CN110687499B - Positioning compensation method suitable for different objects in coal mine area - Google Patents
Positioning compensation method suitable for different objects in coal mine area Download PDFInfo
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- CN110687499B CN110687499B CN201910908348.3A CN201910908348A CN110687499B CN 110687499 B CN110687499 B CN 110687499B CN 201910908348 A CN201910908348 A CN 201910908348A CN 110687499 B CN110687499 B CN 110687499B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
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Abstract
The invention discloses a positioning compensation method suitable for different objects in a coal mine area, which comprises the following steps: judging whether a following relation exists between two objects of different types, if the following relation exists between any two objects of different types and the absolute value of the difference value of the positioning frequencies of the two objects is larger than a set frequency threshold, setting the object with lower positioning frequency as a compensated object, setting the object with higher positioning frequency as a compensated object, and compensating the positioning point of the compensated object according to the set compensation rule by combining the information of the positioning point of the compensated object. The invention can adopt the positioning point information of the object with high positioning frequency to compensate the positioning point of the object with low positioning frequency, reduce the positioning interference between the two on the premise of not increasing the system capacity burden, and ensure the positioning accuracy of the two; and adopting different compensation schemes for objects in different scenes, or further reducing the system capacity burden, or storing the relative displacement information of the two parties of the following relationship as far as possible.
Description
Technical Field
The invention relates to the technical field of coal mine area positioning, in particular to a positioning compensation method suitable for different objects in a coal mine area.
Background
The existing positioning scheme can support two conventional positioning objects, namely people and vehicles, under a coal mine tunnel, wherein the vehicles comprise conventional coal transporting vehicles and people transporting vehicles.
To ensure system capacity, the location frequency is small (e.g., 0.5Hz) for the person tag, which is sufficient to ensure adequate sampling while the person is in motion due to the limited walking speed. For the car tag, because the speed is fast, if the car tag is still located according to a low frequency (e.g. 0.5Hz), the position difference is large when the car tag is located for 2 times, which brings inconvenience to the display effect and the data processing (e.g. filtering).
However, this brings new problems, for example, in the case of a manned vehicle, the positioning of the vehicle itself is not problematic, but when a person is on the vehicle, the UWB positioning of the person tag itself is deviated and fails due to the influence of the metal vehicle body on the electromagnetic wave (causing a distance measurement deviation and a distance measurement failure), a high vehicle running speed (which cannot be supported well by 0.5Hz), crowding of people in the vehicle, and the like.
In fact, when the types and the number of objects to be located in some coal mine areas are large, different locating frequencies are usually set for different objects to ensure system capacity, the following relationship between the different objects changes frequently, and how to ensure the locating accuracy of any two types of objects when the following relationship exists becomes an urgent problem to be solved.
Disclosure of Invention
The invention aims to provide a positioning compensation method suitable for different objects in a coal mine area, which adopts Bluetooth with low power consumption to quickly determine the following relationship between the objects, adopts positioning point information of the object with high positioning frequency to compensate the positioning point of the object with low positioning frequency once the following relationship is confirmed, reduces the positioning interference between the two on the premise of not increasing the system capacity burden, and ensures the positioning accuracy of the two; and different compensation schemes are adopted for objects under different scenes, the system capacity load is further reduced, or the relative displacement information of two parties in the following relationship is stored as much as possible, and the like.
To achieve the above object, with reference to fig. 1, the present invention provides a positioning compensation method suitable for different objects in a coal mine area, wherein each of the objects is provided with a positioning tag having an independent number in a one-to-one correspondence;
the positioning compensation method comprises the following steps:
and judging whether a following relation exists between two objects of different types or not in real time, if the following relation exists between any two objects of different types and the absolute value of the difference value of the positioning frequencies of the two objects is greater than a set frequency threshold value, setting the object with lower positioning frequency as a compensated object, setting the object with higher positioning frequency as a compensated object, and compensating the positioning point of the compensated object according to the set compensation rule by combining the positioning point information of the compensated object.
