CN110536408A - Base station synchronization method suitable for underground coal mine - Google Patents
Base station synchronization method suitable for underground coal mine Download PDFInfo
- Publication number
- CN110536408A CN110536408A CN201910908358.7A CN201910908358A CN110536408A CN 110536408 A CN110536408 A CN 110536408A CN 201910908358 A CN201910908358 A CN 201910908358A CN 110536408 A CN110536408 A CN 110536408A
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- base station
- label
- data message
- time
- positioning
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Classifications
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a kind of base station synchronization methods suitable for underground coal mine, it include: that positioning label sends the first data message to ranging base station, ranging base station receives the first data message, positioned according to included in the first data message label present system time update itself system time after, return to the second data message to positioning label；It positions label and receives the second data message, the system time of itself is updated according to the system time of updated ranging base station, and all base stations in broadcast transmission third data message to the overlay area of positioning label, so that all base stations in overlay area execute time synchronization work.The present invention can using positioning label as relaying, to can not directly radio frequency it is reachable two base stations progress time synchronization, guarantee time-multiplexed realization, then realize the large capacity of entire positioning system；In addition, active synchronization, whole system period are not all distributed to label for positioning, guarantee the maximization of system load for base station.
Description
Technical field
The present invention relates to underground coal mine base station location technical fields, in particular to a kind of base station suitable for underground coal mine
Synchronous method.
Background technique
Due to the environment particularity in underground coal mine region, position generallyd use between label and base station ToF distance measurement mode into
Row ranging at first sight carrys out the necessity between base station there is no time synchronization and (generally only needs base in TDoA positioning method
High-precise synchronization of standing (being higher than for 1 nanosecond)).However synchronizing here is not related with ranging, positioning, but based on the big of system
Capacity proposes.
Due to having a large amount of labeling requirement positioning in the same position in system.If label of leaving freely works, by
In the increase of positioning number of labels, 2 labels probably in same time service, this result in 2 labels all can not ranging,
To position failure.In order to meet large capacity, time-multiplexed concept is proposed.Using the working frequency corresponding period as work week
Phase will be cut into timeslice (the minimum time unit for completing positioning) one by one the duty cycle.Label enters in region, can distribute pair
The timeslice resource answered only works in its legal timeslice to label, label, will not influence other times piece.By this
Time-multiplexed mode guarantees only have 1 label working in same time, same radio-frequency channel, avoids signal conflict and lead
The ranging of cause fails.And there is the identical time in the base station that time-multiplexed premise is exactly near zone.
In ordinary two dimensional positioning, several base station broadcast sync messages, carrying system in the message can be selected in the zone
Time.The position of these base stations is typically in the middle position of some regions, guarantees that other neighbouring base stations can hear that it is same
Walk message.If the base station of broadcast synchronization message can carry out wide apart from far (radio frequency isolation) at same time point
It broadcasts, is broadcasted in different time points if being closer.
As shown in fig. 1, in box black base station be time synchronization base station (referred to as Root), in the period
0 moment sent sync message, near base station can hear sync message, and carry out time synchronization.This includes 2 neighbouring circles
Grayish base station (referred to as Branch) in shape region after Branch base station synchronization has got well the time, sends synchronous report at the moment 1
Text all can send sync message at the moment 1, the base station near the two base stations Branch can listen since they two are apart from farther out
It is synchronized to its sync message, and to local system time.To realize the time synchronization of whole region.This side of synchronization
Root, Branch are mentioned inside formula, and the base station Branch is also possible to not send sync message in synchronization, it is meant that
Time synchronization is carried out, Occupation time piece is wanted in these base stations for sending sync message.
In two-dimensional environment, the sync message of this index exploding formula is sent, and entirely can be after several timeslices
System just synchronously completes.But under coal mine tunnel, long and narrow environment, the wall that can not be penetrated, be can not generate it is this quick-fried
Fried effect.It can only be transmitted downwards along path level-one level-one, it is organic to will form 2 branches if encountering crossing, increase and synchronizes
Speed.Every level synchronization will occupy different timeslices, will lead to a large amount of timeslice of system in this case for the time
It is synchronous, rather than tag location, directly result in system load decline.
In addition, in some cases, the distance between two neighboring base station be likely to be more than radio frequency coverage,
This results in sync message that can not transmit, synchronization failure.
