CN113965875B - Underground multi-sensing fusion low-power-consumption wireless positioning system with self-correction function - Google Patents

Underground multi-sensing fusion low-power-consumption wireless positioning system with self-correction function Download PDF

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CN113965875B
CN113965875B CN202110737817.7A CN202110737817A CN113965875B CN 113965875 B CN113965875 B CN 113965875B CN 202110737817 A CN202110737817 A CN 202110737817A CN 113965875 B CN113965875 B CN 113965875B
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uwb
rfid
base station
uwb ranging
base stations
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CN113965875A (en
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沈刚
朱真才
曲颂
撒韫洁
李翔
汤裕
袁冠
徐志鸥
许少毅
陈朋朋
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China University of Mining and Technology CUMT
Xuzhou Liren Monorail Transportation Equipment Co Ltd
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China University of Mining and Technology CUMT
Xuzhou Liren Monorail Transportation Equipment 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
    • H04W4/023—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
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The application relates to a self-correcting underground multi-sensing fusion low-power-consumption wireless positioning system. The system comprises: the UWB ranging base stations with the preset number are arranged on the same side of a coal mine underground roadway at equal intervals according to the communication distance a between the UWB ranging base stations and the UWB tags and the size of 1/2 less than or equal to the communication distance a; the RFID base station is arranged at the middle position between every two UWB ranging base stations, and the arrangement distance between two adjacent RFID base stations is greater than the communication distance b between the RFID base station and the RFID label; each UWB ranging base station and the RFID base stations on the two sides of each UWB ranging base station are connected with the same embedded hardware platform through a network; the RFID tag and the UWB tag are configured on one side, close to the arrangement direction of the UWB ranging base station, of the underground auxiliary transport vehicle to be positioned; the IMU module is arranged on an underground auxiliary transport vehicle to be positioned; the upper computer is connected with the embedded hardware platform network and the IMU module network, and the positioning precision is improved through the fusion positioning of the IMU and the UWB.

Description

Underground multi-sensing fusion low-power-consumption wireless positioning system with self-correction function
Technical Field
The application relates to the technical field of underground positioning, in particular to an underground multi-sensing fusion low-power-consumption wireless positioning system with self-correction function.
Background
The underground unmanned autonomous working of underground auxiliary transport vehicles is realized, the first problem is the underground accurate positioning of the underground coal mine of the auxiliary transport vehicles, most of the existing coal mine transport locomotive positioning adopts a manual inspection mode or a positioning mode based on wireless communication technologies such as RFID, zigBee, wi-Fi and UWB, the manual inspection is high in cost, low in efficiency, long in time and high in potential safety hazard, positioning is carried out only through a wireless communication mode, because an underground coal mine roadway is long and narrow and has a narrow space, more large-scale electric equipment exists, more interference is brought to the transmission and communication of wireless signals, positioning is carried out only through a wireless communication mode, the positioning accuracy cannot reach a satisfactory effect, the system stability is also poor, although the positioning accuracy and the system stability of the UWB technology are good, the positioning mode related to the technology requires all equipment to be in an online working state in working time, not only is the resource consumption increased, but also the problems of wireless communication network congestion and the like are easily caused, and the positioning accuracy is easily influenced.
Disclosure of Invention
In view of the above, it is desirable to provide a downhole multi-sensing fusion low-power wireless positioning system with self-correction that can solve the problem of easily affecting the positioning accuracy.
