is exactly the position of our the required mobile nodes positioned；
If wherein equation (3) connects the two round hearts, and the center of 2 points of circle intersection is exactly point D without solution；
For equation (4), (5) without solution in the case of, same way can be used to obtain the coordinate of point E, F.
The RSSI value has saltus step random error in practical applications, it is therefore desirable to optimize, draw to above-mentioned model
Enter a variable σ as RSSI jump errors, then (1) formula becomes
RSSI=- (10nlog10d+A)+σ (2)
Then σ can be made the difference by the mobile node of two same positions on miners' cap and be disappeared, that is, be done
First difference positions calculations can effectively solve the problems, such as RSSI jump errors, provide accurate ranging information.
Beneficial effects of the present invention：It is by Zigbee network communication and difference placement technology so that ring under mine
Border and miner position obtain effective monitoring, and when emergency episode occurs, and improve the speed and efficiency of disposition, reduce loss.
Description of the drawings
The present invention will be further described below with reference to the drawings：
The present invention solve its technical problem the technical solution adopted is that
First in underground mounting arrangements reference mode, and according to corresponding subsurface environment field survey distance Curve.
The Zigbee mobile nodes being integrated on miner's safety helmet can send positioning request signal to surrounding in real time
Zigbee reference modes, and according to the return RSSI value of reference mode, calculate the location of its.It carries via other references
Node and gateway upload to host computer and show.When mine disaster occurs, the node of Zigbee mobile node blackouts is basic
It can be assumed that cave in herein, signal is shielded.At this moment, search-and-rescue work, pole can be unfolded by miner position at the last moment
The big specific aim and efficiency for improving search and rescue.
It is the basic demand of positioning that Zigbee location algorithms, which use the difference Precision Orientation Algorithm of independent research, ranging,.Only
There are acquisition 3 or the distance above with reference to node, can determine the position of mobile node.The ranging of signal strength can be with
The mode of RSSI.Using RSSI rangings, can select with drag：
RSSI=- (10nlog10d+A) (1)
Wherein, radio frequency parameter A is defined as receiving signal strength at the transmitting node 1m indicated with dBm；N passes for signal
Defeated constant, it is related with the transmission environment of signal；D is the distance away from transmitting node.
But in actual application, RSSI value has saltus step random error, it is therefore desirable to be carried out to above-mentioned model excellent
Change, we introduce a variable σ as RSSI jump errors, then (1) formula becomes
RSSI=- (10nlog10d+A)+σ (2)
Then σ can be made the difference by the mobile node of two same positions on miners' cap and be disappeared, that is, be done
First difference positions calculations can effectively solve the problems, such as RSSI jump errors, provide accurate ranging information.Then according to three
Distance is converted into position coordinates by side location algorithm, completes Differential positioning.3 progress difference are accurately positioned with reference to the accompanying drawings, and formula is such as
Under：
If equation (3) has solution, judge that the distance of wherein which point-to-point is close, chooses the point as point D；If equation
(4) there is solution, judge that the distance of wherein which point-to-point is close, choose the point as point F；If equation (5) has solution, it is judged
In which point-to-point distance it is close, choose the point as the center of gravity of point E, triangle DEF and be exactly the movement of positioning required for us
The position of node.If wherein equation (3) connects the two round hearts, and the center of 2 points of circle intersection is exactly point D without solution；For
In the case that equation (4), (5) are without solution, same way can be used to obtain the coordinate of point E, F.Therefore, whether no matter justifying intersection,
We can obtain 3 points D, E, F, and obtain the coordinate of mobile node by seeking center of gravity.
Environmental information by the gas concentration sensor installed on Zigbee reference modes, carbonomonoxide concentration sensor,
Air pressure probe and Temperature Humidity Sensor obtain, and via the Zigbee relay nodes in wall, are transmitted to
In Zigbee gateway nodes, then Managing system of above position machine uploaded to by gateway node, monitors in real time and show.When a certain environment
When the threshold value of warning that data are previously set beyond administrative staff, monitoring software can send out alarm, and warning administrative staff confirm in time
Warning information eliminates safe hidden trouble.
Routing node is for being electrically integrated alternating current and rechargeable battery powered combined power supply way.Under normal circumstances, alternating current is via change
Depressor is transformed into 9V alternating currents, and relatively stable DC voltage is obtained by halfwave rectifier filter circuit, is input to voltage stabilizing later
In chip, stable 3.3V DC power supplies are obtained.Battery uses 7.2V batteries common on the market, and after rectifying and wave-filtering
DC voltage need through power selection circuit, the i.e. anti-reverse structure choice power supply of diode.When alternating current open circuit,
Battery powered can be automatically switched to, the consumption of battery is greatly reduced in this way, reduces maintenance cost.
Administrative staff can be arranged by Zigbee network when mine disaster occurs, in mine is provided in underground work personnel
Safety cap on mobile node send out alarm signal, to indicate miner from the path of safety escape.And cave in accident
When, reference mode can be there is a situation where interrupting, and administrative staff can judge to set out from the node location of interruption in such mine
Make trouble thus approximate location, facilitate subsequent rescue work expansion.
The beneficial effects of the invention are as follows pass through Zigbee network communication and difference placement technology so that mine subsurface environment
Effective monitoring is obtained with miner position, and when emergency episode occurs, improve the speed and efficiency of disposition, reduces loss.
Description of the drawings
The present invention will be further described below with reference to the drawings：
Fig. 1 is the system entire block diagram of the present invention.Terminal is blind node, that is, is integrated on miner's safety helmet
Zigbee terminals.Router is reference mode, that is, the Zigbee module being mounted in wall.Coordinator is gateway,
The Zigbee root nodes be responsible for Zigbee network and communicated with host computer.Computer is for system administration
Position machine.
