CN113587929B - Method and device for cooperative positioning under underground coal mine - Google Patents
Method and device for cooperative positioning under underground coal mine Download PDFInfo
- Publication number
- CN113587929B CN113587929B CN202111156407.XA CN202111156407A CN113587929B CN 113587929 B CN113587929 B CN 113587929B CN 202111156407 A CN202111156407 A CN 202111156407A CN 113587929 B CN113587929 B CN 113587929B
- Authority
- CN
- China
- Prior art keywords
- mobile terminal
- gyroscope
- calculating
- cycle
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 239000003245 coal Substances 0.000 title claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 239000011159 matrix material Substances 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 21
- 238000005259 measurement Methods 0.000 claims description 16
- 238000002474 experimental method Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 10
- 238000007619 statistical method Methods 0.000 claims description 10
- 238000000691 measurement method Methods 0.000 claims description 9
- 238000005065 mining Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 4
- 230000002708 enhancing effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- Mining & Mineral Resources (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Pure & Applied Mathematics (AREA)
- Computational Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computing Systems (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Algebra (AREA)
- Geochemistry & Mineralogy (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Navigation (AREA)
- Gyroscopes (AREA)
Abstract
The invention provides a cooperative positioning method under an underground coal mine, which comprises the following steps: the mobile terminal is provided with a positioning device, and the first position of the mobile terminal at the moment is calculated through the positioning device; the fixed end positioned under the well broadcasts the position information and the time information of the transmitted signal outwards; the mobile terminal receives the signal of the fixed terminal and calculates a second position of the mobile terminal at the moment; and correcting the first position according to the deviation distribution of the positioning device and the second position to obtain the optimal estimated position of the mobile terminal. The invention combines absolute positioning and relative positioning together, periodically corrects the accumulated error of the motion track of the moving end by using the transmitting signal of the fixed end, and can more accurately record the position of the measured object. The invention also provides a cooperative positioning device under the underground coal mine.
Description
Technical Field
The invention relates to the technical field of underground positioning, in particular to a method and a device for underground coal mine cooperative positioning.
Background
In the process of mining of modern underground coal mines, along with the increase of coal mining depth and the advance of a coal face, various underground inspection equipment, tunneling equipment, mining equipment and transportation equipment can move continuously during working, and the pose of the equipment can be changed continuously. Meanwhile, personnel can often enter a coal mine to carry out operations such as inspection operation and the like, and the pose of the personnel also changes constantly. As the underground coal mine is a complex huge system with higher danger degree, the abnormal position of equipment and the abnormal action of personnel can be fuse of underground accidents. At present, a GPS or Beidou positioning system cannot be used in an underground environment, so that a method and a device capable of positioning the positions of underground coal mine equipment and personnel are urgently needed.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a cooperative positioning method and a cooperative positioning device for enhancing the perception capability of the state of underground equipment and personnel.
In order to achieve the purpose, the invention provides a cooperative positioning method under an underground coal mine, which comprises the following steps:
the mobile terminal is provided with a positioning device, and the first position of the mobile terminal at the moment is calculated through the positioning device;
the fixed end positioned under the well broadcasts the position information and the time information of the transmitted signal outwards;
the mobile terminal receives the signal of the fixed terminal and calculates a second position of the mobile terminal at the moment;
and correcting the first position according to the deviation distribution of the positioning device and the second position to obtain the optimal estimated position of the mobile terminal.
According to the cooperative positioning method for enhancing the perception capability of the underground equipment and personnel states, absolute positioning and relative positioning are combined, the accumulated error of the motion track of the moving end is periodically corrected by using the transmitting signal of the fixed end, and the position of the measured object can be more accurately recorded.
According to one embodiment of the invention, the positioning device is a gyroscope, measures the three-axis acceleration at a frequency above 1kHz, and receives and demodulates the information transmitted by the fixed end.
According to one embodiment of the invention, the number of the fixed ends is at least 4, and the transmission frequency range is 3.1-10.6 GHz.
According to an embodiment of the present invention, the calculating, by the positioning device, a first position of the moving end at this time includes:
a mark point with known coordinates is arbitrarily arranged near the mine entrance, and gyroscope data is set to be 0 at the mark point to serve as an initial position of the current motion track measurement;
the gyroscope acquires a three-axis acceleration signal according to the set sampling frequency;
and (4) performing integral calculation on the triaxial acceleration signal to obtain the accumulated displacement of the mobile terminal in three directions and obtain the real-time first position of the mobile terminal.
