CN112367609A - Method for accurately positioning single base station in coal mine - Google Patents
Method for accurately positioning single base station in coal mine Download PDFInfo
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- CN112367609A CN112367609A CN202011194503.9A CN202011194503A CN112367609A CN 112367609 A CN112367609 A CN 112367609A CN 202011194503 A CN202011194503 A CN 202011194503A CN 112367609 A CN112367609 A CN 112367609A
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- base station
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a method for accurately positioning a single base station in a coal mine, which comprises the following steps: s1, the positioning terminal sends broadcast information to the positioning base station, the directional antenna A and the directional antenna B of the positioning base station receive UWB signals sent by the positioning terminal, the Zigbee antenna of the positioning base station receives Zigbee signals sent by the positioning terminal, and the positioning base station records a receiving time stamp T1; s2, the positioning base station determines the position of the positioning terminal through Zigbee signals, and simultaneously the positioning base station accurately positions the positioning terminal through UWB signals received by the directional antenna A and the directional antenna B and judges the walking directionality of miners in the roadway; and S3, the positioning base station replies the positioning terminal information, records the sending time stamp T2, and calculates the processing information time TD1 to be (T2-T1). The invention provides a method for accurately positioning a single underground base station of a coal mine, which aims at factors such as underground environment, communication network and engineering implementation difficulty cost and the like and accurately positions the base station in an area with the deployment limited by quantity and position.
Description
Technical Field
The invention relates to a method for accurately positioning a single base station in a coal mine.
Background
At present, with the increase of mining depth and the continuous increase of mining scale, the problem of safe production of coal mines is more and more prominent, and the problem becomes a main factor for restricting the safe, economic and effective mining of mines. The underground accurate personnel positioning system of the coal mine is taken as one of six necessary systems of the coal mine, and plays an important role in the aspects of underground personnel attendance checking, production behavior standardization, special operator management, production scheduling and emergency rescue.
The existing underground accurate personnel positioning system for the coal mine integrates accurate positioning and regional positioning of the coal mine, transmits detection data in a ring network mode, and has a ring network cascade interface between a base station and the base station, so that the cost for constructing a whole set of accurate personnel positioning system for the coal mine is high. Due to the fact that underground paths are complex, the number of base stations arranged underground is large when underground signal full coverage is achieved, originally, two base stations are required to be arranged at each detection point to achieve directionality, and the communication network and engineering implementation difficulty is high in cost and difficulty. Although the existing similar products can realize accurate positioning, the engineering implementation difficulty is high, and the cost is high.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides a method for accurately positioning a single underground base station of a coal mine, aiming at factors such as underground environment, communication network and engineering implementation difficulty cost and the like, and accurately positioning in areas where the base station deployment is limited by quantity and position.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a method for accurately positioning a single base station in a coal mine underground comprises the following steps:
s1, the positioning terminal sends broadcast information to the positioning base station, the directional antenna A and the directional antenna B of the positioning base station receive UWB signals sent by the positioning terminal, the Zigbee antenna of the positioning base station receives Zigbee signals sent by the positioning terminal, and the positioning base station records a receiving time stamp T1;
s2, the positioning base station determines the position of the positioning terminal through Zigbee signals, and simultaneously the positioning base station accurately positions the positioning terminal through UWB signals received by the directional antenna A and the directional antenna B and judges the walking directionality of miners in the roadway;
s3, the positioning base station replies the positioning terminal information and records a sending time stamp T2, and the positioning base station calculates the processing information time TD1 to be (T2-T1);
s4, the positioning terminal sends back information to the positioning base station, the sending back information comprises a difference value TA between a positioning terminal broadcast start timestamp T0 and a receiving base station sending back information timestamp T3, and the TA is T3-T0;
s5, the positioning base station calculates the distance S between the positioning terminal and the positioning base station (TA-TD 1)/2C;
and S6, repeating the steps S1 to S5, measuring the distance S from the positioning terminal to the positioning base station for multiple times, and carrying out filtering correction on the distance S measured for multiple times to obtain an accurate value of the distance S.
