CN109556602B - Inertial navigation method, equipment and computer readable storage medium - Google Patents
Inertial navigation method, equipment and computer readable storage medium Download PDFInfo
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention discloses an inertial navigation method, equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring first positioning data of a first miner lamp; monitoring first motion data of the first mine lamp; judging whether the first miner lamp is in an inertial navigation state or not according to the first initial positioning parameters and the first motion data; if so, generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to execute inertial navigation operation of the mine lamp in the moving process. The invention realizes a more effective mine lamp navigation scheme, so that the safety of constructors in underground operation is guaranteed.
Description
Technical Field
The present invention relates to the field of mobile communications, and in particular, to an inertial navigation method, an inertial navigation device, and a computer-readable storage medium.
Background
In the prior art, the multifunctional mine lamp has a positioning function, but when a constructor enters a mine, the positioning function cannot be normally used due to the fact that stars cannot be searched, and therefore certain potential safety hazards are brought to the constructor.
In addition, inertial navigation in the prior art is mature and is applied to various technical fields, but the technology is not fully utilized in the scene of mining area construction.
Therefore, the prior art lacks a technical solution capable of navigating in a mine.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides an inertial navigation method, which comprises the following steps:
acquiring first positioning data of a first mine lamp, wherein the first positioning data comprise a first initial positioning parameter and a first relative positioning parameter of the first mine lamp, and the first relative positioning parameter is generated by a relative position relationship between the first mine lamp and a second mine lamp;
monitoring first motion data of the first mine lamp, wherein the first motion data comprises a first horizontal displacement parameter and a first vertical displacement parameter of the first mine lamp;
judging whether the first mine lamp is in an inertial navigation state or not according to the first initial positioning parameter and the first motion data, wherein whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first horizontal displacement parameter, or whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first vertical displacement parameter;
if the first mine lamp is in the inertial navigation state, judging whether the second mine lamp is in the inertial navigation state;
if the second mine lamp is not in the inertial navigation state, acquiring second positioning data of the second mine lamp, determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter;
and generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to be used for executing inertial navigation operation of the mine lamp in the moving process.
Optionally, the acquiring the first positioning data of the first mine lamp includes:
acquiring the first initial positioning parameter according to a first positioning module of the first miner lamp;
and acquiring the relative position relation between the first miner lamp and the second miner lamp according to the first near-field communication module of the first miner lamp and the second near-field communication module of the second miner lamp so as to generate the first relative positioning parameter.
Optionally, the monitoring the first motion data of the first mine lamp includes:
acquiring geographical position information of a mining area, and monitoring the first motion data by combining the geographical position information;
and acquiring the first initial positioning parameter and the first relative positioning parameter in real time.
Optionally, the determining, according to the first initial positioning parameter and the first motion data, whether the first mine lamp is in an inertial navigation state includes:
setting an initial positioning threshold, a horizontal displacement threshold and a vertical displacement threshold by combining the geographical position information;
and judging whether the first initial positioning parameter is in the range of the initial positioning threshold value, meanwhile, judging whether the first horizontal displacement parameter is in the range of the horizontal displacement threshold value, or judging whether the first vertical displacement parameter is in the range of the vertical displacement threshold value, and if so, judging that the first mine lamp is in an inertial navigation state.
Optionally, before the generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter, the method further includes:
if the second mine lamp is in the inertial navigation state, acquiring a third mine lamp which is not in the inertial navigation state through the second mine lamp, and acquiring the first relative positioning parameter through the third mine lamp;
and determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter.
The invention also proposes an inertial navigation device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, said computer program realizing, when executed by said processor:
acquiring first positioning data of a first mine lamp, wherein the first positioning data comprise a first initial positioning parameter and a first relative positioning parameter of the first mine lamp, and the first relative positioning parameter is generated by a relative position relationship between the first mine lamp and a second mine lamp;
monitoring first motion data of the first mine lamp, wherein the first motion data comprises a first horizontal displacement parameter and a first vertical displacement parameter of the first mine lamp;
judging whether the first mine lamp is in an inertial navigation state or not according to the first initial positioning parameter and the first motion data, wherein whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first horizontal displacement parameter, or whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first vertical displacement parameter;
if the first mine lamp is in the inertial navigation state, judging whether the second mine lamp is in the inertial navigation state;
if the second mine lamp is not in the inertial navigation state, acquiring second positioning data of the second mine lamp, determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter;
and generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to be used for executing inertial navigation operation of the mine lamp in the moving process.