According to an embodiment of the present invention, the mobile terminal receiving the signal of the fixed terminal and calculating a second position of the mobile terminal at this moment includes:
the mobile terminal records the receiving time of 4 fixed terminal signals captured fastest;
calculating the distance between the mobile terminal and the nearest 4 fixed terminals at the moment of receiving the signal according to the propagation speed of the electromagnetic wave and the time difference;
and calculating a second position of the mobile terminal at the moment according to the distance.
According to an embodiment of the present invention, the correcting the first position according to the deviation distribution of the positioning apparatus itself and the second position to obtain the optimal estimated position of the mobile terminal includes:
performing more than 100 ranging experiments on the gyroscope, recording the first position data obtained by calculation, and solving the difference value between the first position data and the actual position data, namely the measurement noise of the gyroscope ranging method; assuming that the noise follows Gaussian distribution, the covariance matrix of the noise is obtained according to a statistical methodQ；
Performing more than 100 ranging experiments on the fixed end, recording the second position data obtained by calculation, and solving the difference value between the second position data and the actual position data, namely the measurement noise of the fixed end ranging method; assuming that the noise follows Gaussian distribution, a covariance matrix of the noise is obtained by a statistical methodR；
Initializing a covariance matrixPInitializing an initial position of a mobile terminalS， PAnd Sinitially, all the matrixes are zero matrixes, and the circulation is started from the next step;
calculating the mobile terminal in the cycle according to the distance measuring method of the gyroscopeFirst position of
；
Calculating a covariance matrix between the predicted position and the true position of the gyro ranging method in the present cycle
；
Calculating the offset gain in the present cycle
；
Calculating the second position of the mobile terminal in the cycle by fixed-end distance measurement method
；
Correcting the first position information measured by the gyroscope ranging method by using the deviation gain and the second position information measured by the fixed end ranging method to obtain the optimal estimated value of the position of the moving end in the current cycle
Obtaining the corrected optimal estimated position of the current mobile terminal;
computing a covariance matrix of errors between the optimal estimate of the position of the mobile end and the true position
As initial parameters for the next cycle;
ending the circulation, and returning to the calculation of the first position of the mobile terminal in the circulation according to the distance measurement method of the gyroscope
The next cycle is started.
A cooperative positioning device under an underground coal mine, which comprises a movable end and a fixed end,
the fixed end is positioned under the well and used for broadcasting the position information and the time information of the transmitting signal outwards;
the mobile terminal comprises a gyroscope, a signal receiver and a microcomputer,
the gyroscope is used for calculating to obtain a first position of the mobile terminal at the moment;
the signal receiver is used for receiving the signal of the fixed end;
the microcomputer is used for calculating the second position of the mobile end at the moment according to the signal of the fixed end, and correcting the first position according to the deviation distribution and the second position of the gyroscope to obtain the optimal estimated position of the mobile end.
According to an embodiment of the present invention, when the microcomputer corrects the first position based on the bias distribution of the gyroscope itself and the second position to obtain the optimum estimated position of the mobile terminal, the microcomputer executes the following program:
performing more than 100 ranging experiments on the gyroscope, recording the first position data obtained by calculation, and solving the difference value between the first position data and the actual position data, namely the measurement noise of the gyroscope ranging method; assuming that the noise follows Gaussian distribution, the covariance matrix of the noise is obtained according to a statistical methodQ；
Performing more than 100 ranging experiments on the fixed end, recording the second position data obtained by calculation, and solving the difference value between the second position data and the actual position data, namely the measurement noise of the fixed end ranging method; assuming that the noise follows Gaussian distribution, a covariance matrix of the noise is obtained by a statistical methodR；
Initializing a covariance matrixPInitializing an initial position of a mobile terminalS，PAndSinitially, all the matrixes are zero matrixes, and the circulation is started from the next step;
calculating the first position of the mobile terminal in the cycle according to a gyroscope ranging method
；
Calculating a covariance matrix between the predicted position and the true position of the gyro ranging method in the present cycle
；
Calculating the offset gain in the present cycle
；
Calculating the second position of the mobile terminal in the cycle by fixed-end distance measurement method
；
Correcting the first position information measured by the gyroscope ranging method by using the deviation gain and the second position information measured by the fixed end ranging method to obtain the optimal estimated value of the position of the moving end in the current cycle
Obtaining the corrected optimal estimated position of the current mobile terminal;
computing a covariance matrix of errors between the optimal estimate of the position of the mobile end and the true position
As initial parameters for the next cycle;
ending the circulation, and returning to the calculation of the first position of the mobile terminal in the circulation according to the distance measurement method of the gyroscope
The next cycle is started.
