CN110307839A - A kind of mine downhole positioning system and localization method based on specific light frequency - Google Patents
A kind of mine downhole positioning system and localization method based on specific light frequency Download PDFInfo
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- CN110307839A CN110307839A CN201910384578.4A CN201910384578A CN110307839A CN 110307839 A CN110307839 A CN 110307839A CN 201910384578 A CN201910384578 A CN 201910384578A CN 110307839 A CN110307839 A CN 110307839A
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- G—PHYSICS
- 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
- G01C21/165—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 combined with non-inertial navigation instruments
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- G—PHYSICS
- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of mine downhole positioning systems and localization method based on specific light frequency, and the system comprises LED light source module, database, mobile terminal, server, control module and LED drive modules；LED light source module is for emitting LED light source；Database is for storing LED light source information；Mobile terminal camera is for acquiring LED light source images while being uploaded to server, and mobile terminal inertial navigation system is for realizing motion tracking and real-time navigation；Server calculates the spectrum stripe information of LED light source images, compares with LED light source information in database, finally returns that and give mobile terminal exact location information；LED drive module is for driving LED light source module；Control module is for enabling LED drive module.The present invention carries out auxiliary positioning using the different characteristic combination inertial navigation technology of visible frequency, improves the accuracy of the positioning and navigation under complicated Minepit environment.
Description
Technical field
The invention belongs to field of locating technology under mine, and in particular to a kind of mine underground location system based on specific light frequency
System and localization method.
Background technique
Navigation needs in real time to position target, and the better planning path of accurate positioning ability is accurately navigated.
GPS positioning technology has limitation, for example is just difficult to receive the letter of satellite when being located at indoor by positioning object
Number, and the positioning accuracy of GPS needs the case where being accurately positioned for certain mine underground work, the precision of GPS is just in rice magnitude
It is far from enough.In order to solve the above technical problems, visible light communication is based on inexpensive, covering surface is big and positioning accuracy is high in recent years
The advantages that be widely applied.Domestic and foreign scholars are based on multiplexing coding techniques in laboratory conditions, have studied positioning accuracy
Carat Metro lower bound, various weighting algorithms and received signal strength algorithm and communication time slot progress fingerprint location using superframe
Algorithm, and consider influence of the inclination angle to location algorithm of triangular net layout, receiving end.It can be seen that general in intelligent machine
And today, will be a kind of fashion trend using framing.Some products based on visible light positioning system are also gradually thrown
Enter commercialization, but algorithm for design is complex, is not easy to large-scale promotion.
Summary of the invention
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide one kind to be based on specific optical frequency
The mine downhole positioning system and localization method of rate.The present invention acquires LED light source images by mobile terminal camera, is loaded with
The optical frequency signals of light source identity identification information compare light frequency in optical frequency signals and offline database by maximum comparability
Signal obtains light source identity identification information, referring to the corresponding relationship of bitmap point on current identity information and map, determines present bit
Set, and currently without LED light source when, according to acquired location information before and from then on inertial navigation module record movement
Current position is calculated in information.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows:
A kind of mine downhole positioning system based on specific light frequency, including LED light source module, database, mobile terminal, clothes
Business device, control module and LED drive module；
The LED light source module is for emitting LED light source；
The database is used to store the LED light source information of the LED light source module；
The mobile terminal includes camera and inertial navigation system, and the camera is for acquiring LED light source images simultaneously
Be uploaded to server, the inertial navigation system for realizing user motion tracking and real-time navigation；
The server by algorithm for pattern recognition calculate LED light source images spectrum stripe information, further with number
It is compared according to LED light source information in library, finally returns that and give mobile terminal exact location information；
The LED drive module is used for constant-current driving LED light source module, by the way that the control signal of MCU is converted into electric current
The on and off of output realizes the normal work of LED light source module；
The control module is sent to LED drive module by the square-wave signal that MCU outputs it different frequency or duty ratio
Output electric current enable signal end so that LED drive module realizes the output current lead-through of different frequency or duty ratio.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
Above-mentioned LED light source module uses 24V direct current LED light, is connected to LED drive module.
Above-mentioned LED drive module uses DD311 single channel great power LED constant-current source driver, inputs reference current
End is connected to 24V DC power supply by two 3.9K Ω series connection, obtains the reference current of 300mA.
Above-mentioned control module uses STC89C52 single chip, and four I/O ports are exported with four LED drive modules respectively
Electric current enable end is connected.
Above-mentioned inertial navigation system establishes navigational coordinate system according to the output of gyroscope, is exported and is resolved according to accelerometer
Speed and position of the user in navigational coordinate system out.
Localization method under a kind of mine based on specific light frequency, comprising the following steps:
The online or offline acquisition of specific light frequency is carried out to LED light source；
For different frequency acquisitions, frequency and number information are stored into database respectively；
It shoots the light source image of LED light source and carries out image procossing, obtain corresponding light frequency parameter；
Information in parameter and database is compared using improved cluster sub-clustering, obtains the light frequency letter of position light source to be measured
Breath；
According to light frequency information in database and cartographic information corresponding relationship, the exact location information of user is returned to.