In a further embodiment, the set compensation rule includes:
during the following relationship keeping, the positioning point of the compensated object is directly covered by the positioning point of the compensated object.
In a further embodiment, the set compensation rule includes:
and processing the positioning point information of the compensated object, screening out lost points and deviation points during the following relationship holding period, and performing interpolation supplement on the lost points and correcting the deviation points by adopting the corresponding positioning points of the compensated object.
In a further embodiment, the process of determining whether a following relationship exists between two objects of different kinds in real time includes:
setting a positioning label corresponding to an object with lower positioning frequency into a broadcasting mode, and periodically sending a broadcasting message to the object with higher positioning frequency within a preset range:
if any object with higher positioning frequency receives the broadcast message sent by the same object with lower positioning frequency continuously for M times within a preset time range, confirming that the following relationship exists between the object with higher positioning frequency and the object with lower positioning frequency until the compensating object can not receive the broadcast message sent by the compensated object;
and M is a positive integer greater than or equal to 2.
In a further embodiment, the positioning compensation method further includes:
and monitoring the moving speed of the object with higher positioning frequency in real time, and setting the object with higher positioning frequency to be in a monitoring mode to receive the broadcast message sent by the object with lower positioning frequency in a preset range when the moving speed is greater than a preset speed threshold.
In a further embodiment, the predetermined range is 10 meters.
In a further embodiment, the object with the lower positioning frequency transmits the broadcast message by using a low power consumption bluetooth technology.
In a further embodiment, the categories of objects comprise at least a worker and a vehicle.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) after the following relationship is confirmed, the locating point information of the object with high locating frequency is adopted to compensate the locating point of the object with low locating frequency, so that the locating interference between the object with high locating frequency and the locating point with low locating frequency is reduced on the premise of not increasing the system capacity burden, and the locating accuracy of the object with low locating frequency and the locating point with high locating frequency is ensured.
(2) The following relation between the objects is quickly determined by adopting the low-power Bluetooth, the tag power consumption is small, and the broadcasting range is controllable.
(3) Different compensation schemes are adopted for objects under different scenes, when the relative displacement information of two parties in the following relationship does not need to be monitored, the positioning information of the compensation object can be directly regarded as the positioning information of the compensated object, the positioning action of the compensated object is temporarily closed, and the system capacity burden is reduced; when the relative displacement information of the following relation parties needs to be monitored, the positioning information of the compensation object is only adopted to compensate the lost points and the deviation points in the positioning information of the compensated object, and the other point positions still adopt the original measurement values and the like.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of location compensation of different objects in a coal mine area in accordance with the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
With reference to fig. 1, the present invention provides a positioning compensation method suitable for different objects in a coal mine area, where each of the objects is provided with a positioning tag having an independent number in a one-to-one correspondence.
The positioning compensation method comprises the following steps:
and judging whether a following relation exists between two objects of different types or not in real time, if the following relation exists between any two objects of different types and the absolute value of the difference value of the positioning frequencies of the two objects is greater than a set frequency threshold value, setting the object with lower positioning frequency as a compensated object, setting the object with higher positioning frequency as a compensated object, and compensating the positioning point of the compensated object according to the set compensation rule by combining the positioning point information of the compensated object.
For the sake of convenience of description, the following examples are set forth with workers and vehicles, particularly human trucks, as two of the objects.
As can be seen from the foregoing, the moving speed, the positioning frequency and the positioning accuracy are closely related, and when the positioning frequency is constant, the faster the moving speed is, the lower the positioning accuracy is. Under normal conditions, the moving speed of the people transporting vehicle is undoubtedly faster than the walking speed of people, so the positioning frequency difference between the people transporting vehicle and the people transporting vehicle is large, when the people are located on the people transporting vehicle and move along with the vehicle, the positioning frequency of the people is low, and under the condition of high-speed movement, even if no external factor interference exists, the positioning precision of the people transporting vehicle is also reduced, and a lost point and a deviation point appear. For two objects with small positioning frequency difference, if the following relationship occurs between the two objects, under the condition of not considering the interference of external factors, the positioning accuracy of the original measurement value is reduced but the reduction range is not large, based on the situation, a user can set a frequency threshold value according to the self requirement and the actual condition (such as serious signal propagation interference, or the positioning accuracy is reduced due to the shielding between the objects) to judge whether the positioning point of one object needs to be compensated, if the compensation is not needed, the following relationship judgment process can be omitted or simplified, and the power consumption and the calculation amount of the part are reduced.