According to one embodiment of the invention, the microcomputer is an industrial personal computer.
According to the cooperative positioning device for enhancing the perception capability of underground equipment and personnel states, absolute positioning and relative positioning are combined, the accumulated error of the motion track of the movable end is periodically corrected by using the transmitting signal of the fixed end, the position of a measured object can be more accurately recorded, danger factors can be found as soon as possible, the operation process is standardized, the safety of underground tunneling, mining and transportation is improved, and the development of coal mine production to an intelligent and safe direction is promoted.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a diagram of a moving end motion trajectory calculated by using a gyroscope according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the principle of jointly determining the position of a measured object by using a plurality of fixed ends with signal transmitters according to an embodiment of the present invention.
Fig. 3 is a flowchart of jointly correcting the position of the mobile terminal by using the data of the gyroscope and the fixed terminal according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Referring to fig. 1 and 2, in a first aspect, an embodiment of the present invention provides a method for cooperative positioning in a coal mine, including the following steps:
s10, the mobile terminal is provided with a positioning device, and the first position of the mobile terminal at the moment is calculated through the positioning device;
s20, broadcasting position information and time information of a transmitting signal outwards by a fixed end located underground;
s30, the mobile terminal receives the signal of the fixed terminal and calculates a second position of the mobile terminal at the moment;
and S40, correcting the first position according to the deviation distribution and the second position of the positioning device to obtain the optimal estimated position of the mobile terminal.
Specifically, the movable end may be one or more, and the fixed end may be more than one. When in use, the mobile terminal is arranged on a measured object which needs to be positioned in real time. The measured object is not limited to a human body, and can be a downhole device needing positioning. The moving end, a mine entrance, is used as the real reference for movement. The optimal estimated position of the mobile terminal is updated in real time. The calculation of the optimal estimated position may be performed by the mobile terminal. The fixed end is arranged under the coal mine in a distributed mode, and the position and the current time of the fixed end can be broadcasted in the whole mine range. Each fixed end has fixed position information, so that the ID of each fixed end corresponds to the position of the fixed end one by one and has uniqueness.
According to the cooperative positioning method under the underground coal mine, the mine entrance is used as the reference of motion initiation, the obtained motion track is projected to the three-dimensional model of the mining area, and therefore the real-time position of the measured object in the mine is obtained.
In some embodiments, the positioning device is a gyroscope that measures three-axis acceleration at frequencies above 1kHz and receives and demodulates information transmitted by the stationary end. The gyroscope is an inertial navigation instrument and is suitable for being used in mines which cannot receive GPS signals.
In some embodiments, in order to realize accurate positioning, the number of the fixed ends is at least 4, the transmission frequency range is 3.1-10.6 GHz, the self position and the current time can be broadcasted in the whole mine range, and each fixed end has fixed position information.
For example, calculating a first position of the mobile terminal at the moment by the positioning device includes the following steps:
s11, arbitrarily setting a mark point with known coordinates near a mine entrance, and setting gyroscope data as 0 at the mark point to serve as an initial position of the current motion track measurement;
s12, the gyroscope is used for sampling frequency according to the settingfCollecting three-axis acceleration signals
、
、
；
S13, carrying out integral calculation on the triaxial acceleration signal to obtain the movement distances of the mobile terminal in three directions, wherein the movement distances are respectively expressed as:
，
，
；
s14, according to sampling frequency
The three-axis movement distance of the moving end is approximately calculated, and the movement distance can be respectively expressed as:
，
whereinnWhich represents the number of times the gyroscope was sampled,
is a sampling period;
and S15, drawing a motion track of the mobile terminal in the three-dimensional model of the mining area according to the real-time first position of the mobile terminal calculated at each sampling point in the step S14.