Localization method under a kind of above-mentioned mine based on specific light frequency, further includes: when user occur position movement,
Estimation of motion vectors is acquired using picture search method, motion vector correction is carried out by mobile terminal inertial navigation system, realizes
The motion tracking of user simultaneously provides the service of real-time navigation.
The invention has the following advantages:
The present invention is efficient, at low cost, small power consumption, cost performance are high, the scalability with height.
(1) present invention is in advance numbered LED light source under mine, and location information is imported database, effectively avoids
External environment or other noises cause the influence to positioning accuracy；
(2) control module of the present invention use STC89C52 single chip digital control scheme, not by wireless, light, motor,
The influence of the factors such as temperature and humidity, physical environment, ambient noise, later period iterative development is simple, is convenient for extension, can be according to localization field
Ground demand voluntarily sets up LED lamp source scale, flexible design.
(3) the optional higher wechat of user's frequency of use of mobile terminal of the present invention is small by wechat as access platform
Program is more convenient as user's incoming end, exempts the complexity of user's operation, promotes user experience and human-computer interaction
Sense.
Detailed description of the invention
Fig. 1 is that Fig. 1 of the invention is a kind of system block diagram of the mine downhole positioning system based on specific light frequency of the present invention；
Fig. 2 is localization method embodiment flow chart under a kind of mine based on specific light frequency of the present invention；
Fig. 3 is that a kind of mine downhole positioning system and localization method based on specific light frequency of the present invention shows result figure.
Specific embodiment
The embodiment of the present invention is described in further detail below in conjunction with attached drawing.
Embodiment 1, as shown in Figure 1, a kind of mine downhole positioning system based on specific light frequency of the invention, including LED
Light source module, database, mobile terminal, server, control module and LED drive module；
The LED light source module is for emitting LED light source；
In embodiment, the LED light source module uses 24V direct current LED light, is connected to LED drive module.
The database is used to store the LED light source information of the LED light source module；
The mobile terminal includes camera and inertial navigation system, and the camera is for acquiring LED light source images simultaneously
Be uploaded to server, the inertial navigation system for realizing user motion tracking and real-time navigation；
In embodiment, the mobile terminal can be mobile phone, and the inertial navigation system is established according to the output of gyroscope and navigated
Coordinate system calculates speed and position of the user in navigational coordinate system according to accelerometer output.
The server by algorithm for pattern recognition calculate LED light source images spectrum stripe information, further with number
It is compared according to LED light source information in library, finally returns that and give mobile terminal exact location information；
The LED drive module is used for constant-current driving LED light source module, by the way that the control signal of MCU is converted into electric current
The on and off of output realizes the normal work of LED light source module；
In embodiment, the LED drive module uses DD311 single channel great power LED constant-current source driver, input ginseng
It examines current terminal and is connected to 24V DC power supply by two 3.9K Ω series connection, obtain the reference current of 300mA.
The control module is sent to LED drive module by the square-wave signal that MCU outputs it different frequency or duty ratio
Output electric current enable signal end so that LED drive module realizes the output current lead-through of different frequency or duty ratio.
In embodiment, the control module uses STC89C52 single chip, and four I/O ports drive mould with four LED respectively
Block exports electric current enable end and is connected.
Embodiment 2, localization method under a kind of mine based on specific light frequency, comprising the following steps:
The online or offline acquisition of specific light frequency is carried out to LED light source；
For different frequency acquisitions, frequency and number information are stored into database respectively；
It shoots the light source image of LED light source and carries out image procossing, obtain corresponding light frequency parameter；
Information in parameter and database is compared using improved cluster sub-clustering, obtains the light frequency letter of position light source to be measured
Breath；
According to light frequency information in database and cartographic information corresponding relationship, the exact location information of user is returned to.
In embodiment, when the movement of user's generation position, estimation of motion vectors is acquired using picture search method, by movement
Terminal inertial navigation system carries out motion vector correction, realizes the motion tracking of user and provides the service of real-time navigation.
Embodiment 3, as shown in Fig. 2, by previous step analyze resulting specific frequency data go with it is big in database
Data comparison is measured, obtains the light frequency information, specific steps include:
In region to be measured, multiple miners are taken pictures respectively with mobile terminal；
Using classification clustering algorithms, direct access first obtains each according to mass center of the K sample as K cluster in library
The light frequency value obtained calculates the distance to cluster mass center, that nearest cluster of distance is as the affiliated class of the sample point；
Each sample point is belonged in a class of database, mass center is recalculated to each cluster, is calculated repeatedly
Until mass center variation reaches preset value；
The weighted mean of the light frequency information of acquisition of the taking pictures cluster indicates；
Finally by the three-dimensional array corresponding with map reference of light frequency information in correspondence database, the interior of miner is obtained
Location information.