Therefore, the larger the absolute value of the difference between the positioning frequencies of two objects having a following relationship, the larger the significance of the positioning compensation method mentioned in the present invention. We assume here that the tag carried by the person is located at 0.5Hz and the tag associated with the people mover is located at 2 Hz.
For personnel and people carriers, if the vehicle label can detect which person labels are 'getting on the vehicle', the vehicle label tells the background in the distance measurement process, the background can determine that the vehicle label and the person labels have following relations, and the positioning effect of the person labels is optimized by adopting the positioning point information of the vehicle label through a series of compensation schemes.
To this end, the present invention provides a method for determining whether there is a following relationship between two objects of different types in real time, comprising:
setting a positioning label corresponding to an object with lower positioning frequency into a broadcasting mode, and periodically sending a broadcasting message to the object with higher positioning frequency within a preset range:
and if any object with higher positioning frequency receives the broadcast message sent by the same object with lower positioning frequency continuously for M times within a preset time range, confirming that the following relationship exists between the object with higher positioning frequency and the object with lower positioning frequency until the compensating object can not receive the broadcast message sent by the compensated object.
And M is a positive integer greater than or equal to 2.
Due to the close distance between the two following relations, BLE (bluetooth low energy) technology can be adopted to perform necessary communication processes between the objects. For example, an MCU (microcontroller) selected to support BLE4.2 is configured on a positioning tag, and BLE can generally cover a range of only around 10 meters around the periphery without a PA (power amplification) and an LNA (low noise amplifier). Preferably, the coverage of the tag can be controlled according to the determination accuracy of the following relationship, for example, for a small-sized man-vehicle with the volume of only 5 meters, only the coverage of 5 meters is needed, and the misdetermination is reduced.
When the following relationship between two objects needs to be determined, setting BLE on the person tag into a broadcast mode, and periodically (for example, every 2 seconds) sending a broadcast message, wherein the broadcast message comprises basic information of the person tag, such as ID (identity) and the like; and setting BLE on the corresponding car label into a scanning mode, scanning nearby BLE broadcast messages, and if a plurality of people labels are continuously searched within a preset time range (such as within 10 seconds), indicating that the people labels are close to the car label, judging that a following relationship exists between the people labels, namely, the people get on the car.
For a people-transporting vehicle in a stopped state, the significance of monitoring the position relation between the people-transporting vehicle and the people is not great, on one hand, misjudgment is easily caused, if the people move around the vehicle, the misjudgment and the following relation exist, the positioning information of the people is covered by the positioning point information of the vehicle in a stopped state, and on the other hand, the calculation amount of a background is increased. Therefore, preferably, the positioning compensation method further includes:
and monitoring the moving speed of the object with higher positioning frequency in real time, and setting the object with higher positioning frequency to be in a monitoring mode to receive the broadcast message sent by the object with lower positioning frequency in a preset range when the moving speed is greater than a preset speed threshold.
For example, only when the man car starts to move and has a certain moving speed, the man car is set to be in a monitoring mode or a scanning mode, and the corresponding car tag and the nearby man tag are subjected to matching judgment.
Regarding the set compensation rule, the following two ways are included, but not limited to.
First mode
The set compensation rule comprises the following steps:
during the following relationship keeping, the positioning point of the compensated object is directly covered by the positioning point of the compensated object.