Optionally, the computer program further implements, when executed by the processor:
acquiring the first initial positioning parameter according to a first positioning module of the first miner lamp;
and acquiring the relative position relation between the first miner lamp and the second miner lamp according to the first near-field communication module of the first miner lamp and the second near-field communication module of the second miner lamp so as to generate the first relative positioning parameter.
Optionally, the computer program further implements, when executed by the processor:
acquiring geographical position information of a mining area, and monitoring the first motion data by combining the geographical position information;
and acquiring the first initial positioning parameter and the first relative positioning parameter in real time.
Optionally, the computer program further implements, when executed by the processor:
setting an initial positioning threshold, a horizontal displacement threshold and a vertical displacement threshold by combining the geographical position information;
judging whether the first initial positioning parameter is in the range of the initial positioning threshold value, meanwhile, judging whether the first horizontal displacement parameter is in the range of the horizontal displacement threshold value, or judging whether the first vertical displacement parameter is in the range of the vertical displacement threshold value, if so, judging that the first mine lamp is in an inertial navigation state;
if the second mine lamp is in the inertial navigation state, acquiring a third mine lamp which is not in the inertial navigation state through the second mine lamp, and acquiring the first relative positioning parameter through the third mine lamp;
and determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter.
The invention also proposes a computer-readable storage medium having stored thereon an inertial navigation program which, when executed by a processor, implements the steps of the inertial navigation method as defined in any one of the preceding claims.
Implementing the inertial navigation method, the device and the computer readable storage medium of the invention, the first positioning data of the first miner lamp is obtained; monitoring first motion data of the first mine lamp; judging whether the first miner lamp is in an inertial navigation state or not according to the first initial positioning parameters and the first motion data; if so, generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to execute inertial navigation operation of the mine lamp in the moving process. The invention realizes a more effective mine lamp navigation scheme, so that the safety of constructors in underground operation is guaranteed.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a first embodiment of an inertial navigation method of the present invention;
FIG. 2 is a flow chart of a first embodiment of the inertial navigation method of the present invention;
FIG. 3 is a flow chart of a first embodiment of the inertial navigation method of the present invention;
FIG. 4 is a flow chart of a first embodiment of the inertial navigation method of the present invention;
FIG. 5 is a flow chart of a first embodiment of the inertial navigation method of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
In the following description, a miner lamp will be exemplified, and it will be understood by those skilled in the art that the configuration according to the embodiment of the present invention can be applied to a fixed type terminal in addition to elements particularly used for the purpose of a miner lamp.
Example one
FIG. 3 is a flow chart of a first embodiment of the inertial navigation method of the present invention. An inertial navigation method, the method comprising:
s1, acquiring first positioning data of a first mine lamp, wherein the first positioning data comprise a first initial positioning parameter and a first relative positioning parameter of the first mine lamp, and the first relative positioning parameter is generated by a relative position relationship between the first mine lamp and a second mine lamp;
s2, monitoring first motion data of the first mine lamp, wherein the first motion data comprise a first horizontal displacement parameter and a first vertical displacement parameter of the first mine lamp;
s3, judging whether the first mine lamp is in an inertial navigation state or not according to the first initial positioning parameter and the first motion data, wherein whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first horizontal displacement parameter, or whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first vertical displacement parameter;
s4, if the first miner lamp is in the inertial navigation state, judging whether the second miner lamp is in the inertial navigation state;
s5, if the second miner lamp is not in the inertial navigation state, acquiring second positioning data of the second miner lamp, determining a first inertial navigation parameter of the first miner lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first miner lamp according to the first motion data and the first initial positioning parameter;
and generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to be used for executing inertial navigation operation of the mine lamp in the moving process.
Specifically, when a constructor wears the miner lamp applying the embodiment to prepare for downhole operation, the first positioning data of the miner lamp is obtained in real time, and in an actual operation scene, construction projects are usually conducted by a plurality of constructors in batches, so that the scheme jointly utilizes the miner lamps worn by the constructors to conduct inertial navigation operation.
Optionally, the first mine lamp is worn by a constructor who goes into the well next to the previous batch, and the second mine lamp is worn by a constructor who goes into the well next to the next batch;
optionally, the first mine lamp is worn by a constructor who goes down the well before the previous lot of sub-optimal mine lamps, and the function of the second mine lamp can be performed by other devices arranged in the well instead, for example, other fixed mine lamps in the well;
optionally, a first initial positioning parameter and a first relative positioning parameter of the first mine lamp are obtained by obtaining first positioning data of the first mine lamp, and the parameter data are cached in real time;
optionally, as the constructor wearing the first mine lamp gradually goes deep into the well, the first initial positioning parameter and the first relative positioning parameter of the constructor are changed, so that the scheme monitors the first motion data of the first mine lamp in real time;
optionally, the first motion data includes a first horizontal displacement parameter and a first vertical displacement parameter of the first mine lamp, and it can be understood that as the constructor wearing the first mine lamp gradually goes deep into the well, the first horizontal displacement parameter, and/or the first vertical displacement parameter may also change accordingly;
optionally, it is determined whether the first mine lamp is in the inertial navigation state according to the first initial positioning parameter and the first motion data, and specifically, it is determined whether the first mine lamp is in the inertial navigation state according to the first initial positioning parameter and the first horizontal displacement parameter.