Summary of the invention
It is an object of that present invention to provide a kind of base station synchronization method suitable for underground coal mine, can using positioning label as
Relaying guarantees time-multiplexed realization, then realizes entire to that directly can not carry out time synchronization in reachable two base stations of radio frequency
The large capacity of positioning system；In addition, active synchronization, whole system period are not all distributed to label for positioning, guarantee system for base station
The maximization for load of uniting.
To reach above-mentioned purpose, in conjunction with Fig. 2, the present invention proposes a kind of base station synchronization method suitable for underground coal mine, described
Base station synchronization method includes:
When any one positioning label enters the overlay area of one of base station and using the base station as ranging base station
Afterwards, the first data message is sent to the ranging base station, and first data message includes that location information and positioning label are worked as
Preceding system time, it is described positioning label present system time be positioning the label last time and any one base station synchronization after voluntarily
Safeguard obtained system time；
The ranging base station receives the first data message, and positioning label is current according to included in the first data message
After system time updates the system time of itself, the second data message is returned to the positioning label, the second data message includes
The system time of location information and updated ranging base station；
The positioning label receives the second data message, according to the system time of updated ranging base station to update itself
System time, and broadcast transmission third data message to it is described positioning label overlay area in all base stations so that
All base stations in overlay area execute time synchronization work, include location information in the third data message and updated
Position the system time of label.
In further embodiment, the base station synchronization method further include:
The ranging base station is by all bases in the overlay area of the second data message broadcast transmission to the ranging base station
It stands, so that all base stations in overlay area execute time synchronization work.
In further embodiment, it is excellent that the synchronization priority of second data message is higher than synchronizing for third data message
First grade.
In further embodiment, the base station synchronization method further include:
The ranging base station will be all fixed in the overlay area of the second data message broadcast transmission to the ranging base station
Position label, so that all positioning labels in overlay area execute time synchronization work.
In further embodiment, the base station is carried out using the positioning label in time-multiplexed mode and coverage area
Data interaction.
The above technical solution of the present invention, compared with existing, significant beneficial effect is:
(1) can using positioning label as relaying, to can not directly radio frequency it is reachable two base stations progress time synchronization,
Guarantee time-multiplexed realization, then realizes the large capacity of entire positioning system.
(2) in addition, base station not active synchronization, whole system period are all distributed to label for positioning, guarantee system load
Maximization.
(3) to station layout no requirement (NR), wide adaptability is particularly suitable for the locating base station system in changeable coal mine region.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is the time synchronization schematic illustration of ordinary two dimensional of the invention.
Fig. 2 is the method flow diagram of the base station synchronization method suitable for underground coal mine of the invention.
Fig. 3 is the data-message transmission schematic diagram of the base station synchronization method suitable for underground coal mine of the invention.
Fig. 4 is the station layout figure of the special underground coal mine of one of which of the invention.
Fig. 5 be when between base station radio frequency up to when synchronization principles schematic diagram.
Fig. 6 is the synchronization principles schematic diagram when radio frequency is unreachable, label relaying is reachable between base station.
Fig. 7 is the synchronization principles schematic diagram when radio frequency is unreachable, label relays unreachable between base station
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
In conjunction with Fig. 2, the present invention proposes a kind of base station synchronization method suitable for underground coal mine, the base station synchronization method packet
It includes:
S1: when any one positioning label enters the overlay area of one of base station and using the base station as ranging base
After standing, the first data message is sent to the ranging base station, first data message includes location information and positioning label
Present system time, it is described positioning label present system time be positioning the label last time and any one base station synchronization after from
The system time that row maintenance obtains.
S2: the ranging base station receives the first data message, the positioning label according to included in the first data message
After present system time updates the system time of itself, the second data message is returned to the positioning label, the second data message
System time including location information and updated ranging base station.
S3: the positioning label receives the second data message, according to the system time of updated ranging base station to update
The system time of itself, and all base stations in broadcast transmission third data message to the overlay area of the positioning label,
So that all base stations in overlay area execute time synchronization work, it include location information and update in the third data message
The system time of positioning label afterwards.
Fig. 3 is the data-message transmission schematic diagram of one of base station synchronization method of the invention.