A downhole multi-sensing fusion low-power wireless location system with self-correction, the system comprising: the system comprises a UWB ranging base station, an RFID base station, a UWB tag, an RFID tag, an IMU module, an embedded hardware platform and an upper computer;
the preset number of UWB ranging base stations are arranged on the same side, without being shielded by foreign matters, of an underground coal mine roadway through which an underground auxiliary transport vehicle passes at equal intervals according to the communication distance a between the UWB ranging base stations and the UWB tags and according to the size of less than or equal to 1/2 of the communication distance a, and the same level is kept;
the RFID base stations are arranged at the middle position between every two UWB ranging base stations, and the arrangement distance between every two adjacent RFID base stations is greater than the communication distance b between the RFID base stations and the RFID labels, so that the RFID labels cannot be communicated with the two RFID base stations at the same time;
each UWB ranging base station and the RFID base stations on two sides of each UWB ranging base station are accessed to the same embedded hardware platform in a wired network connection mode;
the RFID tag and the UWB tag are configured on one side, close to the arrangement direction of the UWB ranging base station, of the underground auxiliary transport vehicle to be positioned;
the IMU module is arranged on an underground auxiliary transport vehicle to be positioned;
and the upper computer is connected with the embedded hardware platform network and the IMU module network.
In one embodiment, the digital information transmission between the embedded hardware platform and the RFID base station adopts 2-system coding, and uses a universal serial bus interface to transmit in an RS485 protocol, the embedded hardware platform activates the UWB ranging base station by sending an upper edge of a high-level signal, and closes the UWB ranging base station by sending a lower edge of a low-level signal, and the high-level signal and the low-level signal are transmitted in an RS422 protocol by using the universal serial bus interface.
In one embodiment, the embedded hardware platform receives and processes signals of the RFID base station through an RS485 protocol, realizes the activation and dormancy functions of the UWB ranging base station through COM transmission, and transmits the received UWB ranging base station feedback signals to the upper computer.
In one embodiment, the IMU module is used for acquiring speed, acceleration and angular speed information of a to-be-positioned underground auxiliary transport vehicle, performing position calculation and acquiring first position information I la 。
In one embodiment, the upper computer is used for acquiring first position information I transmitted by the IMU module la And the feedback signal transmitted by the embedded hardware platform network carries out position calculation to obtain the final measurement position information and inputs the final measurement position informationAnd the offset Kalman filter is used for reducing measurement interference such as non-line-of-sight interference and the like, outputting and displaying final positioning information.
According to the underground multi-sensing fusion low-power-consumption wireless positioning system with self-correction, the UWB ranging base stations with the preset number are arranged at the same side, which is not shielded by foreign matters, of an underground roadway through which an underground auxiliary transport vehicle passes at equal intervals according to the communication distance a between the UWB ranging base stations and the UWB tags and according to the size of less than or equal to 1/2 of the communication distance a, and the same level is kept; the RFID base station is arranged at the middle position between every two UWB ranging base stations, and the arrangement distance between two adjacent RFID base stations is greater than the communication distance b between the RFID base station and the RFID label, so that the RFID label cannot be communicated with the two RFID base stations at the same time; each UWB ranging base station and the RFID base stations on the two sides of each UWB ranging base station are connected with the same embedded hardware platform through a network; the RFID tag and the UWB tag are configured on one side, close to the arrangement direction of the UWB ranging base station, of the underground auxiliary transport vehicle to be positioned; the IMU module is arranged on an underground auxiliary transport vehicle to be positioned; the upper computer is connected with the embedded hardware platform network and the IMU module network, and the IMU and the UWB are fused for positioning, so that the reduction of the positioning precision caused by the influence of the environment when only wireless positioning is used is avoided, and the positioning precision is improved.
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FIG. 1 is a schematic diagram of an arrangement of an underground UWB base station, an RFID base station, a UWB tag and an RFID tag of a coal mine in one embodiment;
FIG. 2 is a diagram of an embedded hardware platform, according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
In one embodiment, a downhole multi-sensing fusion low-power consumption wireless positioning system with self-correction is provided, and comprises: the system comprises a UWB ranging base station, an RFID base station, a UWB tag, an RFID tag, an IMU module, an embedded hardware platform and an upper computer;
the preset number of UWB ranging base stations are arranged on the same side, which is not shielded by foreign matters, of an underground coal mine roadway through which the underground auxiliary transport vehicle passes at equal intervals according to the communication distance a between the UWB ranging base stations and the UWB tags and according to the size of less than or equal to 1/2 of the communication distance a, and the same level is kept; the RFID base station is arranged at the middle position between every two UWB ranging base stations, and the arrangement distance between two adjacent RFID base stations is greater than the communication distance b between the RFID base station and the RFID label, so that the RFID label cannot be communicated with the two RFID base stations at the same time; each UWB ranging base station and the RFID base stations on the two sides of each UWB ranging base station are accessed to the same embedded hardware platform in a wired network connection mode; the RFID tag and the UWB tag are configured on one side, close to the arrangement direction of the UWB ranging base station, of the underground auxiliary transport vehicle to be positioned; the IMU module is arranged on an underground auxiliary transport vehicle to be positioned; the upper computer is connected with the embedded hardware platform network and the IMU module network.
The preset number can be determined according to the length of the underground coal mine roadway or the actual requirement. According to the communication distance a of the UWB ranging base station and the UWB tag, the UWB ranging base stations with the preset number are arranged in the underground coal mine tunnel through which the underground auxiliary transport vehicle passes at equal intervals, the ranging precision of the UWB technology can be improved, and the ranging error caused by signal attenuation in the transmission process is reduced. The upper computer is connected with the embedded hardware platform network and the IMU module through the network, and the network connection can be realized by utilizing the network environment which is provided underground.
The forward direction of the auxiliary transport vehicle is taken as the positive direction, the UWB ranging base station and the RFID base station are distinguished in a positive and negative calibration naming mode, for example, the RFID base station in the positive direction of a certain UWB ranging base station, meanwhile, the following description shows that two descriptions of the RFID base station in the positive direction of the certain UWB ranging base station and the RFID base station in the negative direction of the UWB ranging base station adjacent to the UWB ranging base station in the positive direction are directed to be the same RFID base station, namely, the same RFID base station has two directional descriptions under different context descriptions.
Specifically, the method comprises the following steps: as shown in figure 1, the advancing direction of the underground auxiliary transport vehicle is taken as the 'positive' direction, and according to the communication distance a between the UWB ranging base station and the UWB tag, the UWB ranging base station is arranged on the same side of the underground roadway of the coal mine through which the auxiliary transport vehicle passes at equal intervals by the size of less than or equal to 1/2 of the communication distance, so that the same level is kept, and no foreign matter is shielded. Starting from the starting point of the underground auxiliary transport vehicle, the UWB transmission system is named as UWB 1 、UWB 2 ……UWB i ……UWB n 。
An RFID base station is arranged in the middle position between every two UWB ranging base stations, the arrangement distance between two adjacent RFID base stations is ensured to be larger than the communication distance b according to the communication distance b between the RFID base station and the RFID label, and the RFID label is ensured not to be communicated with the two RFID base stations at the same time. With the forward direction of the auxiliary transport vehicle as the positive direction, the RFID base stations are distinguished and named, such as the ith UWB ranging base station UWB i RFID base stations in the negative direction are denoted as RFID ia In the forward direction, the RFID base station is marked as RFID ib I +1 th UWB ranging base station UWB i The RFID base station in the negative direction is marked as RFID i+1a And RFID ib And RFID i+1a Referred to as the same RFID base station, the RFID base station will be described as the RFID base station RFID for simplicity in the following description ib /RFID i+1a 。
In one embodiment, the digital information transmission between the embedded hardware platform and the RFID base station adopts 2-system coding and uses a universal serial bus interface to transmit in an RS485 protocol, the embedded hardware platform activates the UWB ranging base station by sending out an upper edge of a high-level signal, and closes the UWB ranging base station by sending out a lower edge of a low-level signal, and the high-level signal and the low-level signal are transmitted in an RS422 protocol by using the universal serial bus interface.
In one embodiment, the embedded hardware platform receives and processes signals of the RFID base station through an RS485 protocol, realizes the activation and dormancy functions of the UWB ranging base station through COM transmission, and transmits the received UWB ranging base station feedback signals to the upper computer.
When the RFID base station detects an RFID label signal on the underground auxiliary transport vehicle to be positioned, the signal is fed back to the corresponding embedded hardware platform, the embedded hardware platform converts the signal into a signal for activating the UWB ranging base station, and the signal is transmitted to the corresponding UWB ranging base station, so that the activation and dormancy functions of the UWB ranging base station are realized. As shown in fig. 2, the embedded hardware platform is constructed based on an STM32 platform, and includes an STM32 embedded single chip microcomputer, an RFID signal receiving module 1, an RFID signal receiving module 2, and an UWB ranging base station activation/sleep module.
When positioning an underground auxiliary transport vehicle to be positioned in an underground roadway of a coal mine, firstly initializing a UWB (ultra wide band) tag to enable the UWB tag to transmit broadcast request frames R at fixed intervals 0 . When the underground auxiliary transport vehicle moves initially, the first UWB ranging base station and the second UWB ranging base station with the starting point as the starting point are in an activated state, and other UWB ranging base stations are in a dormant state. The activated UWB ranging base station collects signals sent by UWB tags and uses the respective R e And returning the frame to the UWB tag, collecting information such as signal intensity, signal flight time and the like between the UWB tag and a UWB base station as feedback signals to return to the embedded hardware platform, and feeding the feedback signals back to the upper computer by the embedded hardware platform.
The advancing direction of the underground auxiliary transport vehicle to be positioned is the positive direction to carry out identification and positioning, and when the underground auxiliary transport vehicle to be positioned moves to a certain UWB ranging base station (recorded as UWB) i ) In the negative direction (denoted as RFID) ia ) In a signal receiving range, an RFID tag on an underground auxiliary transport vehicle to be positioned establishes communication with an RFID base station RFIDia, and the UWB ranging base station UWB is activated i Adjacent UWB ranging base station in positive direction (noted UWB) i+1 ) At this moment the UWB ranging base station UWB i Adjacent UWB ranging base station in the negative direction (denoted as UWB) i-1 ) Already in the active state, then UWB is shared at this time i-1 、UWB i And UWB i+1 A total of three UWB ranging base stations are in an active state at the same time, other UWB ranging base stations are in an energy-saving dormant state,
in one embodiment, the IMU module is used for acquiring the speed and acceleration of the underground auxiliary transportation vehicle to be positionedAngular velocity information, position calculation is carried out to obtain first position information I la 。
When the movement starts, an IMU module on the underground auxiliary transport vehicle to be positioned is activated, the speed, the acceleration and the angular speed information of the underground auxiliary transport vehicle to be positioned are synchronously recorded in real time, and the position information is calculated in real time based on the information and is recorded as position information I la 。
In one embodiment, the upper computer is used for acquiring the first position information I transmitted by the IMU module la And performing position calculation on the feedback signal transmitted by the embedded hardware platform network to obtain final measurement position information, inputting the final measurement position information into an offset Kalman filter, and outputting and displaying the final positioning information.
Wherein, the input offset Kalman filter is further processed, so that the measurement interference such as non-line-of-sight interference and the like can be reduced.
The upper computer respectively calculates the relative distance between the three UWB ranging base stations and the UWB label through the communication respectively established between the three UWB ranging base stations and the UWB label and the transmitted feedback signal.
The upper computer calculates the real-time position information of the underground auxiliary transportation vehicle to be positioned represented by the UWB tag at the moment according to the relative distance between the UWB tag and the three UWB ranging base stations, and the real-time position information is recorded as second position information U la . When the underground auxiliary transport vehicle to be positioned continues to move, the underground auxiliary transport vehicle arrives at the UWB ranging base station i In the forward direction of (1), i.e. UWB ranging base stations UWB i+1 In the negative direction of (d) (denoted as RFID) ib /RFID i+1a ) When the RFID label is connected with the RFID base station RFID ib /RFID i+1a Establishing communication, closing the UWB ranging base station UWB i-1 Similarly, UWB ranging base station UWB is activated i Spaced adjacent UWB ranging base stations UWB in the forward direction i+2 Ensuring that the UWB tag is simultaneously connected with three UWB ranging base stations (UWB) i 、UWB i+1 、UWB i+2 ) And establishing communication to obtain the position information at the moment. For convenience of description, the location information is still named as the second location information U la 。
The relative distances between the three UWB ranging base stations and the UWB tags can be calculated by adopting TOF, SS-TWR, DS-TWR, ADS-TWR and other technologies, which are common technologies in the field and are not described herein again.
According to the relative distance between the UWB tag and the three UWB ranging base stations, the real-time position information of the underground auxiliary transport vehicle to be positioned represented by the UWB tag at the moment is calculated, positioning technologies such as TOA, TDOA, trilateral positioning and the like can be adopted, and the technology is common in the field and is not described herein any more.
At the time t, calculating to obtain second position information of the time t as U la (t), the IMU module calculates to obtain first position information at the t moment as I la (t) when | U la (t)-I la (t)|≥E r While, re-measuring and calculating U la (t) and I la (t), when | U la (t)-I la (t)|＜E r Then, the fused final measurement position information T is obtained l ＝α1×U la (t)+α2×I la And (t), wherein Er, alpha 1 and alpha 2 are weight fusion parameters and are obtained by combining with actual environment measurement and calculation.
The measured position information T l And inputting the observation value into an offset Kalman filter, resolving to obtain final positioning information, and transmitting the final positioning information back to an upper computer for displaying to finish positioning.
The offset kalman filter is a basic kalman filter, which is a common technique in the field and is not described herein again. The reconstruction of the gain matrix is carried out by measuring residual vector element y in the Kalman filter res (i) Performing comparison to obtain a coefficient matrix xi,
Figure GDA0003398807330000081
/>
Figure GDA0003398807330000082
and xi (i) is the ith element in the coefficient matrix, i belongs to 1,2,3, 8230, 82303030, n, delta and epsilon are Kalman gain correction coefficients, the values of the Kalman gain correction coefficients are related to the field environment, and the Kalman gain correction coefficients need to be calculated by combining with actual environment measurement. And the matrix replaces the original Kalman gain, and the obtained new Kalman filter is called as an offset Kalman filter.
The high-precision positioning technical method of the low-power-consumption underground auxiliary transport vehicle based on the fusion of the radio frequency identification technology (RFID), the strapdown inertial navigation technology (IMU) and the Ultra Wide Band (UWB) technology solves the problems that the positioning precision of the underground auxiliary transport vehicle of the coal mine is poor due to the interference of a complex underground environment, a large number of base stations simultaneously work in the positioning process of the traditional UWB technology, the power consumption is high, the communication network is congested and the like. The method mainly comprises two functional parts, wherein the first functional part aims to realize low-power-consumption coarse positioning of an underground auxiliary transport vehicle by utilizing a Radio Frequency Identification (RFID) technology and an Ultra Wide Band (UWB) technology to obtain UWB coarse positioning information which is recorded as U la The purpose of the second functional part is to use the UWB coarse positioning information U obtained by the first part la And coarse positioning information obtained by combining IMU equipment is marked as I la High-precision dynamic positioning of underground auxiliary transportation vehicle under complex environment interference based on extended Kalman filtering technology and weight decision reconstruction
The underground multi-sensing fusion low-power-consumption wireless positioning system with self-correction function is used for high-precision positioning of underground auxiliary transport vehicles, on one hand, the system can be awakened through dormancy and segmentation, the power consumption is reduced, the number of UWB system on-line communication devices is reduced, the communication congestion is reduced, the communication and positioning efficiency are improved, on the other hand, the IMU and the UWB are fused and positioned, the problem that the positioning precision is reduced due to the fact that the system is easily affected by the environment when only wireless positioning is used is avoided, meanwhile, an offset Kalman filter is introduced, the problem that non-line-of-sight positioning errors (NLOS) caused by the interference of a complex underground environment or IMU device measurement errors caused by vehicle vibration is solved, the positioning precision and the system reliability of the underground auxiliary transport vehicles in coal mines are improved, reliable guarantee is provided for the development of the subsequent autonomous navigation unmanned driving and other technologies of the underground auxiliary transport vehicles in coal mines, and safety risks are reduced.
The self-correcting underground multi-sensing fusion low-power-consumption wireless positioning system comprises the following specific working steps:
step 1: as shown in figure 1, a UWB tag is configured on one side of an underground auxiliary transport vehicle to be positioned, which is close to the arrangement direction of a UWB ranging base station, when the movement is started, the UWB tag is initialized, and the UWB tag transmits a broadcast request frame R at fixed intervals 0 And simultaneously activating the IMU module, starting to synchronously record the speed, acceleration and angular speed information of the vehicle in real time, and resolving the position information in real time based on the information, and recording the position information as first position information I la 。
Step 2: when the underground auxiliary transport vehicle to be positioned moves initially, the UWB ranging base station UWB 1 And UWB 2 In the active state, other UWB ranging base stations are in the sleep state.
And step 3: at time t, the underground auxiliary transport vehicle to be positioned moves to the UWB ranging base station UWB i RFID base station RFID in the negative direction ia When the RFID tag is in the signal receiving range, the RFID tag establishes communication with an RFID base station RFIDia, and the embedded hardware platform sends a signal to activate a UWB ranging base station UWB i+1 And at this time UWB ranging base station UWB i-1 Has been activated and maintained in an activated state until the vehicle arrives, when UWB is then enabled i-1 、UWB i And UWB i+1 Three UWB ranging base stations are in an activated state simultaneously in total, other UWB ranging base stations are in an energy-saving dormant state, the three UWB ranging base stations establish communication with a UWB tag, signals sent by the UWB tag are collected, and R of each UWB ranging base station is used for obtaining the energy-saving dormant state e And the frame returns to the UWB tag, information such as signal intensity, signal flight time and the like between the UWB tag and the UWB base station is collected and returned to the embedded hardware platform as a feedback signal, the embedded hardware platform feeds the feedback signal back to the upper computer, and the upper computer respectively calculates the relative distance between the UWB ranging base station and the UWB tag.
And 4, step 4: the upper computer calculates the real-time position information of the underground auxiliary transportation vehicle to be positioned represented by the UWB tag at the moment according to the relative distance between the UWB tag and the three UWB ranging base stations, and records the real-time position information as second position information U la (t), the first position information calculated by the IMU module is I la (t) when | U la (t)-I la (t)|≥E r While, re-measuring and calculating U la (t) and I la (t) when | U la (t)-I la (t)|＜E r Then, the fused final measurement position information T is obtained l (t)＝α1×U la (t)+α2×I la And (t), wherein Er, alpha 1 and alpha 2 are weight fusion parameters and are obtained by combining with actual environment measurement and calculation. Will finally measure the position information T l And (t) inputting the observation value into an offset Kalman filter, resolving the final positioning information Location (t) at the moment, and displaying the positioning information Location (t) on an upper computer.
And 5: when the underground auxiliary transport vehicle to be positioned continues to travel, the underground auxiliary transport vehicle arrives at the RFID base station RFID at the time t +1 ib /RFID i+1a When the RFID tag is in use, the RFID tag and the RFID base station RFID are connected ib /RFID i+1a Establishing communication, and sending signal to close UWB ranging base station UWB through embedded hardware platform i-1 Activating UWB ranging base station UWB i+2 Ensuring that UWB tags are simultaneously synchronized with UWB i 、UWB i+1 、UWB i+2 And establishing communication, and feeding back a feedback signal to the upper computer by the embedded hardware platform to obtain the second position information at the moment. For convenience of description, the location information is still named as location information U la (t + 1), the first position information obtained by the IMU module is and I la (t + 1), when | U la (t+1)-I la (t+1)|≥E r Then, measure and calculate U again la (t + 1) and I la (t + 1), when | U la (t+1)-I la (t+1)|＜E r Then, the fused final measurement position information T is obtained l (t+1)＝α1×U la (t+1)+α2×I la (t + 1). Will finally measure the position information T l And (t + 1) as an observation value is input into an offset Kalman filter, and the final positioning information Location (t) at the moment is solved and displayed on an upper computer.
Furthermore, each time the offset Kalman filter is called, gain matrix reconstruction is required to be carried out once and the original Kalman gain is replaced by the matrix, and the process is to measure residual vector element y in the Kalman filter res (i) Comparing to obtain a coefficient matrix xi,
Figure GDA0003398807330000101
Figure GDA0003398807330000111
the technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (5)

1. A self-correcting downhole multi-sensing fusion low-power wireless positioning system is characterized by comprising: the system comprises a UWB ranging base station, an RFID base station, a UWB tag, an RFID tag, an IMU module, an embedded hardware platform and an upper computer;
the preset number of UWB ranging base stations are arranged on the same side, without being shielded by foreign matters, of an underground coal mine roadway through which an underground auxiliary transport vehicle passes at equal intervals according to the communication distance a between the UWB ranging base stations and the UWB tags and according to the size of less than or equal to 1/2 of the communication distance a, and the same level is kept;
the RFID base stations are arranged at the middle position between every two UWB ranging base stations, and the arrangement distance between every two adjacent RFID base stations is greater than the communication distance b between the RFID base stations and the RFID labels, so that the RFID labels cannot be communicated with the two RFID base stations at the same time;
each UWB ranging base station and the RFID base stations on two sides of each UWB ranging base station are accessed to the same embedded hardware platform in a wired network connection mode;
the RFID tag and the UWB tag are configured on one side, close to the arrangement direction of the UWB ranging base station, of the underground auxiliary transport vehicle to be positioned;
the IMU module is arranged on an underground auxiliary transport vehicle to be positioned;
the upper computer is connected with the embedded hardware platform network and the IMU module network;
wherein, when the underground auxiliary transport vehicle to be positioned moves initially, the UWB ranging base station UWB 1 And UWB 2 The UWB ranging base stations are in an activated state, and other UWB ranging base stations are in a dormant state;
at the time t, the underground auxiliary transport vehicle to be positioned moves to the UWB ranging base station UWB i RFID base station RFID in the negative direction ia When the RFID tag is in the signal receiving range, the RFID tag establishes communication with an RFID base station RFIDia, and sends a signal to activate a UWB ranging base station UWB through an embedded hardware platform i+1 And at this time UWB ranging base station UWB i-1 Has been activated and maintained in an activated state prior to the arrival of the vehicle, when UWB is then enabled i-1 、UWB i And UWB i+1 The total three UWB ranging base stations are in an activated state at the same time, and other UWB ranging base stations are in an energy-saving dormant state;
when the underground auxiliary transport vehicle to be positioned continues to move, the underground auxiliary transport vehicle reaches the RFID base station RFID at the time of t +1 ib /RFID i+1a When the RFID tag is in use, the RFID tag and the RFID base station RFID are in use ib /RFID i+1a Establishing communication, and sending out signal to close UWB ranging base station UWB through embedded hardware platform i-1 Activating UWB ranging base station UWB i+2 。
2. The system of claim 1, wherein the digital information transmission between the embedded hardware platform and the RFID base station is 2-ary coded and transmitted in RS485 protocol using a universal serial bus interface, the embedded hardware platform activates the UWB ranging base station by sending an upper edge of a high level signal and deactivates the UWB ranging base station by sending a lower edge of a low level signal, and the high level signal and the low level signal are transmitted in RS422 protocol using the universal serial bus interface.
3. The system of claim 1, wherein the embedded hardware platform receives and processes signals of the RFID base station through an RS485 protocol, realizes the functions of activating and sleeping the UWB ranging base station through COM transmission, and transmits the received UWB ranging base station feedback signals to the upper computer.
4. The system of claim 1, wherein the IMU module is configured to obtain information of velocity, acceleration, and angular velocity of the downhole auxiliary transport vehicle to be positioned, perform position calculation, and obtain first position information I la 。
5. The system of claim 1, wherein the upper computer is configured to obtain the first position information I transmitted by the IMU module la And the feedback signal transmitted by the embedded hardware platform network is according to the first position information I la And the feedback signal is used for carrying out position calculation to obtain final measurement position information, the final measurement position information is input into the offset Kalman filter, and final positioning information is output and displayed.
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