CN111586565A - One-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging - Google Patents

One-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging Download PDF

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Publication number
CN111586565A
CN111586565A CN202010437682.8A CN202010437682A CN111586565A CN 111586565 A CN111586565 A CN 111586565A CN 202010437682 A CN202010437682 A CN 202010437682A CN 111586565 A CN111586565 A CN 111586565A
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positioning
distance
positioning unit
terminal
ranging
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Inventor
刘世森
于庆
黄友胜
张鹏
田军
郭江涛
马书敏
刘亚辉
孟小红
邵严
张喜萍
苟怡
赵光绪
戴剑波
林引
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CCTEG Chongqing Research Institute Co Ltd
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CCTEG Chongqing Research Institute Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • 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
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The invention discloses a one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging, which comprises the following steps: s1, determining a distance S1 between a positioning terminal and a first positioning unit; s2, determining the distance S2 between the positioning terminal and the second positioning unit; s3, judging whether the distance S1 and the distance S2 are smaller than the distance S at the same time, if so, positioning the terminal between the first positioning unit and the second positioning unit; if not, go to step S4; s4, judging whether the difference value between the distance S1 and the distance S2 is larger than the distance S, if so, positioning the terminal on the right side of the second positioning unit; if not, the positioning terminal is positioned at the left side of the first positioning unit. The one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging improves positioning accuracy, reduces wireless ranging communication times, and is high in positioning speed and simple in implementation process.

Description

One-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging
Technical Field
The invention relates to the field of mine positioning, in particular to a one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging.
Background
At present, a lot of positioning methods are available under one-dimensional scenes such as coal mines, metal and nonmetal mines, tunnels and the like, wherein a precise positioning system for personnel based on TOA (time of arrival) distance measurement and a positioning method thereof use a main card reader and an auxiliary card reader, a tag card respectively measures the distance with the main card reader and the auxiliary card reader by adopting the TOA method, and the direction of the tag card is determined according to the distance values between the tag card and the main card reader and between the tag card and the auxiliary card reader; a TOF one-dimensional positioning base station and a positioning method disclose that a main radio frequency module and an auxiliary radio frequency module are arranged on a positioning base station, and two radio frequency antennas are respectively connected through two feeders with equal length to position a tag card; in the two schemes, the identification card needs to respectively measure the distance with the main card reader and the auxiliary card reader by adopting a bilateral two-way symmetrical measurement method, the occupation of a wireless channel is increased, meanwhile, the wireless communication times are more, the positioning time is long, the power consumption of the identification card is doubled, the endurance time of the identification card is reduced, in addition, the main card reader and the auxiliary card reader need to be installed, the arrangement and the power taking are difficult in practical application, and the use cost is high.
There is also a method of positioning using TDOA, in which two positioning base stations are set in a one-dimensional environment, and the position of the tag card is determined by the time difference between the signals transmitted by the tag card respectively arriving at the two positioning base stations. However, in this scheme, the two positioning base stations need to maintain strict time synchronization to ensure effective timestamp information, and it is necessary to ensure that signals transmitted by the identification card reach the two positioning base stations at the same time, and the distance between the positioning base stations is also limited.
Therefore, in order to solve the above problems, a one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging is needed, which can effectively reduce ranging errors caused by frequency drift of a crystal oscillator and inhibit non-line-of-sight errors, improve positioning accuracy, reduce wireless ranging communication times, achieve high positioning speed, and achieve a simple process.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging, which can effectively reduce the ranging error caused by the frequency drift of the crystal oscillator and suppress the non-line-of-sight error, improve the positioning accuracy, reduce the wireless ranging communication times, and has the advantages of high positioning speed and simple implementation process.