For one of base station, when not having label there are in the overlay area corresponding to it, base station is voluntarily tieed up
Protect the system time of itself.Although as the increase of time, due to the frequency departure of crystal oscillator, system time can be generated for each base station
Certain deviation, but this there is no relationships.Because base station is not in positioning working condition at this time, though system time occur compared with
Big offset will not cause any adverse effect.And once there is positioning label to enter in overlay area corresponding to the base station
When, positioning label can carry out ToF ranging with base station, and ToF ranging is divided into 3 stages, and message relationship is as follows:
Label active transmission Poll message is positioned to base station, after base station receives Poll message, replys Resp message to positioning
Label after positioning label receives Resp message, sends Final message to base station again.Base station can obtain after several messages
The distance between label and base station are positioned, location tasks are completed.Meanwhile it being carried in aforementioned Poll, Resp, Final message
System time, i.e., aforementioned message can be used as sync message use simultaneously, to position the present system time of label as base
Standard completes the synchronized update to base station system time while completing location tasks.Preferably, it is carried in Poll message
System time is last positioning label with after any one base station ranging (and synchronous), is voluntarily after maintenance a period of time
It unites the time.The system time carried in Final message is then Resp message (and the synchronous report for positioning label and receiving base station
Text) after synchronization time.Once label enters region, neighbouring base station all time starteds are synchronous, this ensures that the time-division multiple
Realization.
In addition, third data message is all base stations broadcast in the overlay area of the positioning label, therefore
Nearby other base stations for having neither part nor lot in ranging also will do it time synchronization after hearing third data message.
Base station synchronization method proposed by the invention is particularly suitable for changeable station layout no requirement (NR), wide adaptability
The locating base station system in coal mine region.Fig. 4 is the mounting means of the base station location system of one of underground coal mine.The base station
Positioning system is closer the locating base station of (such as 10 meters) as a group of base stations, a group of base stations correspondence one at least two
Overlay area is positioned, when label is located at group of base stations side, blocks almost the same, can determine simultaneously with the two of them of group of base stations
Positioning is completed in position base station ranging, when between two locating base stations that label is located at group of base stations, although in the presence of back to base station phenomenon,
But since label is close with base station distance, positioning is completed in the ranging that can still succeed.
In Fig. 4, the distance between two neighboring group of base stations is farther out, it is contemplated that cost problem, it will usually beyond base station
Overlay area is unable to complete mutual time synchronization according to the mode for sending sync message between traditional base station at all,
But the positioning between two group of base stations can be then readily accomplished according to positioning label free-moving between two group of base stations
Work.
The principle of base station synchronization method proposed by the invention is described in detail below by three examples.
First example, base station radio-frequency are reachable
As shown in figure 5, the radio frequency coverage of imaginary circle shape representation base station, when card (people) and the ranging of the base station A1, A1
The Resp message that base station is replied can be received by the base station A2, and the base station A2 is directly synchronized using the message.
Second example, base station radio-frequency is unreachable, and label relaying is reachable
As shown in fig. 6,2 black dotted lines circles indicate that the radio frequency coverage of base station, dash-dotted gray line circle indicate positioning label
Radio frequency coverage.Radio frequency can not be directly reachable between base station A1 and A2, is difficult to complete to determine between base station with conventional means
Position, but the task can be then completed to position label as relaying.For example, positioning label is surveyed in present position and the base station A1
Away from the Resp message of the base station A1 can not be received by the base station A2, but position the Final message for ranging that label is sent
It can be received by A2, the time synchronization of the base station A1 and the base station A2 may be implemented by this indirect mode.
In practical applications, the base station A3 is likely present between the base station A1 and the base station A2, the base station A3 can receive simultaneously
Resp message and Final message, at this time can determines according to actual conditions priority (for example, setting Resp message priority
Higher than Final message), or two timeslices are distributed to execute simultaneously operating twice.
In some instances, the base station synchronization method further include:
The ranging base station will be all fixed in the overlay area of the second data message broadcast transmission to the ranging base station
Position label, so that all positioning labels in overlay area execute time synchronization work.Make the positioning label in region in this way
The consistent time can be obtained with base station.