Specifically, in step S30, the mobile terminal receives the signal from the fixed terminal, and calculates a second position of the mobile terminal at this moment, including the following steps:
s31, the fixed end broadcasts the position of the fixed end at a certain time in a unified way
And time of transmission
；
S32, the mobile terminal receives and demodulates the signals, and the mobile terminal records the receiving time of 4 fixed end signals captured fastest respectively as
、
、
、
The fixed end coordinate corresponding to each signal is respectively recorded as
；
S33, calculating the time difference between the receiving and the sending of the 4 signals
，
，
，
；
S34, according to the propagation speed of the electromagnetic wave
Calculating the distance between the mobile terminal and the nearest 4 fixed terminals at the moment of receiving the signal according to the time difference
，
，
，
；
S35. column equation set
，
，
，
And simultaneously solving the coordinates of the mobile terminal at the moment of receiving the signallI.e. the second position at the moment of the moving end.
Referring to fig. 3, specifically, step S40, the method for obtaining an optimal estimated position of the mobile terminal by correcting the first position according to the deviation distribution of the positioning apparatus and the second position includes:
s401, performing more than 100 ranging experiments on the gyroscope, recording first position data obtained through calculation, and solving a difference value between the first position data and actual position data, namely measuring noise of a gyroscope ranging method; assuming that the noise follows a Gaussian distribution, according to a statistical sideThe covariance matrix of the noise is obtained by the methodQ；
S402, conducting more than 100 ranging experiments on the fixed end, recording second position data obtained through calculation, and solving a difference value between the second position data and actual position data, namely measuring noise of a fixed end ranging method; assuming that the noise follows Gaussian distribution, a covariance matrix of the noise is obtained by a statistical methodR；
S403, initializing a covariance matrixPInitializing an initial position of a mobile terminalS， PAnd Sinitially, all the matrixes are zero matrixes, and the circulation is started from the next step;
s404, calculating the first position of the mobile terminal in the cycle according to a gyroscope ranging method
；
S405, calculating a covariance matrix between the predicted position and the actual position of the gyroscope ranging method in the circulation
；
S406, calculating deviation gain in the current cycle
；
S407, calculating the second position of the mobile terminal in the current cycle according to a fixed end distance measurement method
；
S408, correcting the first position information measured by the gyroscope ranging method by using the second position information measured by the offset gain and fixed end ranging method to obtain the optimal estimation value of the position of the moving end in the current cycle
Obtaining the corrected optimal estimated position of the current mobile terminal;
s409, calculating the optimal estimated value of the position of the mobile terminal andcovariance matrix of errors between true positions
As initial parameters for the next cycle;
s410, ending the loop, returning to the step S404 and starting the next loop.
The cooperative positioning method under the underground coal mine provided by the embodiment of the invention combines absolute positioning and relative positioning together, and periodically corrects the accumulated error of the motion track of the moving end by using the transmitting signal of the fixed end, so that the position of the measured object can be more accurately recorded;
the embodiment of the invention adopts the gyroscope at the mobile end to carry out real-time triaxial acceleration measurement, and obtains the motion distance of the measured object in the space through integral calculation, thereby reproducing the motion track of the measured object in a mine.
In view of the above, a second aspect of the embodiments of the present invention provides a cooperative positioning device under an underground coal mine, including a movable end and a fixed end, where the fixed end is located underground and is used for broadcasting its position information and time information of a transmission signal outwards; the mobile terminal comprises a gyroscope, a signal receiver and a microcomputer, wherein the gyroscope is used for calculating to obtain a first position of the mobile terminal at the moment; the signal receiver is used for receiving the signal of the fixed end; the microcomputer is used for calculating the second position of the mobile end at the moment according to the signal of the fixed end, and correcting the first position according to the deviation distribution and the second position of the gyroscope to obtain the optimal estimated position of the mobile end.