The step S2 includes:
the positioning base station judges whether the directional antenna A receives the UWB signals, and if so, the miner wearing the positioning terminal is positioned on the side A of the positioning base station;
and the positioning base station judges whether the directional antenna B receives the UWB signals, and if so, the miner wearing the positioning terminal is positioned on the side B of the positioning base station.
In step S6, the method for performing filtering correction on the distances S measured multiple times to obtain an accurate value of the distance S includes:
step S61, based on Kalman filter, testing distance S from K-1 momentK-1Predicting a distance value S 'at time K'K，
S′K＝ASK-1+Buk-1；
From the K-1 time range error covariance matrix PK-1Prediction of time K error covariance P'K，
P′K＝APK-1AT+Q；
Wherein the content of the first and second substances,
a represents a transition matrix from a previous state to a current state;
b represents a transition matrix of control inputs to the current state;
u represents a control input;
q represents a process noise covariance matrix;
r represents a measurement noise covariance matrix;
h represents a conversion matrix from the current state to the measurement;
step S62, calculating filter weight KK，
KK＝P′KHT(HP′KHT+R)；
Calculating the optimal distance error covariance matrix P at the K momentK，
PK＝(I-KKHP′K)；
The optimal value of the distance S at time K is calculated,
SK＝S′K+KK(zK-HS′K)；
wherein the content of the first and second substances,
i is a single model with a value of 1;
zkis a distance measurement for the current state.
And step S7, the positioning base station uploads the position information of the positioning terminal to the upper computer software.
By adopting the technical scheme, the invention has the following beneficial effects:
1. the invention adopts UWB and Zigbee dual-frequency band to interact with the information of the underground positioning terminal, ensures high precision and high real-time performance, realizes the mutual transmission of text, voice and video information and provides basic data for the service with high real-time performance of the positioning terminal equipment.
2. The back of the directional antenna is specially processed, the positioning base station can not receive data when the positioning terminal is on the back of the antenna, real directional ranging is realized, the ranging range of the front of the antenna is large, and construction amount and cost are reduced for realizing underground signal full coverage.
Drawings
FIG. 1 is a schematic block diagram of hardware equipment of a method for accurately positioning a single underground base station of a coal mine according to the present invention;
FIG. 2 is a flow chart of the accurate positioning of a single base station in a coal mine well according to the present invention;
FIG. 3 is a simplified communication diagram of the accurate positioning of a single underground base station of a coal mine according to the present invention.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in fig. 1, the positioning base station adopted in the present invention is provided with one Zigbee antenna and two directional antennas, and the directional antenna a and the directional antenna B are respectively located on both sides of the positioning base station and are used for receiving a UWB signal of the positioning terminal. The wireless signal of two frequency channels of UWB and Zigbee can be sent with the communication of location basic station to the locating terminal, and wherein the UWB signal is used for the range finding, and the 2.4G signal of Zigbee is used for assistance-localization real-time, and UWB signal location can be accurate to centimetre level, and the location is more accurate. After receiving the UWB signal of the same positioning terminal, the positioning base station can measure and calculate the accurate direction of the miners wearing the positioning terminal in the current roadway according to the front orientation of the directional antenna, and provides basic data for the high-real-time service of underground personnel or equipment.
As shown in fig. 2, a method for accurately positioning a single base station in a coal mine comprises the following steps:
s1, the positioning terminal sends broadcast information to the positioning base station, wherein the information comprises terminal state codes, short message codes, voice codes and the like; a directional antenna A and a directional antenna B of a positioning base station receive UWB signals sent by a positioning terminal, a Zigbee antenna of the positioning base station receives Zigbee signals sent by the positioning terminal, and the positioning base station records a receiving time stamp T1;
s2, the positioning base station determines the position of the positioning terminal through Zigbee signals, and simultaneously the positioning base station accurately positions the positioning terminal through UWB signals received by the directional antenna A and the directional antenna B and judges the walking directionality of miners in the roadway;
s3, the positioning base station replies the positioning terminal information, the reply information comprises state codes, short message codes, voice codes and the like, a sending time stamp T2 is recorded, and the positioning base station calculates the processing information time TD1 to be (T2-T1);
s4, the positioning terminal sends back information to the positioning base station, the sending back information comprises a difference TA between a positioning terminal broadcast start timestamp T0 and a receiving base station sending back information timestamp T3, the difference TA is T3-T0, terminal state coding, short message coding, voice coding and the like;
s5, the positioning base station calculates the distance S between the positioning terminal and the positioning base station (TA-TD 1)/2C;
and S6, repeating the steps S1 to S5, measuring the distance S from the positioning terminal to the positioning base station for multiple times, and carrying out filtering correction on the distance S measured for multiple times to obtain an accurate value of the distance S.