Light frequency value can be obtained by formula (1) in each cluster
Wherein, n is optical information point number in the cluster, wiFor each node weight coefficient, xiFor light frequency value in cluster,dmaxFor the Euclidean distance between light frequency to be measured in the cluster and the cluster heart, diFor light frequency to be measured in the cluster and other
Euclidean distance between node.
In embodiment, in recovery process, as the movement of miner is led to by the image for the different moments taken pictures
The rectangle frame for crossing the relative position of interception different images is searched for centered on rectangle frame central point (0,0) by three step search algorithm
Point, step-length 4,8 pixels including surrounding calculate the direct mean square error of each point, the optimal match point obtained, with this
Centered on match point, step-length 2 continues searching 8 pixels around, calculates the mean square error of each point, obtains optimal match point,
Final step, step-length are reduced to 1, and the optimal match point for continuing searching acquisition is exactly motion vector that estimation obtains.Inertial navigation
The motion information of module record is corrected, and last acquired location information and motion vector before obtain the miner
Location updating message.
Concrete methods of realizing are as follows: mobile vector and inertial navigation position carry out line, ask the straight line and abscissa angle, are somebody's turn to do
The accurate direction of mobile vector.As coordinate origin, the deflection for acquiring mobile vector is for position using at inertial navigation
2 (m of θ=a tan01,m10) (2)
Wherein,I (x, y) is unit coordinate direction.
By embodiment it is found that the present invention utilize arranged under mine it is a series of for illumination LED white lights, when miner into
Enter after starting operation under mine, is shone with mobile phone toward the crown one, mobile terminal first obtains light source information from light source image, then to described
Light source information carries out image procossing, obtains light source identity identification information light frequency, then pass through light frequency information in comparison data library,
It is known that the information of oneself, is sent to ground monitoring system by communication network by the position of oneself.Even if without signal
There is no network, miners can know the location of oneself in real time, realize that accurately indoor positioning is navigated.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (7)
1. a kind of mine downhole positioning system based on specific light frequency, it is characterised in that: including LED light source module, database, shifting
Dynamic terminal, server, control module and LED drive module；
The LED light source module is for emitting LED light source；
The database is used to store the LED light source information of the LED light source module；
The mobile terminal includes camera and inertial navigation system, and the camera is for acquiring LED light source images while uploading
To server, the inertial navigation system for realizing user motion tracking and real-time navigation；
The server by algorithm for pattern recognition calculate LED light source images spectrum stripe information, further with database
Middle LED light source information compares, and finally returns that and gives mobile terminal exact location information；
The LED drive module is used for constant-current driving LED light source module, by the way that the control signal of MCU is converted into electric current output
On and off, realize the normal work of LED light source module；
The control module is sent to the defeated of LED drive module by the square-wave signal that MCU outputs it different frequency or duty ratio
Electric current enable signal end out, so that LED drive module realizes the output current lead-through of different frequency or duty ratio.
2. a kind of mine downhole positioning system based on specific light frequency according to claim 1, it is characterised in that: described
LED light source module uses 24V direct current LED light, is connected to LED drive module.
3. a kind of mine downhole positioning system based on specific light frequency according to claim 1, it is characterised in that: described
LED drive module uses DD311 single channel great power LED constant-current source driver, and input reference current end passes through two 3.9K
Ω series connection is connected to 24V DC power supply, obtains the reference current of 300mA.
4. a kind of mine downhole positioning system based on specific light frequency according to claim 1, it is characterised in that: the control
Molding block uses STC89C52 single chip, and four I/O ports are connected with four LED drive module output electric current enable ends respectively.
5. a kind of mine downhole positioning system based on specific light frequency according to claim 1, it is characterised in that: described used
Property navigation system navigational coordinate system established according to the output of gyroscope, user is calculated in navigation coordinate according to accelerometer output
Speed and position in system.
6. localization method under a kind of mine based on specific light frequency, it is characterised in that: the following steps are included:
The online or offline acquisition of specific light frequency is carried out to LED light source；
For different frequency acquisitions, frequency and number information are stored into database respectively；
It shoots the light source image of LED light source and carries out image procossing, obtain corresponding light frequency parameter；
Information in parameter and database is compared using improved cluster sub-clustering, obtains the light frequency information of position light source to be measured；
According to light frequency information in database and cartographic information corresponding relationship, the exact location information of user is returned to.
7. localization method under a kind of mine based on specific light frequency according to claim 6, it is characterised in that: also wrap
It includes: when the movement of user's generation position, estimation of motion vectors is acquired using picture search method, by mobile terminal inertial navigation system
System carries out motion vector correction, realizes the motion tracking of user and provides the service of real-time navigation.
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Cited By (1)
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| CN114176280A (en) * | 2021-12-10 | 2022-03-15 | 中国矿业大学 | Underground personnel positioning and emergency communication device and method based on visible light |
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