The beneficial effect of the embodiment is that the first positioning data of the first miner lamp is obtained; monitoring first motion data of the first mine lamp; judging whether the first miner lamp is in an inertial navigation state or not according to the first initial positioning parameters and the first motion data; if so, generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to execute inertial navigation operation of the mine lamp in the moving process. The mine lamp navigation scheme is more effective, and the safety of constructors in underground operation is guaranteed.
Example two
Based on the above embodiment, optionally, the acquiring the first positioning data of the first mine lamp includes:
s11, acquiring the first initial positioning parameter according to the first positioning module of the first miner lamp;
s12, obtaining the relative position relation of the first miner lamp and the second miner lamp according to the first near-field communication module of the first miner lamp and the second near-field communication module of the second miner lamp, and generating the first relative positioning parameter.
Optionally, the second mine lamp may be a mine lamp worn by a subsequent constructor, or a mine lamp fixed in the hoistway;
optionally, the relative position relationship between the first and second mine lamps is obtained through near field communication modules of the first and second mine lamps, where the near field communication module includes a bluetooth module, a Wi fi module, and other hardware modules having a near field communication function.
The method has the advantages that the near field communication modules of the multiple devices are added, so that the inertial navigation scheme is suitable for complex underground scenes.
EXAMPLE III
Based on the foregoing embodiment, optionally, the monitoring the first motion data of the first mine lamp includes:
s21, acquiring geographical position information of a mining area, and monitoring the first motion data by combining the geographical position information;
and S22, acquiring the first initial positioning parameter and the first relative positioning parameter in real time.
Optionally, when the constructor wears the miner lamp to start the navigation function, acquiring the geographical position information of the mining area;
optionally, the geographical location information of the mining area is prestored in the cache device of the mining lamp.
The mining lamp navigation method has the beneficial effects that the navigation operation of the mining lamp is more accurate by combining the geographical position of the mining area.
Example four
Based on the above embodiment, optionally, the determining whether the first mine lamp is in the inertial navigation state according to the first initial positioning parameter and the first motion data includes:
s31, setting an initial positioning threshold, a horizontal displacement threshold and a vertical displacement threshold by combining the geographical position information;
s32, judging whether the first initial positioning parameter is in the range of the initial positioning threshold value, meanwhile, judging whether the first horizontal displacement parameter is in the range of the horizontal displacement threshold value, or judging whether the first vertical displacement parameter is in the range of the vertical displacement threshold value, if so, judging that the first mine lamp is in the inertial navigation state.
Optionally, an initial positioning threshold, a horizontal displacement threshold, and a vertical displacement threshold are set according to the geographic location characteristics of different wells.
The method has the advantages that by setting the initial positioning threshold, the horizontal displacement threshold and the vertical displacement threshold, a more accurate inertial navigation scheme is provided, and actual scene characteristics are better met.
EXAMPLE five
Based on the above embodiment, optionally, before the generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter, the method further includes:
s41, if the second mine lamp is in the inertial navigation state, acquiring a third mine lamp which is not in the inertial navigation state through the second mine lamp, and acquiring the first relative positioning parameter through the third mine lamp;
s42, determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter.
Optionally, one or more mining lamps or other devices with a near field communication function are disposed in the hoistway, and are used for executing relevant instructions of the second mining lamp in this embodiment, so as to implement an inertial navigation scheme of the first mining lamp.
The beneficial effect of the embodiment is that the first positioning data of the first miner lamp is obtained; monitoring first motion data of the first mine lamp; judging whether the first miner lamp is in an inertial navigation state or not according to the first initial positioning parameters and the first motion data; if so, generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to execute inertial navigation operation of the mine lamp in the moving process. The mine lamp navigation scheme is more effective, and the safety of constructors in underground operation is guaranteed.