In the embodiment shown in fig. 1, Zigbee mobile nodes send out location information, the reference mode in underworkings
Location information is passed into host computer after positioning, realizes positioning in real time.When facing a danger, host computer inquires signal interruption automatically
Position proceeds by search and rescue.
Fig. 2 is location algorithm flow chart of the present invention.Reference mode coordinate, selection environment curve are set first.Judge to receive
Whether it is more than 3 to signal, such as larger than three, chooses strongest 4 signals of signal and carry out Differential positioning.Such as it is equal to 3, directly
Tap into row Differential positioning.It such as less than 3, repeats to obtain signal, until meeting more than or equal to 3 signals.
Fig. 3 is Zigbee difference Precision Orientation Algorithm schematic diagrames, is 4 kinds of positioning scenarios, passes through each reference mode
RSSI values carry out difference and are accurately positioned, and in practical operation, first have to judge have several intersections, the method for use among 3 circles
Can be that 3 round equations simultaneous two-by-two is judged either with or without solution.Then according to solution the case where, positions of mobile nodes is determined.
Fig. 4 is Zigbee mobile node node outside drawings.4-1 is battery case, and two section 1.5V batteries of inside installation, are blind
Node is powered.4-2 is Zigbee communication antenna.4-3 is the control circuit being integrated at the top of safety cap.4-4 is low-power
OLED display screen.4-5 is the special searchlight in underground.
Fig. 5 is the functional block diagram of Zigbee mobile nodes.5-1 is OLED display screen, and 5-2 is Zigbee blind node micro-controls
Device processed, 5-3 are battery powered circuits, and 5-4 is the Zigbee routing node microcontrollers communicated with this node, and 5-5 is that underground is different
Reason condition warning device.
Fig. 6 is the functional block diagram of Zigbee routing nodes.6-1 is warning circuit, including alarm alarm bell and arrow indicator light.
6-2 is gas concentration sensor, carbonomonoxide concentration sensor, air pressure probe and Temperature Humidity Sensor.6-3 is knot
Close the power management module of battery and alternating current.6-4 is Zigbee reference mode microcontrollers.
In the embodiment shown in fig. 6, Zigbee reference modes receive and transmitting module collects underground moving node hair
The position signal sent determines shifting by multiple reference modes by RSSI ranging model return values and three side Differential positioning algorithms
The specific exact position of dynamic node, then it is transferred to ground step by step, it transmits data in host computer.Underground is caused danger situation
When, the position of the host computer meeting last signal interruption of real-time report, guiding rescue worker searches and rescues, and alarm can also send out alarm,
Warning related personnel leaves as early as possible.Meanwhile mobile node further include gas density, it is carbonomonoxide concentration, air pressure, warm and humid
Four sensors are spent, the environment of underground are monitored in real time, to ensure the safety of underground employee.
Claims (3)
1. a kind of ZigBee difference accurate positioning methods based on subsurface environment, which is characterized in that include at least following steps：
Step 1：In underground, reference mode is set；
Step 2：Choose the corresponding distance Curve of scene；
Step 3：Judge whether the signal received is more than or equal to 3；
If being equal to 3, using three side location algorithms, Difference Calculation amendment is carried out, obtains mobile node coordinate；
If it is greater than 3, then strongest 4 reference modes are chosen, totally 4 kinds of combinations, 4 seats are obtained using three side location algorithms
Mark carries out Difference Calculation amendment, takes the center of gravity of 4 coordinates, obtains mobile node coordinate；
If it is less than 3, then rejudge.
2. a kind of ZigBee difference accurate positioning methods based on subsurface environment according to claim 1, it is characterised in that：
Three side location algorithm is
The ranging of signal strength is carried out using RSSI, is selected with drag：
RSSI=- (10nlog10d+A) (1)
Wherein, radio frequency parameter A is defined as receiving signal strength at the transmitting node 1m indicated with dBm；N is that signal transmission is normal
Number, it is related with the transmission environment of signal；D is the distance away from transmitting node.
Distance is converted into position coordinates according to three side location algorithms, completes Differential positioning；Formula is as follows：
If equation (3) has solution, judge that the distance of wherein which point-to-point is close, chooses the point as point D；
If equation (4) has solution, judge that the distance of wherein which point-to-point is close, chooses the point as point F；
If equation (5) has solution, judge that the distance of wherein which point-to-point is close, chooses the point as point E；
The center of gravity of triangle DEF is exactly the position of our the required mobile nodes positioned；
If wherein equation (3) connects the two round hearts, and the center of 2 points of circle intersection is exactly point D without solution；
For equation (4), (5) without solution in the case of, same way can be used to obtain the coordinate of point E, F.
3. a kind of ZigBee difference accurate positioning methods based on subsurface environment according to claim 2, it is characterised in that：
The RSSI value has saltus step random error in practical applications, it is therefore desirable to be optimized to above-mentioned model, introduce a change
σ is measured as RSSI jump errors, then (1) formula becomes
RSSI=- (10nlog10d+A)+σ (2)
Then σ can be made the difference by the mobile node of two same positions on miners' cap and be disappeared, that is, done primary
Differential positioning operation can effectively solve the problems, such as RSSI jump errors, provide accurate ranging information.
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| CN201810247104.0A CN108445448A (en) | 2018-03-23 | 2018-03-23 | A kind of Zigbee difference Precision Orientation Algorithms based on subsurface environment |
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| CN201810247104.0A CN108445448A (en) | 2018-03-23 | 2018-03-23 | A kind of Zigbee difference Precision Orientation Algorithms based on subsurface environment |
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Application publication date: 20180824 |