The invention discloses a one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging, which comprises the following steps:
s1, determining a distance S1 between a positioning terminal and a first positioning unit; wherein the positioning terminal is arranged at the target body; the first positioning unit is arranged in a mine;
s2, determining the distance S2 between the positioning terminal and the second positioning unit; wherein the second positioning unit is arranged in a mine;
s3, judging whether the distance S1 and the distance S2 are smaller than the distance S at the same time, if so, positioning the terminal between the first positioning unit and the second positioning unit; if not, go to step S4; wherein S is the distance between the first positioning unit and the second positioning unit;
s4, judging whether the difference value between the distance S1 and the distance S2 is larger than the distance S, if so, positioning the terminal on the right side of the second positioning unit; if not, the positioning terminal is positioned at the left side of the first positioning unit.
Further, in step S1, a distance S1 between the positioning terminal and the first positioning unit is determined according to the following steps:
s11, calculating the distance measuring distance of the arrival time between the positioning terminal and the first positioning unit to obtain a distance sequence (D1, D1'); d1 and D1' are the distance between two adjacent calculated arrival times;
s12, calculating a signal strength ranging distance between the positioning terminal and the first positioning unit to obtain a distance sequence (L1, L1'); wherein, L1 and L1' are the signal strength ranging distances obtained by two adjacent calculations;
s13, judging whether the absolute value of the difference value between the distance D1 and the distance D1' is smaller than a threshold value mu or not1If yes, the distance between the positioning terminal and the first positioning unit is S1 ═ D1; if not, go to step S14; wherein the threshold value mu1＝v1t1，v1To locate the operating speed of the terminal, t1Time interval for calculating time of arrival ranging distance D1 and calculating time of arrival ranging distance D1';
s14, judging whether the absolute value of the difference value between the signal strength ranging distance L1 and the signal strength ranging distance L1 'is smaller than a threshold value mu'1If yes, positioning the terminal and the first positioningDistance of cell S1 ═ L1; if not, the distance S1 between the positioning terminal and the first positioning unit is D1 +/-mu1(ii) a Wherein the threshold value is mu'1＝v′1t′1，v′1Is the running speed of the positioning terminal, t'1The time interval between ranging L1 and L1' is calculated for signal strength.
Further, in step S11, the time-of-arrival ranging distance between the positioning terminal and the first positioning unit is calculated according to the following formula:
Figure BDA0002502897580000031
wherein D is1Ranging a distance for an arrival time between the positioning terminal and the first positioning unit; t is1The time when the positioning terminal simultaneously sends data to the first positioning unit and the second positioning unit; t is2The time when the first positioning unit receives the data sent by the positioning terminal; t is3The time at which the first positioning unit sends the complex data back to the positioning terminal; t is4The time when the positioning terminal receives the reply data sent by the first positioning unit; t is8The time when the positioning terminal sends the complex data back to the first positioning unit; t is9The time when the first positioning unit receives the reply data sent by the positioning terminal; and C is the propagation speed of the electromagnetic wave in the medium.
Further, in step S12, the signal strength ranging distance between the positioning terminal and the first positioning unit is calculated according to the following formula:
Figure BDA0002502897580000032
wherein L is1Ranging distance for signal strength between the positioning terminal and the first positioning unit; d1In the process of ranging the arrival time of the positioning terminal and the first positioning unit, when the first positioning unit receives data sent by the positioning terminal, the first positioning unit measures the signal strength ranging distance; d2For positioning the terminal with the first positionIn the process of ranging the arrival time of the unit, when the positioning terminal receives the reply data sent by the first positioning unit, the positioning terminal measures the signal strength ranging distance; d3In the process of ranging the arrival time of the positioning terminal and the first positioning unit, when the first positioning unit receives the reply data sent by the positioning terminal, the first positioning unit measures the signal strength ranging distance.