The microcomputer here may be an industrial personal computer. The microcomputer has a memory and a processor that runs non-volatile software programs, instructions, stored in the memory. When the microcomputer corrects the first position according to the bias distribution of the gyroscope and the second position to obtain the optimal estimated position of the mobile terminal, the microcomputer executes the following program:
performing more than 100 ranging experiments on the gyroscope, recording the first position data obtained by calculation, and solving the first position data and the actual position dataThe difference value is the measurement noise of the gyroscope ranging method; assuming that the noise follows Gaussian distribution, the covariance matrix of the noise is obtained according to a statistical methodQ；
Performing more than 100 ranging experiments on the fixed end, recording the second position data obtained by calculation, and solving the difference value between the second position data and the actual position data, namely the measurement noise of the fixed end ranging method; assuming that the noise follows Gaussian distribution, a covariance matrix of the noise is obtained by a statistical methodR；
Initializing a covariance matrixPInitializing an initial position of a mobile terminalS， PAnd Sinitially, all the matrixes are zero matrixes, and the circulation is started from the next step;
calculating the first position of the mobile terminal in the cycle according to a gyroscope ranging method
；
Calculating a covariance matrix between the predicted position and the true position of the gyro ranging method in the present cycle
；
Calculating the offset gain in the present cycle
；
Calculating the second position of the mobile terminal in the cycle by fixed-end distance measurement method
；
Correcting the first position information measured by the gyroscope ranging method by using the deviation gain and the second position information measured by the fixed end ranging method to obtain the optimal estimated value of the position of the moving end in the current cycle
Obtaining the corrected optimal estimated position of the current mobile terminal;
computing a covariance matrix of errors between the optimal estimate of the position of the mobile end and the true position
As initial parameters for the next cycle;
ending the circulation, and returning to the calculation of the first position of the mobile terminal in the circulation according to the distance measurement method of the gyroscope
The next cycle is started.
Based on the above purpose, the cooperative positioning device under an underground coal mine provided by the second aspect of the embodiment of the present invention can achieve the same or similar effect as that of the corresponding cooperative positioning method under an underground coal mine.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. A cooperative positioning method under an underground coal mine is characterized by comprising the following steps:
the mobile terminal is provided with a positioning device, and the first position of the mobile terminal at the moment is calculated through the positioning device;
the method comprises the following steps that the underground fixed ends broadcast position information and time information of transmitted signals, wherein the number of the fixed ends is at least 4, the transmission frequency range is 3.1-10.6 GHz, the positioning device is a gyroscope, the triaxial acceleration is measured at the frequency of more than 1kHz, and the information transmitted by the fixed ends is received and demodulated;
the mobile terminal records the receiving time of 4 fixed terminal signals captured fastest;
calculating the distance between the mobile terminal and the nearest 4 fixed terminals at the moment of receiving the signal according to the propagation speed of the electromagnetic wave and the time difference;
calculating a second position of the mobile terminal at the moment according to the distance;
performing more than 100 ranging experiments on the gyroscope, recording the first position data obtained by calculation, and solving the difference value between the first position data and the actual position data, namely the measurement noise of the gyroscope ranging method; assuming that the noise follows Gaussian distribution, the covariance matrix of the noise is obtained according to a statistical methodQ；
Performing more than 100 ranging experiments on the fixed end, recording the second position data obtained by calculation, and solving the difference value between the second position data and the actual position data, namely the measurement noise of the fixed end ranging method; assuming that the noise follows Gaussian distribution, the covariance matrix of the noise is obtained by statistical methodMatrix ofR；
Initializing a covariance matrixPInitializing an initial position of a mobile terminalS，PAndSinitially, all the matrixes are zero matrixes, and the circulation is started from the next step;
calculating the first position of the mobile terminal in the cycle according to a gyroscope ranging method
；
Calculating a covariance matrix between the predicted position and the true position of the gyro ranging method in the present cycle
；
Calculating the offset gain in the present cycle
；
Calculating the second position of the mobile terminal in the cycle by fixed-end distance measurement
；
Correcting the first position information measured by the gyroscope ranging method by using the deviation gain and the second position information measured by the fixed end ranging method to obtain the optimal estimated value of the position of the moving end in the current cycle
Obtaining the corrected optimal estimated position of the current mobile terminal;
computing a covariance matrix of errors between the optimal estimate of the position of the mobile end and the true position
As initial parameters for the next cycle;
ending the cycle, and returning to the step of calculating the number one of the mobile terminals in the cycle according to the distance measurement method of the gyroscopeA position
The next cycle is started.