EXAMPLE six
Based on the above embodiments, the present invention also provides an inertial navigation device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program when executed by the processor implements:
acquiring first positioning data of a first mine lamp, wherein the first positioning data comprise a first initial positioning parameter and a first relative positioning parameter of the first mine lamp, and the first relative positioning parameter is generated by a relative position relationship between the first mine lamp and a second mine lamp;
monitoring first motion data of the first mine lamp, wherein the first motion data comprises a first horizontal displacement parameter and a first vertical displacement parameter of the first mine lamp;
judging whether the first mine lamp is in an inertial navigation state or not according to the first initial positioning parameter and the first motion data, wherein whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first horizontal displacement parameter, or whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first vertical displacement parameter;
if the first mine lamp is in the inertial navigation state, judging whether the second mine lamp is in the inertial navigation state;
if the second mine lamp is not in the inertial navigation state, acquiring second positioning data of the second mine lamp, determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter;
and generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to be used for executing inertial navigation operation of the mine lamp in the moving process.
EXAMPLE seven
Based on the above embodiments, optionally, the computer program further implements, when executed by the processor:
acquiring the first initial positioning parameter according to a first positioning module of the first miner lamp;
and acquiring the relative position relation between the first miner lamp and the second miner lamp according to the first near-field communication module of the first miner lamp and the second near-field communication module of the second miner lamp so as to generate the first relative positioning parameter.
Example eight
Based on the above embodiments, optionally, the computer program further implements, when executed by the processor:
acquiring geographical position information of a mining area, and monitoring the first motion data by combining the geographical position information;
and acquiring the first initial positioning parameter and the first relative positioning parameter in real time.
Example nine
Based on the above embodiments, optionally, the computer program further implements, when executed by the processor:
setting an initial positioning threshold, a horizontal displacement threshold and a vertical displacement threshold by combining the geographical position information;
judging whether the first initial positioning parameter is in the range of the initial positioning threshold value, meanwhile, judging whether the first horizontal displacement parameter is in the range of the horizontal displacement threshold value, or judging whether the first vertical displacement parameter is in the range of the vertical displacement threshold value, if so, judging that the first mine lamp is in an inertial navigation state;
if the second mine lamp is in the inertial navigation state, acquiring a third mine lamp which is not in the inertial navigation state through the second mine lamp, and acquiring the first relative positioning parameter through the third mine lamp;
and determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter.
Example ten
Based on the above embodiment, the present invention further provides a computer readable storage medium, on which an inertial navigation program is stored, and when being executed by a processor, the inertial navigation program implements the steps of the inertial navigation method according to any one of the above embodiments.
The inertial navigation method, the device and the computer readable storage medium of the invention are implemented by acquiring first positioning data of a first mine lamp; monitoring first motion data of the first mine lamp; judging whether the first miner lamp is in an inertial navigation state or not according to the first initial positioning parameters and the first motion data; if so, generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to execute inertial navigation operation of the mine lamp in the moving process. The mine lamp navigation scheme is more effective, and the safety of constructors in underground operation is guaranteed.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. An inertial navigation method, characterized in that it comprises:
acquiring first positioning data of a first mine lamp in real time, wherein the first positioning data comprise a first initial positioning parameter and a first relative positioning parameter of the first mine lamp, and the first relative positioning parameter is generated by a relative position relationship between the first mine lamp and a second mine lamp;
acquiring geographical position information of a mining area, and monitoring first motion data of the first mine lamp by combining the geographical position information, wherein the first motion data comprises a first horizontal displacement parameter and a first vertical displacement parameter of the first mine lamp;
judging whether the first mine lamp is in an inertial navigation state or not according to the first initial positioning parameter and the first motion data, wherein whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first horizontal displacement parameter, or whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first vertical displacement parameter;
if the first mine lamp is in the inertial navigation state, judging whether the second mine lamp is in the inertial navigation state;
if the second mine lamp is not in the inertial navigation state, acquiring second positioning data of the second mine lamp, determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter;
if the second mine lamp is in the inertial navigation state, acquiring a third mine lamp which is not in the inertial navigation state through the second mine lamp, and acquiring the first relative positioning parameter through the third mine lamp;
determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter;
generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to be used for executing inertial navigation operation of the first mine lamp in the moving process,
the first miner lamp, the second miner lamp and the third miner lamp are all worn by constructors.
2. The inertial navigation method of claim 1, wherein said obtaining first positioning data of the first mine lamp comprises:
acquiring the first initial positioning parameter according to a first positioning module of the first miner lamp;
and acquiring the relative position relation between the first miner lamp and the second miner lamp according to the first near-field communication module of the first miner lamp and the second near-field communication module of the second miner lamp so as to generate the first relative positioning parameter.