After the following relationship between the person tag and the vehicle tag is determined, the positioning information of the vehicle tag is directly used as the common positioning information of the person tag and the vehicle tag, the method is more suitable for occasions in which the relative displacement relationship between the person tag and the vehicle tag is not noticed, and the positioning function of the person tag can be temporarily closed at the moment so as to reduce the capacity occupancy rate of a positioning system.
Second mode
The set compensation rule comprises the following steps:
and processing the positioning point information of the compensated object, screening out lost points and deviation points during the following relationship holding period, and performing interpolation supplement on the lost points and correcting the deviation points by adopting the corresponding positioning points of the compensated object.
The method is more suitable for occasions needing to monitor the relative displacement between the two following relations, such as the moving position of a person on a vehicle and the like when the vehicle body is long, and in the method, the positioning information of the person still adopts the original measurement information of the person label, but the positioning points in the person are processed, the lost points and the deviation points in the person are screened out, and the lost points and the deviation points are compensated and corrected by combining the positioning information of the vehicle label. For example, the original location information of the human tag includes five location points of 0 minute, 2 minutes, 6 minutes and 10 minutes, the location point information of 4 minutes and 8 minutes is lacked, the location points of 4 minutes and 8 minutes are defined as missing points, the two missing points are interpolated and compensated at the location points of 4 minutes and 8 minutes by using the car tag, and the interpolation and compensation methods are various, such as directly superimposing the location information of the car tag on the average value of two location coordinates before and after the missing point.
The integrity and the accuracy of the positioning point information of the two objects with the following relationship can be quickly realized through the two compensation modes.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (7)
1. A positioning compensation method suitable for different objects in a coal mine area is characterized in that positioning labels with independent numbers are correspondingly arranged on each object one by one;
the positioning compensation method comprises the following steps:
judging whether a following relation exists between two objects of different types or not in real time, if the following relation exists between any two objects of different types and the absolute value of the difference value of the positioning frequencies of the two objects is greater than a set frequency threshold value, setting the object with lower positioning frequency as a compensated object, setting the object with higher positioning frequency as a compensated object, and compensating the positioning point of the compensated object according to the set compensation rule by combining the positioning point information of the compensated object;
the process of determining whether a following relationship exists between two objects of different kinds in real time comprises the following steps:
setting a positioning label corresponding to an object with lower positioning frequency into a broadcasting mode, and periodically sending a broadcasting message to the object with higher positioning frequency within a preset range:
if any object with higher positioning frequency receives the broadcast message sent by the same object with lower positioning frequency continuously for M times within a preset time range, confirming that the following relationship exists between the object with higher positioning frequency and the object with lower positioning frequency until the compensating object can not receive the broadcast message sent by the compensated object;
and M is a positive integer greater than or equal to 2.
2. The method of claim 1, wherein the set compensation rule comprises:
during the following relationship keeping, the positioning point of the compensated object is directly covered by the positioning point of the compensated object.
3. The method of claim 1, wherein the set compensation rule comprises:
and processing the positioning point information of the compensated object, screening out lost points and deviation points during the following relationship holding period, and performing interpolation supplement on the lost points and correcting the deviation points by adopting the corresponding positioning points of the compensated object.
4. The method of claim 1, further comprising:
and monitoring the moving speed of the object with higher positioning frequency in real time, and setting the object with higher positioning frequency to be in a monitoring mode to receive the broadcast message sent by the object with lower positioning frequency in a preset range when the moving speed is greater than a preset speed threshold.
5. The method of claim 1, wherein the predetermined range is 10 meters.
6. The method of claim 1, wherein the objects with lower positioning frequency are broadcasted using bluetooth low energy.
7. The method of claim 1, wherein the categories of objects include at least workers and vehicles.
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| KR20150055362A (en) * | 2013-11-13 | 2015-05-21 | 현대모비스 주식회사 | Indoor parking positioning notification device using wi-fi gateway and RSSI DB, and the method of thereof |
| US9812031B1 (en) * | 2016-02-09 | 2017-11-07 | Sean Jeffrey Wahrmund | Systems and methods for tracking position of a moving transmission source |
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