Step S2 includes:
the positioning base station judges whether the directional antenna A receives the UWB signals, and if so, the miner wearing the positioning terminal is positioned on the side A of the positioning base station;
and the positioning base station judges whether the directional antenna B receives the UWB signals, and if so, the miner wearing the positioning terminal is positioned on the side B of the positioning base station.
In step S6, the method for performing filtering correction on the distances S measured multiple times to obtain an accurate value of the distance S includes:
step S61, based on Kalman filter, testing distance S from K-1 momentK-1Predicting a distance value S 'at time K'K，
S′K＝ASK-1+Buk-1；
From the K-1 time range error covariance matrix PK-1Prediction of time K error covariance P'K，
P′K＝APK-1AT+Q；
Wherein the content of the first and second substances,
a represents a transition matrix from a previous state to a current state;
b represents a transition matrix of control inputs to the current state;
u represents a control input;
q represents a process noise covariance matrix;
r represents a measurement noise covariance matrix;
h represents a conversion matrix from the current state to the measurement;
step S62, calculating filter weight KK，
KK＝P′KHT(HP′KHT+R)；
Calculating the optimal distance error covariance matrix P at the K momentK，
PK＝(I-KKHP′K)；
The optimal value of the distance S at time K is calculated,
SK＝S′K+KK(zK-HS′K)；
wherein the content of the first and second substances,
i is a single model with a value of 1;
zkis a distance measurement for the current state.
And step S7, the positioning base station uploads the position information, the state code, the short message code, the voice code and the like of the positioning terminal to the upper computer software. The upper computer software is used for counting the real-time data uploaded by the positioning base station, and services with high real-time performance on the positioning terminal, such as navigation, route planning, underground position real-time monitoring, voice talkback and the like, can be realized on the upper computer software.
The communication and ranging principles of the present invention are further illustrated as shown in fig. 3:
the positioning terminal sends broadcast information and records a sending time stamp T0;
the positioning base station receives the broadcast information and records a receiving time stamp T1;
the positioning base station replies the positioning terminal information and records a sending time stamp T2;
the positioning terminal receives the reply information and records a sending time stamp T3;
time of flight: TF (T1-T0) ═ T3-T2) ═ T5-T4;
positioning base station data processing time: TD1 ═ (T2-T1);
total time for completing ranging: TA-T3-T0;
distance S is (TA-TD1)/2 × C, and C is the speed of light.
The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for accurately positioning a single base station in a coal mine is characterized by comprising the following steps:
s1, the positioning terminal sends broadcast information to the positioning base station, the directional antenna A and the directional antenna B of the positioning base station receive UWB signals sent by the positioning terminal, the Zigbee antenna of the positioning base station receives Zigbee signals sent by the positioning terminal, and the positioning base station records a receiving time stamp T1;
s2, the positioning base station determines the position of the positioning terminal through Zigbee signals, and simultaneously the positioning base station accurately positions the positioning terminal through UWB signals received by the directional antenna A and the directional antenna B and judges the walking directionality of miners in the roadway;
s3, the positioning base station replies the positioning terminal information and records a sending time stamp T2, and the positioning base station calculates the processing information time TD1 to be (T2-T1);
s4, the positioning terminal sends back information to the positioning base station, the sending back information comprises a difference value TA between a positioning terminal broadcast start timestamp T0 and a receiving base station sending back information timestamp T3, and the TA is T3-T0;
s5, the positioning base station calculates the distance S between the positioning terminal and the positioning base station (TA-TD 1)/2C;
and S6, repeating the steps S1 to S5, measuring the distance S from the positioning terminal to the positioning base station for multiple times, and carrying out filtering correction on the distance S measured for multiple times to obtain an accurate value of the distance S.
