CN115412853A

CN115412853A - Underground construction engineering positioning method

Info

Publication number: CN115412853A
Application number: CN202110587632.2A
Authority: CN
Inventors: 贺媛; 吴彤
Original assignee: Beijing Jinkun Innovation Technology Co ltd
Current assignee: Beijing Jinkun Innovation Technology Co ltd
Priority date: 2021-05-27
Filing date: 2021-05-27
Publication date: 2022-11-29

Abstract

The invention discloses a method for positioning underground construction engineering, which accurately obtains dynamic position information of positioning equipment in an underground construction engineering operation area by performing distance measurement and angle measurement on the positioning equipment deployed on operation equipment, and forms positioning information for moving entities such as personnel, vehicles, equipment and the like. The method can greatly improve the positioning precision of the mobile entity in the underground building engineering environment such as tunnels, coal mines and the like, and meet the requirement of accurate positioning.

Description

Underground construction engineering positioning method

Technical Field

The invention relates to the technical field of ultra wide band, in particular to an underground construction engineering positioning method.

Background

An Ultra Wide Band (UWB) high-precision positioning technology, where the positioning precision can reach the centimeter level, and a bidirectional TOF (Time Of Flight) asynchronous positioning method and a TDOA (Time Difference Of Arrival) synchronous positioning method are adopted.

In the bidirectional TOF asynchronous positioning method, a positioning label sends a Polling (POLL) message, and the sending time T1 of an ultra-wideband signal is measured and recorded; after receiving the POLL message, the positioning base station measures and records the receiving time T2 of a first path signal in the ultra-wideband signal; the positioning base station sends a RESPONSE (RESPONSE) message, and the sending time of the ultra-wideband signal is measured and recorded as T3; the positioning tag receives the RESPONSE message, measures and records the receiving time T4 of the first path signal in the ultra-wideband signal; a FINAL (FINAL) message is sent by a positioning tag, and the sending time T5 of the ultra-wideband signal is measured and recorded, wherein the FINAL message comprises T1, T4 and T5 recorded by the positioning tag; and the positioning base station receives the FINAL message, and measures and records the receiving time T6 of the first path signal in the ultra-wideband signal. Therefore, the positioning base station obtains all the transmission times and the reception times, i.e., T1, T2, T3, T4, T5, and T6. The positioning base station obtains the ranging result through the following formula:

T _round1 ＝T4-T1

T _round2 ＝T6-T3

T _reply1 ＝T3-T2

T _reply2 ＝T5-T4

in addition, the positioning base station obtains an angle measurement result by obtaining the sending phase and the receiving phase of the positioning tag ultra-wideband signal. The TDOA synchronous positioning method determines the position Of a positioning label by detecting the absolute Time difference Of the ultra-wideband signal arriving at two positioning base stations instead Of the arriving flight Time, and the Time TOA (Time Of Arrival) Of the positioning label arriving at 2 positioning base stations is used for obtaining the difference value, the strict synchronization Of the Time between the positioning base stations is needed, and the Time synchronization precision is nanosecond level (10) ^-9 s) can meet the requirements of ultra-wideband distance measurement precision and positioning precision.

The basis and key of the positioning accuracy of the existing ultra-wideband high-accuracy positioning method are the accuracy of a distance measurement result and an angle measurement result. Under the Line Of Sight (LOS) environment, the precision Of the distance measurement result and the angle measurement result is high; in a Non-Line Of Sight (NLOS) environment, the accuracy Of the distance measurement result and the angle measurement result is low. Meanwhile, the position information provided by the positioning base station needs to be accurate, so as to obtain accurate positioning information of the positioning target. In the underground construction engineering environment such as tunnel, colliery, the operation equipment is constantly promoted, may be accompanied with blasting operation, is not suitable to deploy fixed positioning base station. When the positioning base station is installed on the working equipment, the position information thereof is dynamically changed. Therefore, due to the complex environment of the underground working area and the mobility of the positioning base station, the positioning accuracy cannot meet the requirement of accurate positioning.

Disclosure of Invention

The invention discloses an underground construction engineering positioning method, which solves the problem of accurate positioning in underground construction engineering environments such as tunnels, coal mines and the like.

The embodiment of the invention provides an underground construction engineering positioning method, which comprises the following steps:

obtaining a measurement result of at least one first positioning device, the measurement result being a ranging result and/or an angle measurement result;

obtaining fixed position information of a second positioning device, wherein a measurement reference positioning device of the at least one first positioning device is the second positioning device and/or the first positioning device;

the at least one first positioning device is a positioning device deployed on an operating device in an operating area of underground building engineering such as a tunnel and a coal mine;

the second positioning equipment is positioning equipment deployed in the completion area of underground building engineering such as tunnels, coal mines and the like;

obtaining dynamic position information of the at least one first positioning device according to the measurement result of the at least one first positioning device and the fixed position information of the second positioning device;

and obtaining a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning device.

Optionally, obtaining a measurement result of the at least one first positioning device, where the measurement result is a distance measurement result and/or an angle measurement result, includes:

obtaining a measuring result of at least one first positioning device through median filtering, namely performing median filtering on the ranging result and/or the angle measuring result, and filtering a small number of singular ranging results and/or angle measuring results; and/or the presence of a gas in the gas,

and obtaining a measurement result of at least one first positioning device through standard deviation filtering, namely performing standard deviation filtering on the ranging result and/or the angle measurement result, and filtering the ranging result and/or the angle measurement result of which the standard deviation exceeds a threshold.

Optionally, obtaining the dynamic location information of the at least one first positioning device according to the measurement result of the at least one first positioning device and the fixed location information of the second positioning device includes:

when the measurement result of the at least one first positioning device is a valid value, calculating relative position information of the at least one first positioning device and the second positioning device;

calculating dynamic position information of the at least one first positioning device according to the fixed position information of the second positioning device and the relative position information of the at least one first positioning device and the second positioning device; or,

delaying the dynamic position information of the at least one first positioning device last time when the measurement result of the at least one first positioning device is an invalid value; or,

when the measurement result of the at least one first positioning device is an invalid value, calculating relative position information of the at least one first positioning device and the second positioning device by using a preset distance measurement value and/or an angle measurement value;

and calculating the dynamic position information of the at least one first positioning device according to the fixed position information of the second positioning device and the relative position information of the at least one first positioning device and the second positioning device.

Optionally, obtaining a high-precision positioning result of the mobile entity according to the dynamic location information of the at least one first positioning device includes:

the mobile entities are personnel, vehicles, equipment and the like in underground building engineering such as tunnels, coal mines and the like;

the mobile entity is bound with the positioning tag, zero-dimensional, one-dimensional, two-dimensional and three-dimensional high-precision positioning is carried out through the at least one first positioning device, and a high-precision positioning result of the mobile entity is obtained according to the dynamic position information of the at least one first positioning device;

the high-precision positioning result of the mobile entity comprises one or more of the following information: personnel information, vehicle information, equipment information, positioning label information, coordinate information and state information.

Optionally, the method further includes:

the high-precision positioning result of the mobile entity is used for management and application of the mobile entity;

the management and application of the mobile entity includes one or more of the following functions: positioning management, track management, time management, video management and work efficiency analysis application.

Optionally, the method further includes:

the third equipment transmits a measurement indication message of the at least one first positioning equipment, wherein the measurement indication message is transmitted periodically or transmitted in an event-triggered manner;

the measurement indication message includes one or more of the following information: measuring the mark of the reference positioning equipment, the mark of the measurement object positioning equipment, the working frequency of the measurement object positioning equipment and the measurement quantity of the measurement object positioning equipment;

the third device receives a measurement result message of the at least one first positioning device, the measurement result message comprising one or more of the following information: measuring the mark of the reference positioning equipment, the mark of the measurement object positioning equipment and the measurement result corresponding to the measurement quantity of the measurement object positioning equipment;

the third equipment obtains the dynamic position information of the at least one first positioning equipment according to the measurement result of the at least one first positioning equipment and the fixed position information of the second positioning equipment;

and the third equipment obtains a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning equipment.

Optionally, the method further includes:

the third equipment issues a frequency modulation indication message of the at least one first positioning equipment, wherein the frequency modulation indication message is issued periodically or issued by an event trigger mode;

the frequency modulation indication message comprises an identifier of the positioning equipment and the working frequency of the positioning equipment;

the third equipment receives a working frequency message of the at least one first positioning equipment, wherein the working frequency message comprises an identifier of the positioning equipment and the working frequency of the positioning equipment;

the third device determines that the at least one first positioning device is in a measurement state or a power saving state according to the operating frequency of the at least one first positioning device.

Optionally, the method further includes:

the second positioning device is a positioning base station;

the at least one first positioning device is a positioning base station and/or a positioning tag;

when the at least one first positioning device is used jointly by a positioning base station and a positioning tag, the positioning tag assists the positioning base station in measuring; or,

when the at least one first positioning device is used by combining a positioning base station and a positioning tag, the positioning tag assists the positioning base station in positioning.

Optionally, the method further includes:

when the at least one first positioning device is used by combining a positioning base station and a positioning tag, if the positioning tag assists the positioning base station to perform positioning, obtaining measurement results of the mobile entity and the positioning tag according to the measurement results of the mobile entity and the positioning base station;

and obtaining a high-precision positioning result of the mobile entity according to the dynamic position information of the positioning base station, the dynamic position information of the positioning label, the measurement results of the mobile entity and the positioning base station, and the measurement results of the mobile entity and the positioning label.

The technical scheme of the invention at least has the following beneficial effects:

according to the embodiment of the invention, the positioning equipment deployed on the operation equipment is subjected to distance measurement and angle measurement, so that the dynamic position information of the positioning equipment in the underground construction engineering operation area is accurately obtained, and the positioning information for personnel, vehicles, equipment and other mobile entities is formed. Therefore, the positioning accuracy of the mobile entity in underground operation environments such as tunnels, coal mines and the like can be greatly improved, and the requirement of accurate positioning is met.

Drawings

Fig. 1 is a schematic flow chart of a positioning method for an underground construction project according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a positioning method for performing measurement by using a first positioning device and a second positioning device according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a positioning method for issuing measurement and frequency modulation by a third device according to an embodiment of the present invention;

fig. 4 is a schematic flowchart of a positioning method for assisting a positioning base station to perform positioning by using a positioning tag according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a positioning method in a tunnel environment according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a positioning method in a coal mine environment according to an embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, a schematic flow chart of a positioning method for an underground construction project according to an embodiment of the present invention is shown in fig. 1, and includes the following steps:

101: obtaining a measurement result of at least one first positioning device, wherein the measurement result is a distance measurement result and/or an angle measurement result;

102: obtaining fixed position information of a second positioning device, wherein a measurement reference positioning device of the at least one first positioning device is the second positioning device and/or the first positioning device; the at least one first positioning device is a positioning device deployed on an operating device in an operating area of underground building engineering such as a tunnel, a coal mine and the like; the second positioning equipment is positioning equipment deployed in the completion area of underground building engineering such as tunnels, coal mines and the like;

103: obtaining dynamic position information of the at least one first positioning device according to the measurement result of the at least one first positioning device and the fixed position information of the second positioning device;

104: and obtaining a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning device. In this embodiment, the at least one first positioning device and the second positioning device may be a positioning base station or a positioning tag. The positioning Base Station is a network side device with Ultra Wide Band (UWB) signal transmitting and/or receiving capability, and may be an ultra wide band positioning Base Station, and may also be a Base Station (BS) with ultra wide band signal transmitting and/or receiving capability, for example, a macro Station: as LTE eNB, 5G NR gbb, etc., the small station: such as Low Power Node (LPN), pico base station (pico), home base station (femto), relay Node (RN), etc., access Point (AP), transmission Reception Point (TRP), home appliance, etc. The positioning tag is a terminal side Device having an ultra-wideband signal transmitting and/or receiving capability, and may be an ultra-wideband positioning tag, and may also be a User Equipment (UE) having an ultra-wideband signal transmitting and/or receiving capability, for example, a Mobile phone, a Tablet Personal Computer (Tablet Personal Computer), a Laptop Computer (Laptop Computer), a Personal Digital Assistant (PDA), a Mobile Internet Device (MID), or a Wearable Device (Wearable Device). The above-mentioned working equipment can be the driving equipment and lining equipment of trolley, pneumatic drill and concrete pump, etc. in the tunnel, also can be the mine car, train car and driving drill carriage, etc. in the coal mine. Such as a two-lining trolley, a tunnel face trolley, a rock drilling trolley, a lining trolley, etc. It should be noted that the specific types of the positioning base station, the positioning tag, and the operating device are not limited in the embodiments of the present invention.

In specific implementation, because the operating equipment is continuously pushed in the operating area of underground building engineering such as tunnels, coal mines and the like, blasting operation may be accompanied, and fixed positioning equipment is not suitable to be deployed, one or more first positioning equipment can be deployed on the operating equipment, and the position information of the positioning equipment on the operating equipment is dynamically changed. The second positioning device can be deployed in the completion area of underground construction engineering such as tunnels and coal mines and serves as a measuring reference positioning device of the first positioning device, and the position information of the second positioning device is fixed. When there are a plurality of first positioning apparatuses, and any one of the first positioning apparatuses is a measurement target positioning apparatus, the measurement reference positioning apparatus may be a second positioning apparatus or an adjacent first positioning apparatus. The measuring reference positioning equipment and the measuring object positioning equipment are transmitted in a line-of-sight mode.

For example, 2 positioning base stations and 2 positioning labels may be installed on a second-lining trolley of a tunnel, 1 positioning label may be installed on a tunnel face trolley of the tunnel, 1 positioning base station may be installed on a front hole wall near the second-lining trolley, the positioning base stations and the positioning labels on the front hole wall are in line-of-sight transmission with the positioning base stations and the positioning labels on the second-lining trolley, and the positioning base stations and the positioning labels on the second-lining trolley and the positioning labels on the tunnel face trolley are in line-of-sight transmission with each other; or 2 positioning base stations can be arranged on a mine car of a coal mine, 1 positioning tag is arranged on a tunneling drill carriage of the coal mine, 1 positioning base station is arranged on a roadway wall near the mine car, and the positioning base stations on the roadway wall and the positioning base stations on the mine car are in line-of-sight transmission.

and obtaining a measurement result of at least one first positioning device through standard deviation filtering, namely, performing standard deviation filtering on the ranging result and/or the angle measurement result, and filtering the ranging result and/or the angle measurement result with the standard deviation exceeding a threshold.

In a specific implementation, obtaining the measurement result of the at least one first positioning device includes the following 2 ways:

mode 1: the measurement result of the at least one first positioning device is obtained by median filtering, i.e. the distance measurement result and/or the angle measurement result is median filtered. The median filtering can filter a small number of singular measurement values with large fluctuation, and the problem of small probability errors of measurement results in complex environments of underground building engineering such as tunnels, coal mines and the like is solved.

Specifically, the filter window length for median filtering may be set, and if the median point is N, the filter window length is 2n +1. When 2N +1 ranging results exist in the filtering window length, the ranging result of the median point is taken as an effective value; and when no 2N +1 distance measurement results exist in the filtering window length, the distance measurement result is an invalid value. When 2N +1 angle measurement results exist in the length of the filtering window, taking the angle measurement result of the median point as an effective value; and when no 2N +1 angle measurement results exist in the filtering window length, the angle measurement result is an invalid value. When 2N +1 distance measurement results and 2N +1 angle measurement results exist in the filtering window length, the distance measurement result and the angle measurement result of the median point are taken as effective values. And when no 2N +1 distance measurement results and angle measurement results exist in the length of the filtering window, the distance measurement results and the angle measurement results are invalid values.

Mode 2: and obtaining a measurement result of at least one first positioning device through standard deviation filtering, namely, performing standard deviation filtering on the distance measurement result and the angle measurement result. The standard deviation filtering can filter the distance measurement result and/or the angle measurement result with the standard deviation exceeding the threshold, and the problem that the distance measurement result and the angle measurement result are wrong probably when the fluctuation is large in the complex environment of underground building engineering such as tunnels and coal mines is solved.

Specifically, a filtering threshold of the standard deviation filtering may be set. When the standard deviation of the ranging result does not exceed the filtering threshold, the ranging result is an effective value; when the standard deviation of the ranging result exceeds the filtering threshold, the ranging result is an invalid value. When the standard deviation of the angle measurement result does not exceed the filtering threshold, the angle measurement result is an effective value; when the standard deviation of the angle measurement result exceeds the filtering threshold, the angle measurement result is an invalid value. When the standard deviation of the ranging result and the standard deviation of the angle measurement result do not exceed the filtering threshold, the ranging result and the angle measurement result are effective values; and when the standard deviation of the ranging result and the standard deviation of the angle measurement result exceed the filtering threshold, the ranging result and the angle measurement result are invalid values.

Further, the mode 1 and the mode 2 may be respectively used for obtaining the measurement result of the at least one first positioning device, and may also be simultaneously used for obtaining the measurement result of the at least one first positioning device.

when the measurement result of the at least one first positioning device is an invalid value, delaying the dynamic position information of the at least one first positioning device at the last time; or,

In a specific implementation, the obtaining of the dynamic location information of the at least one first positioning device includes the following 3 ways:

mode 1: when the measurement result of the at least one first positioning device is a valid value, calculating relative position information of the at least one first positioning device and the second positioning device; and calculating the dynamic position information of the at least one first positioning device according to the fixed position information of the second positioning device and the relative position information of the at least one first positioning device and the second positioning device.

Specifically, when the ranging result of the first positioning device is a valid value, the relative distance between the first positioning device and the second positioning device may be calculated, and then the dynamic position coordinate of the first positioning device may be calculated according to the fixed position coordinate of the second positioning device. Further, when the measurement reference positioning device of the first positioning device is the second positioning device, the relative distance between the first positioning device and the second positioning device is the ranging result of the first positioning device and the second positioning device; when the measurement reference positioning apparatus of the first positioning apparatus is the adjacent first positioning apparatus, the relative distance of the first positioning apparatus and the second positioning apparatus is an accumulated value of the ranging results of the first positioning apparatus and the adjacent first positioning apparatus and the ranging results of the adjacent first positioning apparatus and second positioning apparatus. And calculating the dynamic position coordinate of the first positioning equipment by combining the relative distance between the first positioning equipment and the second positioning equipment on the basis of the fixed position coordinate of the second positioning equipment. Or on the basis of the fixed position coordinates of the second positioning device, the dynamic position coordinates of the adjacent first positioning device are calculated by combining the relative distance between the adjacent first positioning device and the second positioning device, and then the dynamic position coordinates of the first positioning device are calculated by combining the relative distance between the first positioning device and the adjacent first positioning device. When the angle measurement result of the first positioning device is an effective value, the relative angle between the first positioning device and the second positioning device can be calculated, and then the dynamic position coordinate of the first positioning device is calculated according to the fixed position coordinate of the second positioning device. When the distance measurement result and the angle measurement result of the first positioning device are effective values, the relative distance and the relative angle between the first positioning device and the second positioning device can be calculated, and then the dynamic position coordinate of the first positioning device is calculated according to the fixed position coordinate of the second positioning device.

Mode 2: and when the measurement result of the at least one first positioning device is an invalid value, delaying the use of the dynamic position information of the last at least one first positioning device.

Specifically, when the distance measurement result and/or the angle measurement result of the first positioning device is an invalid value, if the dynamic position coordinate of the last first positioning device is retained and the timeliness meets the requirement, the dynamic position coordinate of the last first positioning device is used. Mode 3: when the measurement result of the at least one first positioning device is an invalid value, calculating relative position information of the at least one first positioning device and the second positioning device by using a preset distance measurement value and/or an angle measurement value; and calculating the dynamic position information of the at least one first positioning device according to the fixed position information of the second positioning device and the relative position information of the at least one first positioning device and the second positioning device.

Specifically, when the distance measurement result and/or the angle measurement result of the first positioning device are invalid values, if the dynamic position coordinate of the last first positioning device is not reserved, or the dynamic position coordinate of the last first positioning device is reserved but the timeliness does not meet the requirement, the relative distance and/or the relative angle between the first positioning device and the second positioning device are calculated by using a preset distance measurement value and/or angle measurement value, and then the dynamic position coordinate of the first positioning device is calculated according to the fixed position coordinate of the second positioning device.

Optionally, obtaining a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning device includes:

the mobile entity and the positioning label are bound, zero-dimensional, one-dimensional, two-dimensional and three-dimensional high-precision positioning is carried out through the at least one first positioning device, and a high-precision positioning result of the mobile entity is obtained according to the dynamic position information of the at least one first positioning device;

In a specific implementation, the dynamic position information of the at least one first positioning device is used for obtaining a high-precision positioning result of a mobile entity in the ultra-wideband high-precision positioning management system. The ultra-wideband high-precision positioning management system can be a management platform based on an ultra-wideband high-precision positioning technology and provides high-level application service based on position information; or a software and hardware system based on an ultra wideband high-precision positioning technology, where the hardware includes a positioning tag, a positioning base station, a camera, a server, an NFC (Near Field Communication) card reader, and the software includes a positioning engine, a management platform, a video service, a video player, an NFC service, and the like. The method comprises the steps that a Positioning Engine (Positioning Engine) calculates the accurate position of a Positioning label according to a distance measurement result and an angle measurement result reported by a Positioning base station, a management platform provides application service based on the position, a video service provides real-time streaming and playback streaming services related to video linkage, a video player provides video playing service of a client, and an NFC service provides services such as Positioning label scanning and identity card scanning. The mobile entity can be personnel, vehicles, equipment and the like in underground building engineering such as tunnels, coal mines and the like. Each positioning tag is provided with a Unique identification code, for example, a Universal Unique Identifier (UUID), the mobile entity and the positioning tags are bound one by one, zero-dimensional, one-dimensional, two-dimensional and three-dimensional high-precision positioning is performed on the positioning tags and at least one first positioning device, and the ultra-wideband high-precision positioning management system can realize real-time accurate positioning and tracking of the mobile entity and obtain an ultra-wideband high-precision positioning result of the mobile entity.

In specific implementation, the personnel information includes names, job numbers, sexes, identification numbers, ages, post categories, positions, mobile phone numbers and the like of personnel, the vehicle information includes names, numbers, brands, models, drivers, groups and the like of vehicles, the equipment information includes names, numbers, brands, models, operation and maintenance personnel, groups and the like of equipment, the positioning tag information includes numbers, types, binding time, binding states, positioning frequencies and the like of positioning tags, the coordinate information includes coordinates, map numbers, map names and the like of mobile entities, and the state information includes alarm states, electric quantities and the like of the positioning tags.

Optionally, the method further includes:

In specific implementation, the positioning management includes real-time positioning and tracking, the trajectory management includes historical trajectory playback, the time management includes resume inquiry, job time inquiry, and the like, the video management includes video real-time streaming playing, video playback, and the like, and the ergonomic analysis application includes thermogram inquiry, playback, and the like.

Optionally, the method further includes:

the third equipment transmits a measurement indication message of the at least one first positioning equipment, wherein the measurement indication message is transmitted periodically or transmitted by an event trigger mode;

the measurement indication message includes one or more of the following information: measuring an identifier of the reference positioning device, an identifier of the measurement object positioning device, a working frequency of the measurement object positioning device, and a measurement quantity of the measurement object positioning device;

and the third equipment obtains the high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning equipment.

In a particular implementation, the third device may be one or more servers. The server is a centralized control processing node, can manage and control a plurality of positioning base stations and positioning labels, can calculate the position information of the positioning labels, and can provide high-level application services based on the position information. For example, a separate local area network node, or a separate access network node: a Local Gateway (Local Gateway) or a Local Controller (Local Controller), or a core network node or an OAM (Operation Administration and Maintenance) node. It should be noted that, in the embodiment of the present invention, the specific type of the server is not limited. The server may carry a plurality of software including a positioning engine, a management platform, a video service, a video player, an NFC service, etc. When the third device is a plurality of servers, the positioning server may carry positioning engine software, and the application server may carry management platform software.

In a specific implementation, the issuing, by the third device, the measurement indication message of at least one first positioning device includes the following 2 ways:

mode 1: and the third equipment periodically transmits the measurement indication message. Specifically, a period timer is started, and the third device issues a measurement indication message every interval t.

Mode 2: and the third equipment issues a measurement indication message in an event-triggered manner. Specifically, when the measurement button is clicked through the user interface of the management platform, the third device issues a measurement instruction message. Or, when the system is started/restarted, the third device issues a measurement indication message.

The measurement instruction message includes an identifier of the measurement reference positioning device, an identifier of the measurement object positioning device, an operating frequency of the measurement object positioning device, a measurement amount of the measurement object positioning device, and the like. Specifically, the measurement indication message includes a first positioning device identifier, a second positioning device identifier, an adjacent first positioning device identifier, a working frequency of the first positioning device, a distance measurement amount of the first positioning device, an angle measurement amount of the first positioning device, and the like.

In a specific implementation, the third device receives a measurement result message of the at least one first positioning device, where the measurement result message includes an identifier of a measurement reference positioning device, an identifier of a measurement target positioning device, a measurement result corresponding to a measurement quantity of the measurement target positioning device, and the like. Specifically, the measurement result message includes a first positioning device identifier, a second positioning device identifier, an adjacent first positioning device identifier, a distance measurement result of the first positioning device, an angle measurement result of the first positioning device, and the like.

In a specific implementation, the third device may obtain the measurement result of the at least one first positioning device through median filtering, that is, perform median filtering on the ranging result and/or the angle measurement result, or obtain the measurement result of the at least one first positioning device through standard deviation filtering, that is, perform standard deviation filtering on the ranging result and the angle measurement result. And the third equipment obtains the dynamic position information of the at least one first positioning equipment according to the measurement result of the at least one first positioning equipment and the fixed position information of the second positioning equipment. And the third equipment obtains the high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning equipment. The above method can refer to the implementation already described in the system, and the repetition part is not described again.

Optionally, the method further includes:

In a specific implementation, the sending, by the third device, the frequency modulation indication message of the at least one first positioning device includes the following 2 ways: mode 1: and the third equipment periodically transmits frequency modulation indication information. Specifically, a period timer is started, and the third device issues a frequency modulation indication message to at least one first positioning device every interval t.

Mode 2: and the third equipment issues frequency modulation indication information in an event-triggered manner. Specifically, before the third device issues the measurement indication message, the third device issues a frequency modulation indication message to at least one first positioning device. Or, after the third device obtains the dynamic location information of the at least one first location device, the third device issues a frequency modulation indication message to the at least one first location device. The frequency modulation indication message includes an identification of the positioning device, an operating frequency of the positioning device, and the like. Specifically, the frequency modulation indication message includes an identifier of the first positioning device, an operating frequency of the first positioning device, and the like. When the working frequency of the first positioning device is greater than or equal to 1Hz, for example, 1Hz, 2Hz, 5Hz, 10Hz, etc., the measurement result of the first positioning device can be effectively obtained. When the operating frequency of the first positioning device is less than 1Hz, for example, 0.01Hz, 0.1Hz, 0.2Hz, 0.5Hz, etc., the power consumption of the first positioning device can be effectively reduced.

In a specific implementation, the third device receives an operating frequency message of the at least one first positioning device, where the operating frequency message includes an identifier of the positioning device, an operating frequency of the positioning device, and the like. Specifically, the operating frequency message includes an identifier of the first positioning device, an operating frequency of the first positioning device, and the like. The third device determines that the at least one first positioning device is in the measurement state or the power saving state according to the operating frequency of the at least one first positioning device. Specifically, when the operating frequency of the first positioning device is greater than or equal to 1Hz, such as 1Hz, 2Hz, 5Hz, 10Hz, and the like, the third device determines that the first positioning device is in the measurement state. When the operating frequency of the first positioning device is less than 1Hz, such as 0.01Hz, 0.1Hz, 0.2Hz, 0.5Hz, etc., the third device determines that the first positioning device is in a power saving state.

Further, before the first positioning device measures, the third device issues a frequency modulation indication message, wherein the working frequency of the first positioning device contained in the frequency modulation indication message is greater than or equal to 1Hz. And the third equipment receives the working frequency message of the first positioning equipment, determines that the first positioning equipment is in a working state, and then issues a measurement indication message. After the third device obtains the dynamic position information of the first positioning device, the third device issues a frequency modulation indication message, and the working frequency of the first positioning device contained in the frequency modulation indication message is less than 1Hz. The third device determines that the first positioning device is in a power saving state by receiving an operating frequency message of the first positioning device. Therefore, the power consumption of the first positioning equipment in the dynamic measurement process can be reduced, and particularly when the first positioning equipment is powered by a battery, the low-power-consumption long-endurance of the first positioning equipment can be realized.

Optionally, the method further includes:

the second positioning device is a positioning base station;

In a specific implementation, the second positioning device may be a positioning base station deployed in a completion area of an underground construction project such as a tunnel, a coal mine and the like, and the at least one first positioning device may be a positioning base station and/or a positioning tag deployed on an operating device in an operating area of an underground construction project such as a tunnel, a coal mine and the like. The at least one first positioning device jointly uses the positioning base station and the positioning tag in 2 modes:

mode 1: the positioning tag assists in positioning the base station for measurement.

Specifically, the positioning base station and the positioning tag are deployed on the same operation device, the position information of the positioning base station is the same as that of the positioning tag, and the positioning tag and the measurement reference positioning device perform measurement to obtain a measurement result of the positioning tag, so that the dynamic position information of the positioning tag is obtained and can be used as the dynamic position information of the positioning base station. Furthermore, due to the limited deployment environment, the positioning base station and the positioning tag are deployed at adjacent positions on the same operation device, the relative positions of the positioning base station and the positioning tag are known, the positioning tag and the measurement reference positioning device perform measurement to obtain the measurement result of the positioning tag, so that the dynamic position information of the positioning tag is obtained, and the dynamic position information of the positioning base station can be obtained by combining the known relative positions of the positioning base station and the positioning tag. Mode 2: the positioning tag assists the positioning base station in positioning.

Specifically, the positioning base station and the positioning tag are deployed on different operation devices, the position information of the positioning base station is different from that of the positioning tag, and the positioning base station and the positioning tag are respectively measured with corresponding measurement reference positioning devices to obtain measurement results of the positioning base station and the positioning tag, so that the dynamic position information of the positioning base station and the positioning tag is obtained. The positioning tag assists the positioning base station to position, and a high-precision positioning result of the mobile entity is obtained. Furthermore, the positioning base station is a measurement reference positioning device of the positioning tag, and the positioning tag and the positioning base station perform measurement to obtain a measurement result of the positioning tag, so as to obtain dynamic position information of the positioning tag.

Optionally, the method further includes:

In specific implementation, when at least one first positioning device is used by combining a positioning base station and a positioning tag, the positioning base station and the positioning tag are deployed on different operating devices, and the positioning tag assists the positioning base station in positioning. The positioning label bound with the mobile entity and the positioning base station are measured to obtain the distance measurement result and/or the angle measurement result of the mobile entity and the positioning base station, and the distance measurement result and/or the angle measurement result of the mobile entity and the positioning base station can be deduced according to the dynamic position information of the positioning base station, the dynamic position information of the positioning label and the distance measurement result and/or the angle measurement result of the mobile entity and the positioning base station, so that the high-precision positioning result of the mobile entity is obtained. Furthermore, 1 location label can assist the location basic station to carry out one-dimensional location, 2 location labels can assist the location basic station to carry out two-dimensional location, 3 location labels can assist the location basic station to carry out three-dimensional location.

Referring to fig. 2, a schematic flow chart of a positioning method for performing measurement by using a first positioning device and a second positioning device according to an embodiment of the present invention is shown in fig. 2, and includes the following steps:

201: at least one first positioning device and a second positioning device perform measurements;

202: obtaining measurements of at least one first positioning device;

203: obtaining fixed position information of a second positioning device;

204: obtaining dynamic position information of at least one first positioning device according to the measurement result of the at least one first positioning device and the fixed position information of the second positioning device;

205: and obtaining a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning device.

In a specific implementation, at least one first positioning device and a second positioning device perform measurement, the at least one first positioning device obtains a measurement result of the at least one first positioning device through median filtering and/or standard deviation filtering, the at least one first positioning device obtains fixed position information of the second positioning device from the second positioning device, the at least one first positioning device obtains dynamic position information of the at least one first positioning device according to the measurement result of the at least one first positioning device and the fixed position information of the second positioning device, and the at least one first positioning device obtains a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning device.

In this embodiment, a positioning method for performing measurement by using the first positioning device and the second positioning device is described, which may refer to implementation of a positioning method flow of an underground construction project, and repeated details are not described herein.