Further, in step S2, the distance S2 between the positioning terminal and the second positioning unit is determined according to the following steps:
s21, calculating the distance measuring distance of the arrival time between the positioning terminal and the second positioning unit to obtain a distance sequence (D2, D2'); d2 and D2' are the distance between two adjacent calculated arrival times;
s22, calculating the signal strength ranging distance between the positioning terminal and the second positioning unit to obtain a distance sequence (L2, L2'); wherein, L2 and L2' are the signal strength ranging distances obtained by two adjacent calculations;
s23, judging whether the absolute value of the difference value between the distance D2 and the distance D2' is smaller than a threshold value mu or not2If yes, the distance between the positioning terminal and the second positioning unit is S2-D2; if not, go to step S24; wherein the threshold value mu2＝v2t2，v2To locate the operating speed of the terminal, t2Time interval for calculating time of arrival ranging distance D2 and calculating time of arrival ranging distance D2';
s24, judging whether the absolute value of the difference value between the signal strength ranging distance L2 and the signal strength ranging distance L2 'is smaller than a threshold value mu'2If yes, the distance S2 between the positioning terminal and the second positioning unit is L2; if not, the distance S2 between the positioning terminal and the second positioning unit is D2 +/-mu2(ii) a Wherein the threshold value is mu'2＝v′2t′2，v′2Is the running speed of the positioning terminal, t'2The time interval between ranging L2 and L2' is calculated for signal strength.
Further, in step S21, the time-of-arrival ranging distance is determined according to the following formula:
Figure BDA0002502897580000041
wherein D is2Ranging the distance for the arrival time between the positioning terminal and the second positioning unit; t is1The time when the positioning terminal simultaneously sends data to the first positioning unit and the second positioning unit; t is5The time when the second positioning unit receives the data sent by the positioning terminal; t is6The time when the second positioning unit sends the complex data back to the positioning terminal; t is7The time when the positioning terminal receives the reply data sent by the second positioning unit; t is8The time when the positioning terminal sends the complex data back to the second positioning unit; t is10The time when the second positioning unit receives the reply data sent by the positioning terminal; and C is the propagation speed of the electromagnetic wave in the medium.
Further, in step S22, the signal strength ranging distance is determined according to the following formula:
Figure BDA0002502897580000042
wherein L is2Ranging distance for signal strength between the positioning terminal and the second positioning unit; d'1In the process of ranging the arrival time of the positioning terminal and the second positioning unit, when the second positioning unit receives data sent by the positioning terminal, the second positioning unit measures the signal strength ranging distance; d'2In the process of ranging the arrival time of the positioning terminal and the second positioning unit, when the positioning terminal receives reply data sent by the second positioning unit, the positioning terminal measures the signal strength ranging distance; d'3In the process of ranging the arrival time of the positioning terminal and the second positioning unit, when the second positioning unit receives reply data sent by the positioning terminal, the second positioning unit measures the signal strength ranging distance.
The invention has the beneficial effects that: the invention discloses a one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging, obtaining the time of arrival ranging distance between the positioning terminal and a plurality of positioning units through TOA ranging, without the need for clock synchronization of the positioning terminal with each positioning unit, nor with a plurality of positioning units, thereby reducing the ranging error caused by the frequency drift of the crystal oscillator, and simultaneously obtaining the signal strength ranging distance between the positioning terminal and a plurality of positioning units by adopting RSSI ranging, therefore, non-line-of-sight errors are restrained, the position of the positioning terminal is finally determined by judging whether the errors between two adjacent arrival time ranging distances and the errors between two adjacent signal strength ranging distances exceed a set threshold value, the wireless ranging communication times are reduced, the positioning accuracy is high, the positioning speed is high, and the implementation process is simple.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic view of the positioning principle of the present invention;
FIG. 2 is a schematic flow diagram of the process of the present invention;
FIG. 3 is a schematic diagram of a positioning system of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, in which:
the invention discloses a one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging, which comprises the following steps:
s1, determining a distance S1 between a positioning terminal and a first positioning unit; wherein the positioning terminal is arranged at the target body; the positioning terminal is a card type beacon which can send pulse information to a positioning unit according to a set communication frequency so as to realize accurate positioning; the positioning terminal can be called as a positioning card, and the positioning card can be powered by a rechargeable lithium battery; the target body is a worker working in a mine or transportation equipment such as a trackless rubber-tyred vehicle; the first positioning unit is arranged in a mine;
s2, determining the distance S2 between the positioning terminal and the second positioning unit; wherein the second positioning unit is arranged in a mine; in this embodiment, the terminal is located
S3, judging whether the distance S1 and the distance S2 are smaller than the distance S at the same time, if so, positioning the terminal between the first positioning unit and the second positioning unit; if not, go to step S4; wherein S is a distance between the first positioning unit and the second positioning unit, and in this embodiment, the value of S is 1 m;
s4, judging whether the difference value between the distance S1 and the distance S2 is larger than the distance S, if so, positioning the terminal on the right side of the second positioning unit; if not, the positioning terminal is positioned at the left side of the first positioning unit.