For example, there are base station A1, A2, A3, A4 and label B 1, B2, B3, B4 in a region, it is assumed that base station A2, A3 exist
Within the scope of the radio frequency range coverage of base station A1, A4 is reachable under 1 relaying action of label B.Base station A1 and label B 1 are being surveyed
Away from communication, base station A1 receives the Poll message that label B 1 is sent, when by current system that own system time synchronization is label B 1
Between, base station A2, A3 and label B 2, B3, B 4 within the scope of the A1 broadcast transmission Resp message to own coverage area of base station make it be
Unite time synchronization, label B 1 again broadcast transmission Final message to synchronize the system time of base station A4, then complete base station A1, A2,
The time synchronization of A3, A4 and label B 1, B2, B3, B4.
Third example, base station radio-frequency is unreachable, and label relaying is unreachable
As shown in fig. 7,2 black dotted lines circles indicate that the radio frequency coverage of base station, dash-dotted gray line circle indicate penetrating for label
Frequency coverage area.Farther out, 2 base station radio-frequencies can not be directly reachable for the distance between base station, passes through the positioning label of stationary state
It is unable to complete relaying.
In the diagram of " before movement ", label carries out ranging in present position and the base station A1, and the Resp message of the base station A1 is nothing
Method is received by the base station A2, and the Final message of ranging can not also be received by A2.
But due to positioning label be it is free-moving, positioning label can always in local maintenance system time, until
The radio frequency coverage of the base station A2 is gone to the right.During label continues to walk to the right, one section of no-man's-land is had, this
Section region and any base station all can not rangings.
In the diagram of " after movement ", label and the ranging of the base station A2 are positioned, is completed at the same time between positioning label and the base station A2
Time synchronization, the system time of the carrying in Poll message from before with A1 base station synchronization, and by one section of " vacuum
Band " voluntarily safeguards the time by positioning label.
Since the sync interval twice of positioning label is usually shorter, error caused by voluntarily safeguarding is smaller, can almost neglect
Slightly disregard, therefore can simply assert the time synchronization for completing the base station A2 and the base station A1 by positioning label.By this
With previous base station synchronization, label local maintenance, then the mode with next base station synchronization, so that the farther away base station in 2 intervals
It synchronizes.
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
Embodiment of the disclosure need not be defined on including all aspects of the invention.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (5)
1. a kind of base station synchronization method suitable for underground coal mine, which is characterized in that the base station synchronization method includes:
When any one positioning label enter one of base station overlay area and using the base station be used as behind ranging base station, send out
Send the first data message to the ranging base station, first data message includes the current system of location information and positioning label
Time, the present system time of the positioning label are voluntarily to safeguard after positioning label last time and any one base station synchronization
The system time arrived；
The ranging base station receives the first data message, and the current system of label is positioned according to included in the first data message
After time updates the system time of itself, the second data message is returned to the positioning label, the second data message includes positioning
The system time of information and updated ranging base station；
The positioning label receives the second data message, and the system time according to updated ranging base station is with update itself
It unites the time, and all base stations in broadcast transmission third data message to the overlay area of the positioning label, so that covering
All base stations in region execute time synchronization work, include location information and updated positioning in the third data message
The system time of label.
2. the base station synchronization method according to claim 1 suitable for underground coal mine, which is characterized in that the base station synchronization side
Method further include:
The ranging base station by all base stations in the overlay area of the second data message broadcast transmission to the ranging base station, with
All base stations in overlay area are made to execute time synchronization work.
3. the base station synchronization method according to claim 2 suitable for underground coal mine, which is characterized in that second datagram
The synchronization priority of text is higher than the synchronization priority of third data message.
4. the base station synchronization method according to claim 1 suitable for underground coal mine, which is characterized in that the base station synchronization side
Method further include:
The ranging base station is by all positioning marks in the overlay area of the second data message broadcast transmission to the ranging base station
Label, so that all positioning labels in overlay area execute time synchronization work.
5. the base station synchronization method according to claim 1 suitable for underground coal mine, which is characterized in that when the base station uses
The positioning label divided in the mode and coverage area of multiplexing carries out data interaction.
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| CN111918385A (en) * | 2020-06-29 | 2020-11-10 | 孙继国 | Label positioning method and device, computer equipment and storage medium |
| CN115278877A (en) * | 2022-09-28 | 2022-11-01 | 长沙迪迈数码科技股份有限公司 | Underground UWB positioning method, system and storage medium based on mobile base station |
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