3. The inertial navigation method of claim 2, wherein said determining whether said first mine lamp is in an inertial navigation state based on said first initial positioning parameter and said first motion data comprises:
setting an initial positioning threshold, a horizontal displacement threshold and a vertical displacement threshold by combining the geographical position information;
and judging whether the first initial positioning parameter is in the range of the initial positioning threshold value, meanwhile, judging whether the first horizontal displacement parameter is in the range of the horizontal displacement threshold value, or judging whether the first vertical displacement parameter is in the range of the vertical displacement threshold value, and if so, judging that the first mine lamp is in an inertial navigation state.
4. An inertial navigation device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing:
acquiring first positioning data of a first mine lamp in real time, wherein the first positioning data comprise a first initial positioning parameter and a first relative positioning parameter of the first mine lamp, and the first relative positioning parameter is generated by a relative position relationship between the first mine lamp and a second mine lamp;
acquiring geographical position information of a mining area, and monitoring first motion data of the first mine lamp by combining the geographical position information, wherein the first motion data comprises a first horizontal displacement parameter and a first vertical displacement parameter of the first mine lamp;
judging whether the first mine lamp is in an inertial navigation state or not according to the first initial positioning parameter and the first motion data, wherein whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first horizontal displacement parameter, or whether the first mine lamp is in the inertial navigation state or not is judged according to the first initial positioning parameter and the first vertical displacement parameter;
if the first mine lamp is in the inertial navigation state, judging whether the second mine lamp is in the inertial navigation state;
if the second mine lamp is not in the inertial navigation state, acquiring second positioning data of the second mine lamp, determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter;
if the second mine lamp is in the inertial navigation state, acquiring a third mine lamp which is not in the inertial navigation state through the second mine lamp, and acquiring the first relative positioning parameter through the third mine lamp;
determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter;
generating inertial navigation data of the first mine lamp in real time according to the first inertial navigation parameter and the second inertial navigation parameter so as to be used for executing inertial navigation operation of the first mine lamp in the moving process,
the first miner lamp, the second miner lamp and the third miner lamp are all worn by constructors.
5. The inertial navigation device of claim 4, wherein the computer program when executed by the processor further implements:
acquiring the first initial positioning parameter according to a first positioning module of the first miner lamp;
and acquiring the relative position relation between the first miner lamp and the second miner lamp according to the first near-field communication module of the first miner lamp and the second near-field communication module of the second miner lamp so as to generate the first relative positioning parameter.
6. The inertial navigation device of claim 5, wherein the computer program when executed by the processor further implements:
setting an initial positioning threshold, a horizontal displacement threshold and a vertical displacement threshold by combining the geographical position information;
judging whether the first initial positioning parameter is in the range of the initial positioning threshold value, meanwhile, judging whether the first horizontal displacement parameter is in the range of the horizontal displacement threshold value, or judging whether the first vertical displacement parameter is in the range of the vertical displacement threshold value, if so, judging that the first mine lamp is in an inertial navigation state;
if the second mine lamp is in the inertial navigation state, acquiring a third mine lamp which is not in the inertial navigation state through the second mine lamp, and acquiring the first relative positioning parameter through the third mine lamp;
and determining a first inertial navigation parameter of the first mine lamp according to the second positioning data and the first relative positioning parameter, and simultaneously determining a second inertial navigation parameter of the first mine lamp according to the first motion data and the first initial positioning parameter.
7. A computer-readable storage medium, having stored thereon an inertial navigation program which, when executed by a processor, implements the steps of the inertial navigation method of any one of claims 1 to 3.
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| CN104955147B (en) * | 2014-03-28 | 2019-03-08 | 华为技术有限公司 | Localization method and device |
| GB201408621D0 (en) * | 2014-05-14 | 2014-06-25 | Edwards Stuart G | Apparatus for traking the position of at least one person walking about a structure |
| CN104483659B (en) * | 2014-11-03 | 2017-05-24 | 中国科学院半导体研究所 | Coal mine worker positioning system based on visible light communication |
| CN107170189A (en) * | 2016-03-07 | 2017-09-15 | 天津市天安博瑞科技有限公司 | Fireman's searching method in danger and equipment based on relative positioning |
| CN105928518B (en) * | 2016-04-14 | 2018-10-19 | 济南大学 | Using the indoor pedestrian UWB/INS tight integrations navigation system and method for pseudorange and location information |
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| CN106888538A (en) * | 2017-04-01 | 2017-06-23 | 中国矿业大学 | A kind of underground multifunctional intelligent monitor system and detection method |
| CN207742347U (en) * | 2018-01-24 | 2018-08-17 | 长沙智能驾驶研究院有限公司 | Car-mounted device, net connection vehicle and navigation positioning system |
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