It should be noted that, because the environment such as a coal mine tunnel or a tunnel is generally in a long and narrow state, and the width and the height of the tunnel are relatively small, the coal mine tunnel can be regarded as a one-dimensional linear space, so the positioning terminal, the first positioning unit and the second positioning unit of the invention are located on a straight line. Wherein TOA (all called Time Of Arrival) is the Time Of Arrival, and TOA ranging is the distance between two nodes obtained by measuring the signal transmission Time between two nodes. RSSI (all called: Received Signal Strength Indicator) is a Received Signal Strength Indicator, and RSSI ranging is realized after a reverse channel baseband receiving filter.
In this embodiment, the first positioning unit includes a main rf, a first directional antenna, and a first power amplifier circuit disposed between the main rf and the first directional antenna; the main radio frequency adopts a DW1000 chip, the DW1000 chip conforms to the IEEE802.15.4-2011 ultra wide band standard, the positioning precision can reach centimeter level, and the DW1000 chip is used for generating and analyzing wireless data; the first directional antenna is a high-frequency directional antenna and is used for receiving and transmitting wireless signals; the input end of the first power amplifier circuit is connected with the output end of the first directional antenna, the output end of the first power amplifier circuit is connected with the input end of the main radio frequency, and the first power amplifier circuit is used for amplifying the power of the wireless signal; the structure of the second positioning unit is the same as that of the first positioning unit; the second positioning unit comprises an auxiliary radio frequency, a second directional antenna and a second power amplifier circuit arranged between the auxiliary radio frequency and the second directional antenna; the radiation frequency also adopts a DW1000 chip; the second directional antenna also adopts a high-frequency directional antenna.
In this embodiment, the main radio frequency and the auxiliary radio frequency share one control processing module for data transmission, thereby saving the hardware cost of the device and also reducing the workload of software design; the main radio frequency and the auxiliary radio frequency adopt an SPI mode to carry out data transmission with the control processing module; the SPI is fully called a serial peripheral interface, and the corresponding chinese is fully called a serial peripheral interface, which is the prior art and is not described herein again; the control processing module comprises a microcontroller and a storage unit; the microcontroller selects a CPU with an ARM architecture as a control core; the microcontroller has a PLC communication function, the PLCs are all called power line carrier communication, and the corresponding Chinese characters are all called power line carrier communication, which is the prior art and is not described herein again; the microcontroller is used for controlling peripheral equipment such as a storage unit and the like and carrying out logic operation; the storage unit is used for various distance values and other data, and data are guaranteed not to be lost.