2. The method of claim 1, wherein the method comprises: the calculating the first position of the mobile terminal at the moment by the positioning device comprises the following steps:
a mark point with known coordinates is arbitrarily arranged near the mine entrance, and gyroscope data is set to be 0 at the mark point to serve as an initial position of the current motion track measurement;
the gyroscope acquires a three-axis acceleration signal according to the set sampling frequency;
and (4) performing integral calculation on the triaxial acceleration signal to obtain the accumulated displacement of the mobile terminal in three directions and obtain the real-time first position of the mobile terminal.
3. A cooperative positioning device under an underground coal mine is characterized by comprising a movable end and a fixed end,
the fixed ends are located underground and used for broadcasting position information and time information of transmitted signals outwards, wherein the number of the fixed ends is at least 4, and the transmission frequency range is 3.1-10.6 GHz;
the mobile terminal comprises a gyroscope, a signal receiver and a microcomputer,
the gyroscope is used for calculating to obtain a first position of the mobile terminal at the moment;
the signal receiver is used for receiving the signal of the fixed end;
the microcomputer is used for recording the receiving time of 4 fixed end signals captured fastest according to the signals of the fixed ends; calculating the distance between the mobile terminal and the nearest 4 fixed terminals at the moment of receiving the signal according to the propagation speed of the electromagnetic wave and the time difference;
performing more than 100 ranging experiments on the gyroscope, recording the first position data obtained by calculation, and solving the difference value between the first position data and the actual position data, namely the measurement noise of the gyroscope ranging method; assuming that the noise obeys GaussianDistribution, obtaining the covariance matrix of the noise according to statistical methodQ；
Performing more than 100 ranging experiments on the fixed end, recording the second position data obtained by calculation, and solving the difference value between the second position data and the actual position data, namely the measurement noise of the fixed end ranging method; assuming that the noise follows Gaussian distribution, a covariance matrix of the noise is obtained by a statistical methodR；
Initializing a covariance matrixPInitializing an initial position of a mobile terminalS，PAndSinitially, all the matrixes are zero matrixes, and the circulation is started from the next step;
calculating the first position of the mobile terminal in the cycle according to a gyroscope ranging method
；
Calculating a covariance matrix between the predicted position and the true position of the gyro ranging method in the present cycle
；
Calculating the offset gain in the present cycle
；
Calculating the second position of the mobile terminal in the cycle by fixed-end distance measurement
；
Correcting the first position information measured by the gyroscope ranging method by using the deviation gain and the second position information measured by the fixed end ranging method to obtain the optimal estimated value of the position of the moving end in the current cycle
Obtaining the corrected optimal estimated position of the current mobile terminal;
calculating the maximum of the moving end positionCovariance matrix of error between optimal estimated value and true position
As initial parameters for the next cycle;
ending the circulation, and returning to the calculation of the first position of the mobile terminal in the circulation according to the distance measurement method of the gyroscope
The next cycle is started.
4. The underground coal mining cooperative positioning device of claim 3, wherein the microcomputer is an industrial personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111156407.XA CN113587929B (en) | 2021-09-30 | 2021-09-30 | Method and device for cooperative positioning under underground coal mine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111156407.XA CN113587929B (en) | 2021-09-30 | 2021-09-30 | Method and device for cooperative positioning under underground coal mine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113587929A CN113587929A (en) | 2021-11-02 |
| CN113587929B true CN113587929B (en) | 2022-01-25 |
Family
ID=78242550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111156407.XA Active CN113587929B (en) | 2021-09-30 | 2021-09-30 | Method and device for cooperative positioning under underground coal mine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113587929B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117110982A (en) * | 2023-10-25 | 2023-11-24 | 山西燕山鑫源防护设备股份有限公司 | Mining personnel management and environmental parameter mobile monitoring system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183254A (en) * | 2011-02-21 | 2011-09-14 | 戴庆源 | Mine location and communication system based on inertial measurement unit and radio low-frequency technology |
