CN115290086A - Underground roadway environment positioning method and system based on intrinsic safety type inertial navigation - Google Patents
Underground roadway environment positioning method and system based on intrinsic safety type inertial navigation Download PDFInfo
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- CN115290086A CN115290086A CN202210958388.0A CN202210958388A CN115290086A CN 115290086 A CN115290086 A CN 115290086A CN 202210958388 A CN202210958388 A CN 202210958388A CN 115290086 A CN115290086 A CN 115290086A
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- 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
- G01C21/165—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 combined with non-inertial navigation instruments
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
The invention relates to an underground roadway environment positioning method and system based on intrinsic safety type inertial navigation. The method comprises the following steps: arranging a plurality of passive positioning beacons on one side wall of the underground roadway; before vehicle positioning is carried out, driving a vehicle to pass through the underground roadway, adopting a camera arranged on the vehicle to identify the passive positioning beacons and accurately positioning the horizontal coordinate of each passive positioning beacon; when vehicles driven in the underground roadway are located, roughly locating the vehicles in different sections based on the horizontal coordinate of each passive locating beacon and the passive locating beacon currently identified by a camera on the vehicles; the method comprises the steps of obtaining the inclination angle and the vehicle speed of the vehicle based on an intrinsic safety type inertial navigation device, and calculating the accurate positioning of the vehicle based on the inclination angle, the vehicle speed and the rough positioning. The invention can realize high-precision positioning of the vehicle in the underground network-free environment.
Description
Technical Field
The invention relates to the field of underground roadway environment positioning, in particular to an underground roadway environment positioning method and system based on intrinsic safety type inertial navigation.
Background
The Global Positioning System (GPS), a high-precision radio navigation Positioning System based on artificial earth satellites, provides accurate geographic position, vehicle speed and precise time information anywhere in the world and in near-earth space, and is dependent on the reception of GPS satellite signals. Therefore, vehicles can be positioned outdoors by means of GPS technology. However, in an underground tunnel environment, particularly an underground tunnel environment such as a mine, accurate positioning by GPS is not possible because of the absence of GPS signals. Active beacons are often adopted in the current underground roadway environment positioning, and accurate positioning is realized by arranging a positioning base station, so that the power cable arrangement is involved, the investment scale is large, and the underground roadway environment influence is easily caused.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide an underground roadway environment positioning method and system based on intrinsic safety type inertial navigation, which can realize high-precision positioning of vehicles in an underground network-free environment, aiming at the above defects in the prior art.
The technical scheme adopted by the invention for solving the technical problem is as follows: an underground roadway environment positioning method based on intrinsic safety type inertial navigation is constructed, and comprises the following steps:
s1, arranging a plurality of passive positioning beacons on one side wall of an underground roadway;
s2, before vehicle positioning is carried out, driving the vehicle to pass through the underground roadway, adopting a camera arranged on the vehicle to identify the passive positioning beacons and accurately positioning the horizontal coordinates of each passive positioning beacon;
s3, when vehicles driven in the underground roadway are located, roughly locating the vehicles in different sections based on the horizontal coordinate of each passive locating beacon and the passive locating beacon currently identified by the camera on the vehicles;
and S4, acquiring the inclination angle and the vehicle speed of the vehicle based on the intrinsic safety type inertial navigation device, and calculating the accurate positioning of the vehicle based on the inclination angle, the vehicle speed and the rough positioning.
In the underground roadway environment positioning method based on intrinsic safety type inertial navigation, the arrangement distance of the passive positioning beacons is 50-100 meters, and the accuracy of the passive positioning beacons reaches 2 mm.
In the method for locating an underground tunnel environment based on intrinsic safety type inertial navigation, in step S2, the vehicle is driven to horizontally pass through the underground tunnel along a center line in the width direction of the underground tunnel, the camera is an explosion-proof low-illumination camera with a wide angle of 180 degrees, when the explosion-proof low-illumination camera is over against the passive locating beacons, the passive locating beacons are identified and horizontal coordinates of the passive locating beacons are accurately located, and a section located between the passive locating beacons is located based on the horizontal coordinates.
In the method for locating an underground roadway environment based on intrinsic safety type inertial navigation, in step S3, the horizontal coordinate and the vertical coordinate of the vehicle to be roughly located are respectively set as K and N, wherein the value range of K is Ln-1 and K-cloth Ln, the value of N is a positive integer, ln-1 represents the horizontal coordinate of a first passive locating beacon which is recently identified by a camera on the vehicle, ln represents the horizontal coordinate of a next passive locating beacon of the first passive locating beacon, and N is-1/2a and N-1/2a, wherein a represents the width of the underground roadway.
In the method for positioning an underground roadway environment based on intrinsic safety type inertial navigation, in step S4, the horizontal coordinate and the vertical coordinate of a vehicle to be accurately positioned are respectively set as Rx and Sx, and the horizontal coordinate Rx and the vertical coordinate Sx are calculated based on the following formulas:
Rx＝L x-1 +V*T，Sx＝tgθ*(Lx-Rx)
wherein θ represents the inclination angle, V represents the vehicle speed, L x-1 A horizontal coordinate, L, representing the first passive positioning beacon in the coarse positioning x A horizontal coordinate representing the next passive positioning beacon in the coarse positioning, and T represents a time required for a vehicle to travel from the first passive positioning beacon to a current location.
Another technical solution adopted to solve the technical problem of the present invention is to construct an underground roadway environment positioning system based on intrinsic safety type inertial navigation, comprising: the system comprises a plurality of passive positioning beacons, a vehicle provided with a camera, an intrinsic safety type inertial navigation device and a positioning device, wherein the passive positioning beacons are arranged on one side wall of an underground roadway;
before vehicle positioning is carried out, a vehicle is driven to pass through the underground roadway, and the positioning device controls the camera to identify the passive positioning beacons and accurately position the horizontal coordinates of each passive positioning beacon;
when vehicles driven in the underground roadway are located, the locating device is used for roughly locating the vehicles in different sections based on the horizontal coordinates of each passive locating beacon and the passive locating beacons currently identified by the cameras on the vehicles;
the intrinsic safety type inertial navigation device is used for acquiring the inclination angle and the vehicle speed of the vehicle;
the positioning device is further configured to calculate a fine position of the vehicle based on the coarse position, the inclination, and the vehicle speed.
In the underground roadway environment positioning system based on intrinsic safety type inertial navigation, the arrangement distance of the passive positioning beacons is 50-100 meters, and the accuracy of the passive positioning beacons reaches 2 mm icons.
In the underground tunnel environment positioning system based on intrinsic safety type inertial navigation, the vehicle is driven to horizontally pass through the underground tunnel along the central line in the width direction of the underground tunnel, the camera is an explosion-proof low-illumination camera with a wide angle of 180 degrees, when the explosion-proof low-illumination camera is over against the passive positioning beacon, the passive positioning beacon is identified, and the positioning device is further used for identifying the passive positioning beacon and accurately positioning the horizontal coordinate of the passive positioning beacon and positioning a section between the passive positioning beacons based on the horizontal coordinate.
In the system for locating an underground roadway environment based on intrinsic safety type inertial navigation, the locating device comprises a rough locating module, which is used for setting the horizontal coordinate and the vertical coordinate of the vehicle needing rough locating as K and N respectively, wherein the value range of K is Ln-1-K-Ln, the value of N is a positive integer, ln-1 represents the horizontal coordinate of a first passive locating beacon which is recently identified by a camera on the vehicle, ln represents the horizontal coordinate of a next passive locating beacon of the first passive locating beacon, and the value range of N is-1/2A-N-1/2A, wherein A represents the width of the underground roadway.
In the underground roadway environment positioning system based on intrinsic safety type inertial navigation, the positioning device comprises a precise positioning module, the precise positioning module respectively sets the horizontal coordinate and the vertical coordinate of a vehicle needing precise positioning as Rx and Sx, and the horizontal coordinate Rx and the vertical coordinate Sx are calculated based on the following formulas:
Rx＝L x-1 +V*T，Sx＝tgθ*(Lx-Rx)
wherein θ represents the inclination angle, V represents the vehicle speed, L x-1 A horizontal coordinate, L, representing the first passive positioning beacon in the coarse positioning x Represents the horizontal coordinate of the next passive positioning beacon in the coarse positioning, and T represents the time required for the vehicle to travel from the first passive positioning beacon to the current location.
By implementing the underground roadway environment positioning method and system based on intrinsic safety type inertial navigation, the passive positioning beacon and the positioning module are used for skillfully dividing the underground roadway into sections, then the vehicle is roughly positioned in the sections, and then the vehicle is accurately positioned based on the functional relation among section coordinates, vehicle speed and inclination angles, so that the vehicle can be positioned with high precision in the underground network-free environment without laying cables and arranging base stations, and the low cost is realized while the high precision is ensured.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a preferred embodiment of the underground roadway environment positioning method based on intrinsic safety type inertial navigation of the invention;
FIG. 2 shows a schematic diagram of a rough positioning vehicle;
FIG. 3 shows a first schematic representation of a fine positioning vehicle;
FIG. 4 illustrates a second schematic view of a precision positioning vehicle;
fig. 5 shows a schematic block diagram of a preferred embodiment of the underground roadway environment positioning system based on intrinsic safety type inertial navigation of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention 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 the invention and are not intended to limit the invention.
The invention relates to an underground roadway environment positioning method based on intrinsic safety type inertial navigation, which comprises the following steps: arranging a plurality of passive positioning beacons on one side wall of the underground roadway; before vehicle positioning is carried out, driving a vehicle to pass through the underground roadway, adopting a camera arranged on the vehicle to identify the passive positioning beacons and accurately positioning the horizontal coordinate of each passive positioning beacon; when vehicle positioning is carried out, roughly positioning vehicles driven in the underground roadway in different sections based on the horizontal coordinates of each passive positioning beacon; and acquiring the inclination angle and the vehicle speed of the vehicle based on intrinsic safety type inertial navigation, and calculating the accurate positioning of the vehicle based on the inclination angle, the vehicle speed and the rough positioning. According to the invention, the passive positioning beacon and the positioning module are used for skillfully dividing the underground roadway into sections, then the vehicle is roughly positioned in the sections, and then the vehicle is accurately positioned based on the functional relation among the section coordinates, the vehicle speed and the inclination angle, so that the vehicle can be positioned in a high-precision manner without laying cables and arranging base stations in an underground network-free environment, and therefore, the high precision is ensured and the low cost is realized.
Fig. 1 is a flow chart of a preferred embodiment of the underground roadway environment positioning method based on intrinsic safety type inertial navigation. As shown in fig. 1, in step S1, a plurality of passive positioning beacons are arranged on one side wall of an underground roadway. In a preferred embodiment of the invention, a passive location beacon refers to a location marker or icon that does not require access to a power source, such as a colored block painted on one side wall of an underground roadway. In a preferred embodiment of the invention, after the passive positioning beacon is deployed, its exact location can be marked on the map. The distance between two adjacent passive positioning beacons is preferably equal and between 50 and 100 meters, the accuracy of said passive positioning beacons preferably being up to 2 mm.
In step S2, before vehicle positioning is performed, the vehicle is driven through the underground roadway and the camera provided on the vehicle is used to identify the passive positioning beacons and accurately position the horizontal coordinates of each passive positioning beacon.
Fig. 2 shows a schematic representation of a rough positioning of a vehicle. As shown in fig. 2, a plurality of passive positioning beacons 1, 2, 3 … M are arranged on one side wall of the underground roadway 20. The distance between two adjacent passive positioning beacons is 100 meters. The width of the underground roadway 20 is a. M is a positive integer, A is the actual width value of the underground roadway 20, and can be obtained according to actual measurement. Before vehicle positioning is performed, the vehicle 10 is driven horizontally through an underground roadway 20 along a center line in a width direction of the underground roadway 10. The vehicle 10 is provided with an explosion-proof low-light camera 11 with a wide angle of 180 degrees. For example, when the vehicle 10 travels horizontally along the center line in the width direction of the underground roadway 10 until the explosion-proof low-illuminance camera 11 is directly facing the passive positioning beacon 1, the passive positioning beacon 1 is identified, and since the passive positioning beacon is identified for the first time at this time, the position coordinate of the vehicle at this time can be defined as (0,0), that is, the coordinate of the L1 locus at this time is (0,0). Then it can be determined that the horizontal coordinate of passive location beacon 1 at this time is also 0. When the vehicle continues to drive, for example, reaches the L2 point, the explosion-proof low-illumination camera 11 on the vehicle 10 is directly opposite to the passive positioning beacon 2, so that the passive positioning beacon 2 is identified. Since the distance between two adjacent passive positioning beacons is known to be 100 meters, the coordinate of the L2 locus is (100,0), and then the horizontal coordinate of the passive positioning beacon 2 at this time can also be determined to be 100. By analogy, when the vehicle 10 is facing the passive positioning beacon M (i.e., located at the LM point), the coordinates of the LM point are (M00, 0). The horizontal coordinate of the passive positioning beacon M is also M00. In this way, we can locate the zones located between the passive locating beacons based on the aforementioned horizontal coordinates, i.e., L1-L2 zones, L2-L3 zones, … LM-1-LM zones as shown in FIG. 2.
In step S3, when locating a vehicle driven in the underground roadway, the vehicle is roughly located in different zones based on the horizontal coordinates of each passive locating beacon and the passive locating beacon currently identified by the camera on the vehicle. In a preferred embodiment of the present invention, the horizontal coordinates and vertical coordinates of the vehicle that needs to be roughly positioned are set to K, N, respectively, where the value range of K is Ln-1 and K-plus Ln, where the value of N is a positive integer, ln-1 represents the horizontal coordinates of a first passive positioning beacon that is most recently recognized by a camera on the vehicle, ln represents the horizontal coordinates of a next passive positioning beacon of the first passive positioning beacon, and N has a value range of-1/2a plus N-1/2a, where a represents the width of the underground roadway.
Referring to fig. 2, it is assumed that a vehicle requiring positioning travels to a position whose horizontal and vertical coordinates are set to K, N, respectively. Since the width of the underground roadway 20 is a, with its bus as a zero coordinate, the ordinate of the vehicle is inevitably within the range of-1/2a-n-1/2A. On the other hand, when the vehicle 10 runs in an underground roadway, the vehicle inevitably passes through the passive positioning beacons 1, 2 and 3 … M in sequence, and as described above, when the vehicle passes through each passive positioning beacon 1, 2 and 3 … M, the explosion-proof low-illumination-level camera 11 directly faces the passive positioning beacons 1, 2 and 3 … M, so that the horizontal coordinates of the passive positioning beacons through which the vehicle passes in sequence are obtained. As shown in fig. 2, the vehicle 10 has just traveled past the passive positioning beacon 2, and the next passive positioning beacon of the passive positioning beacon 2 is the passive positioning beacon 3, and the horizontal coordinates of the passive positioning beacon 2 and the passive positioning beacon 3 are 200 and 300, respectively, so the value of K is between 200 and 300. Therefore, we can obtain the rough location of the vehicle in step S3 very simply, i.e. with the horizontal coordinate between 200-300 and the vertical coordinate between-1/2A and N-woven cloth-type 1/2A.
In step S4, the inclination angle and the vehicle speed of the vehicle are acquired based on the intrinsically safe inertial navigation device, and the fine positioning of the vehicle is calculated based on the inclination angle, the vehicle speed, and the coarse positioning.
An inertial navigation device is a system that uses gyroscopes and accelerometers mounted on a vehicle to determine the position of the vehicle. From the measurements of the gyroscope and accelerometer, the motion of the vehicle in the inertial reference frame can be determined, while the position of the vehicle in the inertial reference frame can also be calculated. Unlike other types of navigation systems, inertial navigation systems are completely autonomous, neither transmitting nor receiving signals from the outside. Inertial navigation systems must know the position of the vehicle at the start of navigation with precision, and inertial measurements are used to estimate the change in position that occurs after start-up. Intrinsically safe (intrinsically safe) is an explosion-proof version of an electrical device that limits the energy of electrical sparks or thermal effects that may be generated inside the device and connecting wires exposed to potentially explosive environments to levels that do not produce ignition.
Accordingly, the intrinsically safe inertial navigation unit of the present invention refers to an inertial navigation unit capable of obtaining the inclination and acceleration of a vehicle through a gyroscope and an accelerometer, and capable of limiting the energy of electric sparks or thermal effects that may be generated inside and in connection wires exposed to a potentially explosive environment to a level that cannot generate ignition, which is very suitable for an underground tunnel environment, particularly an underground tunnel environment filled with flammable and explosive gases or substances.
In the step S4, the horizontal coordinate and the vertical coordinate of the vehicle to be precisely positioned are set as Rx and Sx, respectively, and the horizontal coordinate Rx and the vertical coordinate are calculated as Sx based on the following formulas:
Rx＝L x-1 +V*T，Sx＝tgθ*(Lx-Rx)
wherein θ represents the inclination angle, V represents the vehicle speed, L x-1 A horizontal coordinate, L, representing the first passive positioning beacon in the coarse positioning x A horizontal coordinate representing the next passive positioning beacon in the coarse positioning, and T represents a time required for a vehicle to travel from the first passive positioning beacon to a current location.
When the vehicle is traveling horizontally in the underground roadway 20, then the intrinsically safe inertial navigation device acquires that the inclination angle of the vehicle will be 0, i.e., the ordinate of the vehicle will not change, being 0 at all times. And the horizontal coordinate of the vehicle can be represented by Rx = L x-1 + V × T. V represents the vehicle speed, L x-1 A horizontal coordinate, L, representing the first passive positioning beacon in the coarse positioning x A horizontal coordinate representing the next passive positioning beacon in the coarse positioning, and T represents a time required for a vehicle to travel from the first passive positioning beacon to a current location.
Fig. 3 shows a first principle schematic of the accurate positioning of a vehicle. Since the starting point Q1 of the vehicle is (0,0), the vehicle travels horizontally along the underground roadway 20 to the point Q2, and the inclination angle θ =0, the vehicle drives to Q2 with the coordinates of (Rx, sx) based on Sx = tg θ (Lx-Rx) = tg0 (Lx-Rx) =0. While Rx = L x-1 + V × T. As shown in fig. 3, the vehicle is roughly located between the passive locating beacon 2 and the passive locating beacon 3, so Lx-1 takes the horizontal coordinate 200 of the passive locating beacon 2, and T is the time from the L2 point of the passive locating beacon 2 to the Q2 point, the distance between L2 and Q2 can be calculated by V × T, and the current coordinate of the vehicle, that is, the coordinate of the Q2 point, can be accurately obtained by adding V × T to the horizontal coordinate 200 of L2, thereby completing the accurate location of the vehicle. In a preferred embodiment of the present inventionIn the embodiment, if the vehicle is running at a constant speed, the vehicle speed may be used for calculation, and if the vehicle is not running at a constant speed, the distance may also be calculated using the vehicle speed and the acceleration.
When the vehicle makes a curve or runs with a yaw in the underground roadway 20, the inclination angle of the vehicle acquired by the intrinsically safe inertial navigation device will not be 0, that is, the ordinate of the vehicle will change, as described below with reference to fig. 4.
As shown in fig. 4, the vehicle starts from a starting point Q1 and travels along the underground roadway 20 to a point Q2, and the coordinates of Q2 are (Rx, sx). In this process, it can be seen that the vehicle is turning, i.e., the intrinsically safe inertial navigation device detects the tilt angle θ. In the preferred embodiment shown in fig. 4, the vehicle is roughly positioned between the passive positioning beacon X-1 and the passive positioning beacon X, so that Lx-1 takes the horizontal coordinate (X-1) 00 of the passive positioning beacon 2, and T is the time from the Lx-1 point of the passive positioning beacon X-1 to the point Q2, the distance between Lx-1 and Q2 can be calculated by V X T, and the current horizontal coordinate of the vehicle, namely Rx = L, can be accurately obtained by adding the distance to the horizontal coordinate (X-1) 00 of Lx-1 x-1 + V × T, the horizontal coordinate Rx of the point Q2 can be obtained. Here, V is a velocity component in the horizontal direction of the vehicle, and may be obtained by an acceleration in the horizontal component obtained by an acceleration sensor of the inertial navigation apparatus of the present safety type, or may be obtained by a velocity detection apparatus provided in the inertial navigation apparatus of the present safety type. Further, referring to fig. 4, tg θ = Sx/(Lx-Rx) is known based on the trigonometric function. Thus, sx = tg θ (Lx-Rx). Therefore, the vertical coordinate Sx of the point Q2 can be calculated from the difference between the horizontal coordinate of the point Q2 and the coordinate (i.e., X00) of the point Lx, and the tilt angle θ detected by the intrinsically safe inertial navigation device.
Therefore, the invention skillfully divides the underground roadway into sections through the passive positioning beacon and the positioning module, then roughly positions the vehicle in the sections, and accurately positions the vehicle based on the functional relation among the section coordinates, the vehicle speed and the inclination angle, so that the vehicle can be positioned with high precision in the underground network-free environment without laying cables and arranging base stations, thereby ensuring the high precision and realizing the low cost.
Fig. 5 shows a schematic block diagram of a preferred embodiment of the underground roadway environment positioning system based on intrinsic safety type inertial navigation of the invention. As shown in fig. 5, the underground roadway environment positioning system based on intrinsic safety type inertial navigation includes: a plurality of passive positioning beacons 1, 2, 3 … M, a vehicle 10 provided with a camera 11, an intrinsically safe inertial navigation device 12, and a positioning device 13 are arranged on one side wall of an underground tunnel 20. The intrinsically safe inertial navigation device 12 and the positioning device 13 are also mounted on the vehicle 10 and are communicatively connected to the camera 11. As described above, before the vehicle is located, the vehicle is driven through the underground tunnel, and the locating device 13 controls the camera 11 to recognize the passive locating beacons and accurately locate the horizontal coordinates of each of the passive locating beacons. As mentioned above, when locating vehicles driven in the underground roadway, the locating device 13 is configured to perform rough location of the vehicle 10 in different zones based on the horizontal coordinates of each passive locating beacon and the passive locating beacon currently identified by the camera 11 on the vehicle 10. The intrinsically safe inertial navigation device 12 is used to acquire the inclination angle and the vehicle speed of the vehicle. The positioning means 13 are further adapted to calculate a fine positioning of the vehicle based on the coarse positioning, the inclination and the vehicle speed. The arrangement distance of the passive positioning beacons is 50-100 meters, and the accuracy of the passive positioning beacons reaches 2 mm icons.
In a preferred embodiment of the present invention, the vehicle 10 is driven horizontally through the underground roadway along a center line in a width direction of the underground roadway, and the camera 11 is a 180-degree wide-angle explosion-proof low-illuminance camera. When the explosion-proof low-light camera is over against the passive positioning beacons, the passive positioning beacons are identified, and the positioning device 13 is further configured to identify the passive positioning beacons, accurately position horizontal coordinates of the passive positioning beacons, and position sections located among the passive positioning beacons based on the horizontal coordinates.
In a preferred embodiment of the present invention, the positioning device 13 is further configured to include a coarse positioning module and a fine positioning module. The rough positioning module is used for setting the horizontal coordinate and the vertical coordinate of the vehicle needing rough positioning as K and N respectively, wherein the value range of K is Ln-1 and K < -Ln, the value of N is a positive integer, ln-1 represents the horizontal coordinate of a first passive positioning beacon which is recently identified by a camera on the vehicle, ln represents the horizontal coordinate of a next passive positioning beacon of the first passive positioning beacon, and the value range of N is-1/2A and N < -1/2A, wherein A represents the width of the underground roadway. The accurate positioning module is used for setting a horizontal coordinate and a vertical coordinate of a vehicle needing accurate positioning as Rx and Sx respectively, and calculating the horizontal coordinate Rx and the vertical coordinate Sx based on the following formulas:
Rx＝L x-1 +V*T，Sx＝tgθ*(Lx-Rx)
wherein θ represents the inclination angle, V represents the vehicle speed, L x-1 A horizontal coordinate, L, representing the first passive positioning beacon in the coarse positioning x A horizontal coordinate representing the next passive positioning beacon in the coarse positioning, and T represents a time required for a vehicle to travel from the first passive positioning beacon to a current location.
Those skilled in the art will appreciate that the positioning device 13 may be implemented using any suitable circuitry, software, and modules. In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. The underground roadway environment locating system based on intrinsic safety type inertial navigation shown in fig. 5 can be constructed by a person skilled in the art according to any suitable preferred embodiment shown in fig. 1-4.
Additionally, as will be appreciated by one skilled in the art, the principles herein may be reflected in a computer program product on a computer readable storage medium, which is pre-loaded with computer readable program code. Any tangible, non-transitory computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-to-ROM, DVD, blu-Ray discs, etc.), flash memory, and/or the like. These computer program instructions may be loaded onto a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions which execute on the computer or other programmable data processing apparatus create means for implementing the functions specified. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including means for implementing the function specified. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified.
According to the underground roadway environment positioning system based on intrinsic safety type inertial navigation, the passive positioning beacon and the positioning module are used for skillfully dividing the underground roadway into sections, then the vehicle is roughly positioned in the sections, and then the vehicle is accurately positioned based on the functional relation among the section coordinates, the vehicle speed and the inclination angle, so that the vehicle can be accurately positioned in the underground non-network environment without laying cables and arranging base stations, and therefore the high precision is guaranteed and the low cost is achieved.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from its scope. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An underground roadway environment positioning method based on intrinsic safety type inertial navigation is characterized by comprising the following steps:
s1, arranging a plurality of passive positioning beacons on one side wall of an underground roadway;
s2, before vehicle positioning is carried out, driving a vehicle to pass through the underground roadway, adopting a camera arranged on the vehicle to identify the passive positioning beacons, and accurately positioning horizontal coordinates of each passive positioning beacon;
s3, when vehicles driven in the underground roadway are located, roughly locating the vehicles in different sections based on the horizontal coordinate of each passive locating beacon and the passive locating beacon currently identified by the camera on the vehicles;
and S4, acquiring the inclination angle and the vehicle speed of the vehicle based on the intrinsic safety type inertial navigation device, and calculating the accurate positioning of the vehicle based on the inclination angle, the vehicle speed and the rough positioning.
2. An underground roadway environment positioning method based on intrinsic safety type inertial navigation is characterized in that the passive positioning beacons are arranged at intervals of 50-100 meters, and the accuracy of the passive positioning beacons reaches 2 mm icons.
3. The intrinsic safety type inertial navigation-based underground roadway environment positioning method according to claim 1 or 2, wherein in the step S2, the vehicle is driven horizontally through the underground roadway along a center line in a width direction of the underground roadway, the camera is an explosion-proof low-light camera with a wide angle of 180 degrees, the passive positioning beacons are identified and horizontal coordinates of the passive positioning beacons are accurately positioned when the explosion-proof low-light camera is facing the passive positioning beacons, and a section located between the passive positioning beacons is positioned based on the horizontal coordinates.
4. An underground roadway environment positioning method based on intrinsic safety type inertial navigation, according to claim 3, characterized in that in the step S3, the horizontal coordinates and vertical coordinates of the vehicles which need to undergo coarse positioning are set to K, N, respectively, where the value range of K is Ln-1 and K < -Ln, the value of N is a positive integer, ln-1 represents the horizontal coordinates of a first passive positioning beacon recently recognized by a camera on the vehicle, ln represents the horizontal coordinates of a next passive positioning beacon of the first passive positioning beacon, and N has the value range of-1/2A and N1/2A, A represents the width of the underground roadway.
5. An underground roadway environment positioning method based on intrinsic safety type inertial navigation according to claim 4, wherein in the step S4, the horizontal coordinate and the vertical coordinate of the vehicle to be accurately positioned are set to Rx and Sx respectively, and the horizontal coordinate Rx and the vertical coordinate Sx are calculated based on the following formulas:
Rx＝L x-1 +V*T，Sx＝tgθ*(Lx-Rx)
wherein θ represents the inclination angle, V represents the vehicle speed, L x-1 A horizontal coordinate, L, representing the first passive positioning beacon in the coarse positioning x A horizontal coordinate representing the next passive positioning beacon in the coarse positioning, and T represents a time required for a vehicle to travel from the first passive positioning beacon to a current location.
6. The utility model provides an underground roadway environment positioning system based on this ampere of type inertial navigation which characterized in that includes: the system comprises a plurality of passive positioning beacons, a vehicle provided with a camera, an intrinsic safety type inertial navigation device and a positioning device, wherein the passive positioning beacons are arranged on one side wall of an underground roadway;
before vehicle positioning is carried out, a vehicle is driven to pass through the underground roadway, and the positioning device controls the camera to identify the passive positioning beacons and accurately position the horizontal coordinates of each passive positioning beacon;
when vehicles driven in the underground roadway are located, the locating device is used for roughly locating the vehicles in different sections based on the horizontal coordinates of each passive locating beacon and the passive locating beacons currently identified by the cameras on the vehicles;
the intrinsic safety type inertial navigation device is used for acquiring the inclination angle and the vehicle speed of the vehicle;
the positioning device is further configured to calculate a fine position of the vehicle based on the coarse position, the inclination, and the vehicle speed.
7. An underground roadway environment positioning system based on intrinsic safety type inertial navigation, according to claim 6, wherein the passive positioning beacons are arranged at intervals of 50 to 100 meters, and the accuracy of the passive positioning beacons reaches 2 mm icons.
8. An underground roadway environment positioning system based on intrinsic safety type inertial navigation according to claim 6 or 7, wherein the vehicle is driven horizontally through the underground roadway along a center line in the width direction of the underground roadway, the camera is an explosion-proof low-light camera with a wide angle of 180 degrees, the passive positioning beacon is identified when the explosion-proof low-light camera is facing the passive positioning beacon, and the positioning device is further configured to identify the passive positioning beacon and accurately position a horizontal coordinate of the passive positioning beacon, and position a section located between the passive positioning beacons based on the horizontal coordinate.
9. An intrinsically safe inertial navigation-based underground roadway environment positioning system of claim 8, wherein the positioning apparatus includes a coarse positioning module for setting horizontal and vertical coordinates of the vehicle to be roughly positioned to K, N, respectively, where K ranges from Ln-1 to K-Ln, N ranges from positive integer, ln-1 represents the horizontal coordinate of a first passive positioning beacon most recently identified by a camera on the vehicle, ln represents the horizontal coordinate of a next passive positioning beacon of the first passive positioning beacon, and N ranges from-1/2a to N-1/2a, a represents the width of the underground roadway.
10. An underground roadway environment positioning system based on intrinsic safety type inertial navigation according to claim 9, wherein the positioning device comprises a precise positioning module, the precise positioning module sets the horizontal coordinate and the vertical coordinate of the vehicle to be precisely positioned as Rx and Sx respectively, and the horizontal coordinate Rx and the vertical coordinate Sx are calculated based on the following formula:
Rx＝L x-1 +V*T，Sx＝tgθ*(Lx-Rx)
wherein θ represents the inclination angle, V represents the vehicle speed, L x-1 A horizontal coordinate, L, representing the first passive positioning beacon in the coarse positioning x A horizontal coordinate representing the next passive positioning beacon in the coarse positioning, and T represents a time required for a vehicle to travel from the first passive positioning beacon to a current location.
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