2. The method for accurately positioning the single base station in the coal mine well according to claim 1, wherein the step S2 comprises:
the positioning base station judges whether the directional antenna A receives the UWB signals, and if so, the miner wearing the positioning terminal is positioned on the side A of the positioning base station;
and the positioning base station judges whether the directional antenna B receives the UWB signals, and if so, the miner wearing the positioning terminal is positioned on the side B of the positioning base station.
3. The method for accurately positioning the single underground coal mine base station according to claim 1, wherein the step S6 of performing filtering correction on the distances S measured for multiple times to obtain the accurate value of the distance S comprises:
step S61, based on Kalman filter, testing distance S from K-1 momentK-1Predicting a distance value S 'at time K'K，
S′K＝ASK-1+Buk-1；
From the K-1 time range error covariance matrix PK-1Prediction of time K error covariance P'K，
P′K＝APK-1AT+Q；
Wherein the content of the first and second substances,
a represents a transition matrix from a previous state to a current state;
b represents a transition matrix of control inputs to the current state;
u represents a control input;
q represents a process noise covariance matrix;
r represents a measurement noise covariance matrix;
h represents a conversion matrix from the current state to the measurement;
step S62, calculating filter weight KK，
KK＝P′KHT(HP′KHT+R)；
Calculating the optimal distance error covariance matrix P at the K momentK，
PK＝(I-KKHP′K)；
The optimal value of the distance S at time K is calculated,
SK＝S′K+KK(zK-HS′K)；
wherein the content of the first and second substances,
i is a single model with a value of 1;
zkis a distance measurement for the current state.
4. The method for accurately positioning the coal mine underground single base station according to claim 1, which is characterized by comprising the following steps:
and step S7, the positioning base station uploads the position information of the positioning terminal to the upper computer software.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113038377A (en) * | 2021-02-25 | 2021-06-25 | 大连易飞扬科技有限公司 | Underground one-dimensional accurate positioning method based on UWB technology C-TWR |
| CN113194402A (en) * | 2021-04-02 | 2021-07-30 | 天地（常州）自动化股份有限公司 | Underground vehicle single-station direction determination method based on accurate positioning |
| CN113376571A (en) * | 2021-05-07 | 2021-09-10 | 北京冰锋科技有限责任公司 | UWB multi-antenna positioning method |
| CN113379192A (en) * | 2021-05-11 | 2021-09-10 | 紫金矿业集团股份有限公司 | Automatic mine ore blending management and scheduling system based on UWB technology |
| CN116437288A (en) * | 2023-05-04 | 2023-07-14 | 青岛柯锐思德电子科技有限公司 | Method for selecting LOS base station algorithm design based on signal strength |
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| CN109362033A (en) * | 2018-12-26 | 2019-02-19 | 南京北路自动化系统有限责任公司 | A kind of mining base station positioning system and localization method |
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| CN111586838A (en) * | 2020-05-21 | 2020-08-25 | 中煤科工集团重庆研究院有限公司 | Underground accurate positioning method for coal mine |
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2020
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113038377A (en) * | 2021-02-25 | 2021-06-25 | 大连易飞扬科技有限公司 | Underground one-dimensional accurate positioning method based on UWB technology C-TWR |
| CN113194402A (en) * | 2021-04-02 | 2021-07-30 | 天地（常州）自动化股份有限公司 | Underground vehicle single-station direction determination method based on accurate positioning |
| CN113376571A (en) * | 2021-05-07 | 2021-09-10 | 北京冰锋科技有限责任公司 | UWB multi-antenna positioning method |
| CN113379192A (en) * | 2021-05-11 | 2021-09-10 | 紫金矿业集团股份有限公司 | Automatic mine ore blending management and scheduling system based on UWB technology |
| CN116437288A (en) * | 2023-05-04 | 2023-07-14 | 青岛柯锐思德电子科技有限公司 | Method for selecting LOS base station algorithm design based on signal strength |
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Application publication date: 20210212 |