| CN102192739A (en) * | 2010-03-09 | 2011-09-21 | 陈新伟 | Navigating instrument and system for mine |
| CN102997914A (en) * | 2012-10-24 | 2013-03-27 | 中国矿业大学 | Three-dimensional locating and detecting device and method for coal cutter |
| CN103957508A (en) * | 2014-05-04 | 2014-07-30 | 中国矿业大学 | Accurate underground wireless positioning system and method based on combination of WiFi and gyroscope |
| WO2014140732A1 (en) * | 2013-03-14 | 2014-09-18 | Industrea Mining Technology Pty Ltd | Mining machine position tracking and mapping |
| CN109633536A (en) * | 2018-12-04 | 2019-04-16 | 杭州电子科技大学 | A kind of navigator fix terminal and working method for mine |
| CN110285810A (en) * | 2019-06-13 | 2019-09-27 | 兖矿集团有限公司 | A kind of coalcutter autonomic positioning method and device based on inertial navigation data |
| CN110702109A (en) * | 2019-06-05 | 2020-01-17 | 西京学院 | Coal mining machine inertial navigation/wireless sensor network combined positioning method |
| CN110847905A (en) * | 2019-12-10 | 2020-02-28 | 中国矿业大学(北京) | Autonomous navigation system and method for coal mining machine |
-
2021
- 2021-09-30 CN CN202111156407.XA patent/CN113587929B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102192739A (en) * | 2010-03-09 | 2011-09-21 | 陈新伟 | Navigating instrument and system for mine |
| CN102183254A (en) * | 2011-02-21 | 2011-09-14 | 戴庆源 | Mine location and communication system based on inertial measurement unit and radio low-frequency technology |
| CN102997914A (en) * | 2012-10-24 | 2013-03-27 | 中国矿业大学 | Three-dimensional locating and detecting device and method for coal cutter |
| WO2014140732A1 (en) * | 2013-03-14 | 2014-09-18 | Industrea Mining Technology Pty Ltd | Mining machine position tracking and mapping |
| CN103957508A (en) * | 2014-05-04 | 2014-07-30 | 中国矿业大学 | Accurate underground wireless positioning system and method based on combination of WiFi and gyroscope |
| CN109633536A (en) * | 2018-12-04 | 2019-04-16 | 杭州电子科技大学 | A kind of navigator fix terminal and working method for mine |
| CN110702109A (en) * | 2019-06-05 | 2020-01-17 | 西京学院 | Coal mining machine inertial navigation/wireless sensor network combined positioning method |
| CN110285810A (en) * | 2019-06-13 | 2019-09-27 | 兖矿集团有限公司 | A kind of coalcutter autonomic positioning method and device based on inertial navigation data |
| CN110847905A (en) * | 2019-12-10 | 2020-02-28 | 中国矿业大学(北京) | Autonomous navigation system and method for coal mining machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113587929A (en) | 2021-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105628026B (en) | A kind of positioning and orientation method and system of mobile object | |
| US8644850B2 (en) | Radio navigation | |
| KR101755944B1 (en) | Autonomous driving method and system for determing position of car graft on gps, uwb and v2x | |
| US10499198B2 (en) | Positioning device and positioning system | |
| EP3397923B1 (en) | Improved surveying pole | |
| US20080158052A1 (en) | Positioning apparatus and method | |
| CN101476891A (en) | Accurate navigation system and method for movable object | |
| KR20150051747A (en) | Method for determining location of vehicle | |
| CN105164551A (en) | Position identification system with multiple cross-checks | |
| KR102172145B1 (en) | Tightly-coupled localization method and apparatus in dead-reckoning system | |
| JP2019189157A (en) | Railway traveling position detection device and method | |
| CN113587929B (en) | Method and device for cooperative positioning under underground coal mine | |
| KR20120069510A (en) | Unmanned apparatus method for driving thereof | |
| CN111487587A (en) | Dangerous rock collapse disaster deformation monitoring method and system based on ultra-bandwidth positioning | |
| CN202649469U (en) | Positioning device for judging position of effective global satellite positioning system | |
| CN113884096A (en) | Indoor navigation system and method | |
| CN108775899A (en) | Coordinate system connection method above and below deep mining well based on pseudo satellite, pseudolite and Inertia information | |
| CN105548956A (en) | Pedestrian positioning system and method in Internet of Vehicles system, and related equipment | |
| CN108981729A (en) | Vehicle positioning method and device | |
| KR200303737Y1 (en) | Mobile GPS mesuring systen | |
| US20190249989A1 (en) | Data processing device, data processing method, and data processing program | |
| EP4060364A1 (en) | Positioning device and positioning method | |
| JP2015190871A (en) | Navigation device and free state determination method | |
| US20230021697A1 (en) | Navigation systems and methods for an autonomous device | |
| Clausen et al. | Positioning accuracy of vehicle trajectories for road applications |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |