CN114245310A - Mine underground multi-tag cooperative positioning method based on ultra-wideband technology and portable equipment - Google Patents
Mine underground multi-tag cooperative positioning method based on ultra-wideband technology and portable equipment Download PDFInfo
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Abstract
The invention discloses a mine underground multi-label cooperative positioning method based on an ultra-wideband technology and portable equipment. The sensing unit monitors the health condition of the tag and the mine tunnel environment; a positioning unit measures the position of a label, the ultra-wideband technology is used for improving the positioning precision, an ADS-TWR based return frame mechanism is used, a weighted least square positioning algorithm is used, an improved Kalman filtering tracking algorithm is used, and a nonlinear wavelet threshold method is used for denoising; the processing and displaying unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module. Compared with the prior art, the invention has the advantages that: the positioning method with the grouped multi-label cooperation is adopted, the noise and the electromagnetic interference shadow are reduced, the requirements of high positioning accuracy, high reliability, high real-time performance and the like are met, the body health of miners and the mine tunnel environment can be detected in real time by the equipped sensor, and the safety of the operation under the mine is ensured.
Description
Technical Field
The invention relates to the technical field of synchronous positioning methods, in particular to a mine underground multi-tag cooperative positioning method based on an ultra wide band technology and portable equipment.
Background
At present, the underground positioning method can position an object below a mine roadway by adopting novel equipment such as Radio Frequency Identification (RFID), Infrared-Ray (IR), Wi-Fi and Bluetooth. However, due to the complex environmental factors of the mine roadway, such as high air humidity, high-level floating dust in the air and uncertainty caused by variable complex electromagnetic interference, the resistance to multipath weakening is low, the influence on the positioning accuracy is large, and meanwhile, the health of miners and the mine roadway environment cannot be detected in real time so as to ensure the safety of the operation under the mine.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the technical defects and provide the underground multi-tag cooperative positioning method and the portable equipment based on the ultra-wideband technology, the positioning method of grouping multi-tag cooperative is adopted, the influence of noise and electromagnetic interference is reduced, the requirements of the positioning technology on high accuracy, high reliability, high real-time performance and the like are met, the equipped sensor can detect the health of miners and the mine tunnel environment in real time, and the safety of underground operation is ensured.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a portable device for multi-label cooperative positioning under a mine based on an ultra-wideband technology comprises a sensing unit, a positioning unit and a processing and displaying unit.
The sensing unit monitors the health condition of the tag and the mine tunnel environment, the detected parameters of the health condition of the tag comprise the acceleration of the activity of the tag, blood pressure, blood oxygen concentration, heart rate and body temperature, and the parameters of the mine tunnel environment comprise air pressure, humidity, carbon monoxide concentration and gas;
the positioning unit measures the position of a label, the ultra-wideband technology is used for improving the positioning precision, an ADS-TWR-based back-transmission frame mechanism is used, a weighted least square positioning algorithm is used, an improved Kalman filtering tracking algorithm is used, and a nonlinear wavelet threshold method is used for denoising;
the processing and displaying unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module, and is used for processing the data generated by the positioning unit and the sensing unit and completing communication with other labels or base stations.
A method for positioning portable equipment based on ultra-wideband technology for mine underground multi-tag cooperative positioning comprises the following steps:
the method comprises the following steps: firstly, initializing the position of a label according to the distance between the label and a base station;
step two: dividing all the labels into a plurality of groups with concentrated relative positions and assigning group length labels by a base station;
step three: the group leader label and other labels in the group cooperate with each other to measure distance mutually, and a relative position diagram of the labels in the group is completed;
step four: collecting state data of other tags in the group by the group leader tag, and uploading the state data and the relative position map to a base station;
step five: the base station adjusts the label group or reassigns the group length label according to the position of the current label;
step six: and the server maps the activity diagram of the staff according to the label position and the state data uploaded by the base station and monitors whether the state of the staff is abnormal or not.
Data communication methods based on ultra-wideband signals are used in the tag group and between the tags and the base station, and data communication methods based on optical fibers and Wi-Fi are used among the base station, the server and the monitoring center.
Firstly, initializing labels to preliminarily determine the positions of all labels in a mine range, grouping the labels and designating group length labels, preparing for the state of the subsequent grouping and collecting labels, determining the distance between each label and a base station by using a return frame mechanism based on ADS-TWR, and initializing the positions of the labels, wherein the process comprises the following steps: firstly, the label broadcasts polling frames to all base stations, and after receiving the response frames of the base stations, the communication can be considered to be successfully established; then, the label sends the positioning frame to all base stations which successfully establish communication again, and the base stations can measure the distance of the label and judge the position of the label according to the distance information;
the method is based on the grouping mode of the relative positions of the tags, the tags which are relatively close to each other are divided into one group, the state information of each group of tags is managed by the same base station, the number of the tags in the group is not too large, and the group which exceeds a threshold value is divided into a plurality of groups;
the label in the center position in the same group of labels is designated as the group leader label in a mode of minimizing the variance based on the relative positions of the labels. Due to complex mine environment factors and unstable communication, each group is assigned with a plurality of group leader labels, and each group leader independently completes the grouping positioning work.
The label state collection is to collect the current state of the label in groups, and upload the label to the base station after the group leader label is counted and sorted;
using a return frame mechanism based on ADS-TWR to measure the distance between the group length label and each member label, wherein each group length label is also a member of other group length labels because each group has a plurality of group lengths;
after the ranging task is completed, the group leader tags collect and count state data of each group leader tag, wherein the state data comprise heart rate, temperature, air pressure, humidity, gas and carbon monoxide values, the position and state information of each group leader tag are stored in a database of the group leader tag in a form of < key, value >, wherein the key is a tag number, and the value is Json data formed by the position and state information of the group leader tag;
using ultra-wideband technology, the group leader label uploads the collected label state to a corresponding base station;
if there is a single tag that has not received any request signal from a group of long tags due to timeout, the tag is considered lost and initialization of the tag will be performed again.
The label state processing is to process the label position and state information collected by grouping to obtain the actual position of each label under the mine and judge whether the label is in a normal underground operation state currently;
judging the relative position of each group of tags by using a mode of grouping based on the relative position of the tags, if the tags in the group move to the position deviated from other tags in the group, grouping the tags again, and meanwhile, if the group length tags move to the position deviated from the center of the group, reassigning the group length tags;
and (3) using the ultra-wideband technology, arranging the label state of each group in the area by the base station, and uploading the label state to the server. For the label states collected by a plurality of group length labels in the same group, if the error does not exceed the threshold value, adopting the latest received data; if the error exceeds the threshold value, the group leader label is required to carry out label state collection again;
and the server receives the label state data uploaded by the base station, draws the current activity diagram of the workers in the mine, monitors whether the current body health data and the current environment data of the workers are abnormal or not, and sends out a warning if the current body health data and the current environment data are abnormal.
Compared with the prior art, the invention has the advantages that: 1. the functions of positioning and detecting body health parameters and environmental parameters are provided, the requirements of workers in the underground mine are met, and the safety of underground operation can be guaranteed in real time;
2. aiming at the problems of complex environmental factors and insufficient positioning accuracy in a mine, various algorithms are adopted in a positioning unit of portable equipment, so that the positioning accuracy is improved, and errors caused by environmental noise and hardware equipment are reduced;
3. the method adopts a mode of distance measurement between the tags in the group, and because the relative positions of the tags in the group are relatively close, the influence of noise is small, and the positioning precision is further improved. Meanwhile, the method completes the intra-group positioning to the group leader label, thereby reducing the calculation burden of the server;
4. grouping a multi-label co-cooperation positioning method, so that if a single label is damaged accidentally, the position of the single label can still be estimated through cache in a group length label;
5. the ultra-wideband technology is adopted for communication in the tag group and between the tags and the base station, so that the communication is more stable, the positioning precision is higher, and the bandwidth utilization rate is also improved by a mode of uniformly uploading data by a few tags.
Drawings
Fig. 1 is a block diagram of a mine underground multi-tag cooperative positioning method and portable equipment based on ultra wide band technology.
Fig. 2 is a flow chart of a scheme of a mine underground multi-tag cooperative positioning method and portable equipment based on ultra-wideband technology.
Fig. 3 is a communication flow chart of the mine underground multi-tag cooperative positioning method and the portable device based on the ultra-wideband technology.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a portable device for multi-label cooperative positioning under a mine based on an ultra-wideband technology, which comprises a sensing unit, a positioning unit and a processing and displaying unit, and is used for detecting and uploading the position of a label, body health parameters and mine environment parameters.
The sensing unit monitors the health condition of the tag and the mine tunnel environment, the detected parameters of the health condition of the tag comprise the acceleration of the activity of the tag, blood pressure, blood oxygen concentration, heart rate and body temperature, and the parameters of the mine tunnel environment comprise air pressure, humidity, carbon monoxide concentration and gas;
the positioning unit measures the position of the label and improves the positioning precision by using an ultra-wideband technology;
and measuring the average propagation time of the UWB signals between two nodes according to the distance between the measuring node and the label by using an ADS-TWR-based backhaul frame mechanism, and then calculating the distance between the nodes according to the propagation rate of the signals.
The method comprises the steps of using a weighted least square positioning algorithm, taking the node position with the minimum difference between an actual measurement distance and an estimated distance as the direction of an unknown node, calculating the position coordinates of the unknown node by using a mathematical observation value model, and increasing a weight matrix based on an observation error because the observation error of each node is different.
An improved Kalman filtering tracking algorithm is used, and the Sage-Husa algorithm is applied to a classical Kalman filter, so that the Kalman filter has a self-adaptive filtering function, and can track the change of noise in real time so as to correct the parameters of the filter on line.
The method comprises the steps of denoising by using a nonlinear wavelet threshold method, extracting ranging noise, improving a wavelet threshold to improve signal smoothness, designing composite evaluation index weight according to triangular fuzzy number to determine an optimal wavelet decomposition scale, and reducing ranging errors caused by multipath propagation and non-line-of-sight interference in the UWB signal propagation process.
The processing and displaying unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module, and is used for processing the data generated by the positioning unit and the sensing unit and completing communication with other labels or base stations.
A method for positioning portable equipment based on ultra-wideband technology for mine underground multi-tag cooperative positioning comprises the following steps:
the method comprises the following steps: firstly, initializing the position of a label according to the distance between the label and a base station;
step two: dividing all the labels into a plurality of groups with concentrated relative positions and assigning group length labels by a base station;
step three: the group leader label and other labels in the group cooperate with each other to measure distance mutually, and a relative position diagram of the labels in the group is completed;
step four: collecting state data of other tags in the group by the group leader tag, and uploading the state data and the relative position map to a base station;
step five: the base station adjusts the label group or reassigns the group length label according to the position of the current label;
step six: and the server maps the activity diagram of the staff according to the label position and the state data uploaded by the base station and monitors whether the state of the staff is abnormal or not.
Communication within tag group
The data communication method based on the ultra-wideband signal is used, the group leader label transmits a positioning signal to each group member label, and the group member label transmits physiological parameters and environmental parameter data to the group leader label.
Tag and base station communication
A data communication method based on ultra-wideband signals is used, the position of a tag is initialized, a responsible base station designates a group leader tag, and the group leader tag uploads the collected tag data in the group to the responsible base station.
Base station-server-monitoring center communication
The data communication method based on the optical fiber and the Wi-Fi is used, the base station uploads collected data in the area to the server, and the server feeds the calculated data back to the monitoring center and uploads the data to the cloud backup.
Firstly, initializing labels to preliminarily determine the positions of all labels in a mine range, grouping the labels and designating group length labels, preparing for the state of the subsequent grouping and collecting labels, determining the distance between each label and a base station by using a return frame mechanism based on ADS-TWR, and initializing the positions of the labels, wherein the process comprises the following steps: firstly, the label broadcasts polling frames to all base stations, and after receiving the response frames of the base stations, the communication can be considered to be successfully established; then, the label sends the positioning frame to all base stations which successfully establish communication again, and the base stations can measure the distance of the label and judge the position of the label according to the distance information;
the method is based on the grouping mode of the relative positions of the tags, the tags which are relatively close to each other are divided into one group, the state information of each group of tags is managed by the same base station, the number of the tags in the group is not too large, and the group which exceeds a threshold value is divided into a plurality of groups;
the label in the center position in the same group of labels is designated as the group leader label in a mode of minimizing the variance based on the relative positions of the labels. Due to complex mine environment factors and unstable communication, each group is assigned with a plurality of group leader labels, and each group leader independently completes the grouping positioning work.
The label state collection is to collect the current state of the label in groups, and upload the label to the base station after the group leader label is counted and sorted;
using a return frame mechanism based on ADS-TWR to measure the distance between the group length label and each member label, wherein each group length label is also a member of other group length labels because each group has a plurality of group lengths;
after the ranging task is completed, the group leader tags collect and count state data of each group leader tag, wherein the state data comprise heart rate, temperature, air pressure, humidity, gas and carbon monoxide values, the position and state information of each group leader tag are stored in a database of the group leader tag in a form of < key, value >, wherein the key is a tag number, and the value is Json data formed by the position and state information of the group leader tag;
using ultra-wideband technology, the group leader label uploads the collected label state to a corresponding base station;
if there is a single tag that has not received any request signal from a group of long tags due to timeout, the tag is considered lost and initialization of the tag will be performed again.
The label state processing is to process the label position and state information collected by grouping to obtain the actual position of each label under the mine and judge whether the label is in a normal underground operation state currently;
judging the relative position of each group of tags by using a mode of grouping based on the relative position of the tags, if the tags in the group move to the position deviated from other tags in the group, grouping the tags again, and meanwhile, if the group length tags move to the position deviated from the center of the group, reassigning the group length tags;
and (3) using the ultra-wideband technology, arranging the label state of each group in the area by the base station, and uploading the label state to the server. For the label states collected by a plurality of group length labels in the same group, if the error does not exceed the threshold value, adopting the latest received data; if the error exceeds the threshold value, the group leader label is required to carry out label state collection again;
and the server receives the label state data uploaded by the base station, draws the current activity diagram of the workers in the mine, monitors whether the current body health data and the current environment data of the workers are abnormal or not, and sends out a warning if the current body health data and the current environment data are abnormal.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. The utility model provides a portable equipment of many labels collaborative positioning in pit based on ultra wide band technique which characterized in that: the device comprises a sensing unit, a positioning unit and a processing and displaying unit.
The sensing unit monitors the health condition of the tag and the mine tunnel environment, the detected parameters of the health condition of the tag comprise the acceleration of the activity of the tag, blood pressure, blood oxygen concentration, heart rate and body temperature, and the parameters of the mine tunnel environment comprise air pressure, humidity, carbon monoxide concentration and gas;
the positioning unit measures the position of a label, the ultra-wideband technology is used for improving the positioning precision, an ADS-TWR-based back-transmission frame mechanism is used, a weighted least square positioning algorithm is used, an improved Kalman filtering tracking algorithm is used, and a nonlinear wavelet threshold method is used for denoising;
the processing and displaying unit comprises a display and control management module, a battery management module, an alarm module, a data transmission module and a display module, and is used for processing the data generated by the positioning unit and the sensing unit and completing communication with other labels or base stations.
2. The method for positioning the portable device for the underground multi-tag cooperative positioning based on the ultra-wideband technology as claimed in claim 1, wherein: the method comprises the following steps:
the method comprises the following steps: firstly, initializing the position of a label according to the distance between the label and a base station;
step two: dividing all the labels into a plurality of groups with concentrated relative positions and assigning group length labels by a base station;
step three: the group leader label and other labels in the group cooperate with each other to measure distance mutually, and a relative position diagram of the labels in the group is completed;
step four: collecting state data of other tags in the group by the group leader tag, and uploading the state data and the relative position map to a base station;
step five: the base station adjusts the label group or reassigns the group length label according to the position of the current label;
step six: and the server maps the activity diagram of the staff according to the label position and the state data uploaded by the base station and monitors whether the state of the staff is abnormal or not.
3. The method for positioning the portable device for the underground multi-tag cooperative positioning based on the ultra-wideband technology as claimed in claim 2, wherein: data communication methods based on ultra-wideband signals are used in the tag group and between the tags and the base station, and data communication methods based on optical fibers and Wi-Fi are used among the base station, the server and the monitoring center.
4. The method for positioning the portable device for the underground multi-tag cooperative positioning based on the ultra-wideband technology as claimed in claim 2, wherein: firstly, initializing labels to preliminarily determine the positions of all labels in a mine range, grouping the labels and designating group length labels, preparing for the state of the subsequent grouping and collecting labels, determining the distance between each label and a base station by using a return frame mechanism based on ADS-TWR, and initializing the positions of the labels, wherein the process comprises the following steps: firstly, the label broadcasts polling frames to all base stations, and after receiving the response frames of the base stations, the communication can be considered to be successfully established; then, the label sends the positioning frame to all base stations which successfully establish communication again, and the base stations can measure the distance of the label and judge the position of the label according to the distance information;
the method is based on the grouping mode of the relative positions of the tags, the tags which are relatively close to each other are divided into one group, the state information of each group of tags is managed by the same base station, the number of the tags in the group is not too large, and the group which exceeds a threshold value is divided into a plurality of groups;
the label in the center position in the same group of labels is designated as the group leader label in a mode of minimizing the variance based on the relative positions of the labels. Due to complex mine environment factors and unstable communication, each group is assigned with a plurality of group leader labels, and each group leader independently completes the grouping positioning work.
5. The method for positioning the portable device for the underground multi-tag cooperative positioning based on the ultra-wideband technology as claimed in claim 2, wherein: the label state collection is to collect the current state of the label in groups, and upload the label to the base station after the group leader label is counted and sorted;
using a return frame mechanism based on ADS-TWR to measure the distance between the group length label and each member label, wherein each group length label is also a member of other group length labels because each group has a plurality of group lengths;
after the ranging task is completed, the group leader tags collect and count state data of each group leader tag, wherein the state data comprise heart rate, temperature, air pressure, humidity, gas and carbon monoxide values, the position and state information of each group leader tag are stored in a database of the group leader tag in a form of < key, value >, wherein the key is a tag number, and the value is Json data formed by the position and state information of the group leader tag;
using ultra-wideband technology, the group leader label uploads the collected label state to a corresponding base station;
if there is a single tag that has not received any request signal from a group of long tags due to timeout, the tag is considered lost and initialization of the tag will be performed again.
6. The method for positioning the portable device for the underground multi-tag cooperative positioning based on the ultra-wideband technology as claimed in claim 2, wherein: the label state processing is to process the label position and state information collected by grouping to obtain the actual position of each label under the mine and judge whether the label is in a normal underground operation state currently;
judging the relative position of each group of tags by using a mode of grouping based on the relative position of the tags, if the tags in the group move to the position deviated from other tags in the group, grouping the tags again, and meanwhile, if the group length tags move to the position deviated from the center of the group, reassigning the group length tags;
and (3) using the ultra-wideband technology, arranging the label state of each group in the area by the base station, and uploading the label state to the server. For the label states collected by a plurality of group length labels in the same group, if the error does not exceed the threshold value, adopting the latest received data; if the error exceeds the threshold value, the group leader label is required to carry out label state collection again;
and the server receives the label state data uploaded by the base station, draws the current activity diagram of the workers in the mine, monitors whether the current body health data and the current environment data of the workers are abnormal or not, and sends out a warning if the current body health data and the current environment data are abnormal.
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