In this embodiment, in step S1, the distance S1 between the positioning terminal and the first positioning unit is determined according to the following steps:
s11, calculating the distance measuring distance of the arrival time between the positioning terminal and the first positioning unit to obtain a distance sequence (D1, D1'); d1 and D1' are the distance between two adjacent calculated arrival times;
s12, calculating a signal strength ranging distance between the positioning terminal and the first positioning unit to obtain a distance sequence (L1, L1'); wherein, L1 and L1' are the signal strength ranging distances obtained by two adjacent calculations;
s13, judging whether the absolute value of the difference value between the distance D1 and the distance D1' is smaller than a threshold value mu or not1If yes, the distance between the positioning terminal and the first positioning unit is S1 ═ D1; if not, go to step S14; wherein the threshold value mu1＝v1t1，v1In order to determine the operation speed of the positioning terminal, in this embodiment, it is preferable to use a three-axis acceleration sensor to measure the operation speed of the positioning terminal; the three-axis accelerationThe three-axis acceleration sensor determines the running speed of an object based on the acceleration principle and can comprehensively and accurately reflect the motion property of the object; the selected three-axis acceleration sensor LIS3DH is arranged at a positioning terminal which is arranged on the target body, so that the movement speed of the target body can be measured through the three-axis acceleration sensor; typically, when the target body is a worker, the measured velocity v1The value is 1m/s, and when the target body is a trackless rubber-tyred vehicle, the speed v is1The value is 30 km/h; t is t1Time interval for calculating time of arrival ranging distance D1 and calculating time of arrival ranging distance D1'; in this embodiment, the time interval t1The value is 1 s.
S14, judging whether the absolute value of the difference value between the signal strength ranging distance L1 and the signal strength ranging distance L1 'is smaller than a threshold value mu'1If yes, the distance between the positioning terminal and the first positioning unit is S1-L1; if not, the distance S1 between the positioning terminal and the first positioning unit is D1 +/-mu1(ii) a Wherein the threshold value is mu'1＝v′1t′1，v′1Is the running speed of the positioning terminal, t'1Time intervals for calculating signal strength ranging distance L1 and calculating signal strength ranging distance L1'; in this embodiment, the operation speed v 'of the terminal is located'1The obtaining method of (2) is the same as the step S13; in this embodiment, the time interval t 'is set by using the interactive process of the TOA ranging handshake communication and the RSSI ranging at the same time when TOA ranging is performed'1Equal to said time interval t1I.e. 1 s.
In this embodiment, in step S11, the distance between the positioning terminal and the first positioning unit is calculated according to the following formula:
Figure BDA0002502897580000081
wherein D is1Ranging a distance for an arrival time between the positioning terminal and the first positioning unit; t is1For positioning terminals simultaneously to the first positioning unitAnd the time when the second positioning unit sends data; t is2The time when the first positioning unit receives the data sent by the positioning terminal; t is3The time at which the first positioning unit sends the complex data back to the positioning terminal; t is4The time when the positioning terminal receives the reply data sent by the first positioning unit; t is8The time when the positioning terminal sends the complex data back to the first positioning unit; t is9The time when the first positioning unit receives the reply data sent by the positioning terminal; c is the propagation speed of the electromagnetic wave in the medium, and in this embodiment, the propagation speed C is the speed of light in vacuum.
In this embodiment, in step S12, the signal strength ranging distance between the positioning terminal and the first positioning unit is calculated according to the following formula:
Figure BDA0002502897580000082
wherein L is1Ranging distance for signal strength between the positioning terminal and the first positioning unit; d1For the first positioning unit at T2When data sent by a positioning terminal is received at any moment, the first positioning unit measures the signal strength ranging distance; d2For positioning the terminal at T4When receiving the reply data sent by the first positioning unit, the positioning terminal measures the signal strength ranging distance; d3For the first positioning unit at T9And when the reply data sent by the positioning terminal is received at any moment, the first positioning unit measures the signal strength ranging distance.
In this embodiment, in step S2, the distance between the positioning terminal and the second positioning unit is determined according to the following steps S2:
s21, calculating the distance measuring distance of the arrival time between the positioning terminal and the second positioning unit to obtain a distance sequence (D2, D2'); d2 and D2' are the distance between two adjacent calculated arrival times;
s22, calculating the signal strength ranging distance between the positioning terminal and the second positioning unit to obtain a distance sequence (L2, L2'); wherein, L2 and L2' are the signal strength ranging distances obtained by two adjacent calculations;
s23, judging whether the absolute value of the difference value between the distance D2 and the distance D2' is smaller than a threshold value mu or not2If yes, the distance between the positioning terminal and the second positioning unit is S2-D2; if not, go to step S24; wherein the threshold value mu2＝v2t2，v2To locate the operating speed of the terminal, t2The time interval between the calculated time of arrival ranging distance D2 and the calculated time of arrival ranging distance D2' for the phases; in this embodiment, the operation speed v of the positioning terminal2Is obtained in the same manner as in the step S13, the time interval t2The value is 1 s.
S24, judging whether the absolute value of the difference value between the signal strength ranging distance L2 and the signal strength ranging distance L2 'is smaller than a threshold value mu'2If yes, the distance S2 between the positioning terminal and the second positioning unit is L2; if not, the distance S2 between the positioning terminal and the second positioning unit is D2 +/-mu2(ii) a Wherein the threshold value is mu'2＝v′2t′2，v′2Is the running speed of the positioning terminal, t'2Time intervals for calculating signal strength ranging distance L2 and calculating signal strength ranging distance L2'; in this embodiment, the operation speed v 'of the terminal is located'2The obtaining method of (2) is the same as the step S13; setting the time interval t'2Equal to said time interval t2Is 1s, and a time interval t 'is set'2The principle of (2) is the same as that of step S14, and is not described herein again.
In this embodiment, in step S21, the time-of-arrival ranging distance is determined according to the following formula:
Figure BDA0002502897580000091
wherein D is2Ranging the distance for the arrival time between the positioning terminal and the second positioning unit; t is1The time when the positioning terminal simultaneously sends data to the first positioning unit and the second positioning unit; t is5Receiving the number sent by the positioning terminal for the second positioning unitAccording to the time; t is6In this embodiment, before the second positioning unit sends the complex data back to the positioning terminal, the second positioning unit first generates a random delay and then sends the complex data back, and performs data interception before sending the complex data back, so as to ensure that no collision occurs when the first positioning unit and the second positioning unit send the complex data back to the positioning terminal at the same time; t is7The time when the positioning terminal receives the reply data sent by the second positioning unit; t is8The time when the positioning terminal sends the complex data back to the second positioning unit; t is10The time when the second positioning unit receives the reply data sent by the positioning terminal; c is the propagation speed of the electromagnetic wave in the medium, and in this embodiment, the propagation speed is the speed of light in vacuum.
In this embodiment, in step S22, the signal strength ranging distance is determined according to the following formula:
Figure BDA0002502897580000101
wherein L is2Ranging distance for signal strength between the positioning terminal and the second positioning unit; d'1For the second positioning unit at T5When data sent by a positioning terminal is received at any moment, the distance of the signal strength measured by the second positioning unit is measured; d'2For positioning the terminal at T7When the reply data sent by the second positioning unit is received, the positioning terminal measures the signal strength ranging distance; d'3For the second positioning unit at T10And when the reply data sent by the positioning terminal is received, the distance of the signal strength measured by the second positioning unit is measured.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (7)

1. A one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging is characterized by comprising the following steps: the method comprises the following steps:
s1, determining a distance S1 between a positioning terminal and a first positioning unit; wherein the positioning terminal is arranged at the target body; the first positioning unit is arranged in a mine;
s2, determining the distance S2 between the positioning terminal and the second positioning unit; wherein the second positioning unit is arranged in a mine;
s3, judging whether the distance S1 and the distance S2 are smaller than the distance S at the same time, if so, positioning the terminal between the first positioning unit and the second positioning unit; if not, go to step S4; wherein S is the distance between the first positioning unit and the second positioning unit;
s4, judging whether the difference value between the distance S1 and the distance S2 is larger than the distance S, if so, positioning the terminal on the right side of the second positioning unit; if not, the positioning terminal is positioned at the left side of the first positioning unit.
2. The one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging of claim 1, characterized by comprising the following steps: in step S1, a distance S1 between the positioning terminal and the first positioning unit is determined according to the following steps:
s11, calculating the distance measuring distance of the arrival time between the positioning terminal and the first positioning unit to obtain a distance sequence (D1, D1'); d1 and D1' are the distance between two adjacent calculated arrival times;
s12, calculating a signal strength ranging distance between the positioning terminal and the first positioning unit to obtain a distance sequence (L1, L1'); wherein, L1 and L1' are the signal strength ranging distances obtained by two adjacent calculations;
s13, judging whether the absolute value of the difference value between the distance D1 and the distance D1' is smaller than a threshold value mu or not1If yes, the distance between the positioning terminal and the first positioning unit is S1 ═ D1; if not, go to step S14; wherein the threshold value mu1＝v1t1，v1To locate the operating speed of the terminal, t1Time interval for calculating time of arrival ranging distance D1 and calculating time of arrival ranging distance D1';
s14, judging whether the absolute value of the difference value between the signal strength ranging distance L1 and the signal strength ranging distance L1 'is smaller than a threshold value mu'1If yes, the distance between the positioning terminal and the first positioning unit is S1-L1; if not, the distance S1 between the positioning terminal and the first positioning unit is D1 +/-mu1(ii) a Wherein the threshold value is mu'1＝v′1t′1，v′1Is the running speed of the positioning terminal, t'1The time interval between ranging L1 and L1' is calculated for signal strength.
3. The one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging of claim 2, characterized by comprising the following steps: in step S11, the time-of-arrival ranging distance between the positioning terminal and the first positioning unit is calculated according to the following formula:
Figure FDA0002502897570000021
wherein D is1Ranging a distance for an arrival time between the positioning terminal and the first positioning unit; t is1The time when the positioning terminal simultaneously sends data to the first positioning unit and the second positioning unit; t is2The time when the first positioning unit receives the data sent by the positioning terminal; t is3The time at which the first positioning unit sends the complex data back to the positioning terminal; t is4The time when the positioning terminal receives the reply data sent by the first positioning unit; t is8The time when the positioning terminal sends the complex data back to the first positioning unit; t is9The time when the first positioning unit receives the reply data sent by the positioning terminal; and C is the propagation speed of the electromagnetic wave in the medium.
4. The one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging of claim 2, characterized by comprising the following steps: in step S12, the signal strength ranging distance between the positioning terminal and the first positioning unit is calculated according to the following formula:
Figure FDA0002502897570000022
wherein L is1Ranging distance for signal strength between the positioning terminal and the first positioning unit; d1In the process of ranging the arrival time of the positioning terminal and the first positioning unit, when the first positioning unit receives data sent by the positioning terminal, the first positioning unit measures the signal strength ranging distance; d2In the process of ranging the arrival time of the positioning terminal and the first positioning unit, when the positioning terminal receives the reply data sent by the first positioning unit, the positioning terminal measures the signal strength ranging distance; d3In the process of ranging the arrival time of the positioning terminal and the first positioning unit, when the first positioning unit receives the reply data sent by the positioning terminal, the first positioning unit measures the signal strength ranging distance.
5. The one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging of claim 1, characterized by comprising the following steps: in step S2, the distance S2 between the positioning terminal and the second positioning unit is determined according to the following steps:
s21, calculating the distance measuring distance of the arrival time between the positioning terminal and the second positioning unit to obtain a distance sequence (D2, D2'); d2 and D2' are the distance between two adjacent calculated arrival times;
s22, calculating the signal strength ranging distance between the positioning terminal and the second positioning unit to obtain a distance sequence (L2, L2'); wherein, L2 and L2' are the signal strength ranging distances obtained by two adjacent calculations;
s23, judging whether the absolute value of the difference value between the distance D2 and the distance D2' is smaller than a threshold value mu or not2If yes, the distance between the positioning terminal and the second positioning unit is S2-D2; if not, go to step S24; wherein the threshold value mu2＝v2t2，v2To locate the operating speed of the terminal, t2Time interval for calculating time of arrival ranging distance D2 and calculating time of arrival ranging distance D2';
s24, judging whether the absolute value of the difference value between the signal strength ranging distance L2 and the signal strength ranging distance L2 'is smaller than a threshold value mu'2If yes, the distance S2 between the positioning terminal and the second positioning unit is L2; if not, the distance S2 between the positioning terminal and the second positioning unit is D2 +/-mu2(ii) a Wherein the threshold value is mu'2＝v′2t′2，v′2Is the running speed of the positioning terminal, t'2The time interval between ranging L2 and L2' is calculated for signal strength.
6. The one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging of claim 5, wherein: in step S21, the time-of-arrival ranging distance is determined according to the following formula:
Figure FDA0002502897570000031
wherein D is2Ranging the distance for the arrival time between the positioning terminal and the second positioning unit; t is1The time when the positioning terminal simultaneously sends data to the first positioning unit and the second positioning unit; t is5The time when the second positioning unit receives the data sent by the positioning terminal; t is6The time when the second positioning unit sends the complex data back to the positioning terminal; t is7The time when the positioning terminal receives the reply data sent by the second positioning unit; t is8The time when the positioning terminal sends the complex data back to the second positioning unit; t is10The time when the second positioning unit receives the reply data sent by the positioning terminal; and C is the propagation speed of the electromagnetic wave in the medium.
7. The one-dimensional scene coal mine underground positioning method based on TOA and RSSI ranging of claim 5, wherein: in step S22, the signal strength ranging distance is determined according to the following formula:
Figure FDA0002502897570000032
wherein L is2Ranging distance for signal strength between the positioning terminal and the second positioning unit; d'1In the process of ranging the arrival time of the positioning terminal and the second positioning unit, when the second positioning unit receives data sent by the positioning terminal, the second positioning unit measures the signal strength ranging distance; d'2In the process of ranging the arrival time of the positioning terminal and the second positioning unit, when the positioning terminal receives reply data sent by the second positioning unit, the positioning terminal measures the signal strength ranging distance; d'3In the process of ranging the arrival time of the positioning terminal and the second positioning unit, when the second positioning unit receives reply data sent by the positioning terminal, the second positioning unit measures the signal strength ranging distance.
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CN113596727A (en) * 2021-08-10 2021-11-02 中煤科工集团重庆研究院有限公司 Mobile phone positioning and navigation system and method applied to mine
CN113596726A (en) * 2021-08-10 2021-11-02 中煤科工集团重庆研究院有限公司 Mine vehicle position accurate tracking and intelligent scheduling system and method
CN113677001A (en) * 2021-10-25 2021-11-19 山东开创电气有限公司 UWB positioning precision device with automatic intelligent compensation function and method
CN114827889A (en) * 2022-04-13 2022-07-29 中煤科工集团重庆研究院有限公司 System and method for positioning mine personnel and monitoring and scheduling vehicle flow

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113596727A (en) * 2021-08-10 2021-11-02 中煤科工集团重庆研究院有限公司 Mobile phone positioning and navigation system and method applied to mine
CN113596726A (en) * 2021-08-10 2021-11-02 中煤科工集团重庆研究院有限公司 Mine vehicle position accurate tracking and intelligent scheduling system and method
CN113596726B (en) * 2021-08-10 2024-06-25 中煤科工集团重庆研究院有限公司 System and method for accurately tracking and intelligently scheduling position of mine vehicle
CN113677001A (en) * 2021-10-25 2021-11-19 山东开创电气有限公司 UWB positioning precision device with automatic intelligent compensation function and method
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