Referring to fig. 3, a schematic flow chart of a positioning method for issuing measurement and frequency modulation by a third device according to an embodiment of the present invention is shown in fig. 3, and includes the following steps:

301: issuing a frequency modulation indication message of at least one first positioning device;

302: receiving an operating frequency message of at least one first positioning device;

303: determining that at least one first positioning device is in a measurement state;

304: issuing a measurement indication message of at least one first positioning device;

305: receiving a measurement result message of at least one first positioning device;

306: obtaining measurements of at least one first positioning device;

307: obtaining fixed position information of a second positioning device;

308: obtaining dynamic position information of at least one first positioning device according to the measurement result of the at least one first positioning device and the fixed position information of the second positioning device;

309: issuing a frequency modulation indication message of at least one first positioning device;

310: receiving an operating frequency message of at least one first positioning device;

311: determining that at least one first positioning device is in a power saving state;

312: and obtaining a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning device.

In a specific implementation, the third device periodically or event-triggered issues a frequency modulation indication message of the at least one first positioning device, the third device receives an operating frequency message of the at least one first positioning device, and the third device determines that the at least one first positioning device is in a measurement state according to the operating frequency message of the at least one first positioning device. On the basis, the third device sends down the measurement indication message of the at least one first positioning device periodically or in an event-triggered manner, receives the measurement result message of the at least one first positioning device, and obtains the measurement result of the at least one first positioning device through median filtering and/or standard deviation filtering. The third device obtains the fixed location information of the second pointing device either through a user interface input of the management platform or through a database. And the third equipment obtains the dynamic position information of the at least one first positioning equipment according to the measurement result of the at least one first positioning equipment and the fixed position information of the second positioning equipment. On the basis, the third device sends down the frequency modulation indication message of the at least one first positioning device periodically or in an event-triggered manner, receives the working frequency message of the at least one first positioning device, and determines that the at least one first positioning device is in the power saving state through the working frequency message of the at least one first positioning device. And the third equipment obtains the high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning equipment.

Further, when the third device is a plurality of servers, the location server may carry the location engine software, and the application server may carry the management platform software. The application server sends down frequency modulation indication information, and the positioning server forwards the frequency modulation indication information to at least one first positioning device. The positioning server receives the working frequency message of the first positioning equipment and forwards the working frequency message to the application server, and the application server determines that at least one first positioning equipment is in a measuring state according to the working frequency message of at least one first positioning equipment. On the basis, the application server issues a measurement indication message, the positioning server receives a measurement result message of the first positioning equipment, and the positioning server obtains a measurement result of at least one first positioning equipment through median filtering and/or standard deviation filtering and sends the measurement result to the application server. The application server obtains the fixed position information of the second positioning device through the user interface input of the management platform or through the database, and the application server obtains the dynamic position information of the at least one first positioning device according to the measurement result of the at least one first positioning device and the fixed position information of the second positioning device. On the basis, the application server sends the frequency modulation indication message, and the positioning server forwards the frequency modulation indication message to at least one first positioning device. The positioning server receives the working frequency message of the first positioning equipment and forwards the working frequency message to the application server, and the application server determines that at least one first positioning equipment is in a power saving state according to the working frequency message of at least one first positioning equipment. The application server informs the positioning server of the dynamic position information of the at least one first positioning device by means of a message or by means of a database. And the positioning server obtains a high-precision positioning result of the mobile entity according to the dynamic position information of the at least one first positioning device.

In this embodiment, a positioning method for issuing measurement and frequency modulation by the third device is described, which may refer to implementation of a positioning method flow of an underground construction project, and repeated details are not described herein.

Referring to fig. 4, a schematic flow chart of a positioning method for assisting a positioning base station to perform positioning by using a positioning tag according to an embodiment of the present invention is shown in fig. 4, and the method includes the following steps:

401: measuring by the positioning label and the positioning base station;

402: the positioning base station and the measuring reference positioning equipment perform measurement;

403: receiving measurement result messages of a positioning base station and a positioning label;

404: obtaining the measurement results of the positioning base station and the positioning label;

405: obtaining fixed position information of a second positioning device;

406: obtaining dynamic position information of the positioning base station and the positioning label according to the measurement result of the positioning base station, the measurement result of the positioning label and the fixed position information of the second positioning equipment;

407: the mobile entity and the positioning base station carry out measurement;

408: receiving measurement result messages of a mobile entity and a positioning base station;

409: obtaining measurement results of the mobile entity and the positioning label;

410: and obtaining a high-precision positioning result of the mobile entity according to the dynamic position information of the positioning base station and the positioning label and the measurement results of the mobile entity, the positioning base station and the positioning label.

In specific implementation, the positioning base station and the positioning tag are deployed on different operating devices, the position information of the positioning base station is different from that of the positioning tag, the positioning base station is a measurement reference positioning device of the positioning tag, the positioning tag and the positioning base station perform measurement, and the positioning base station and a corresponding measurement reference positioning device perform measurement. And the third equipment receives the measurement result messages of the positioning base station and the positioning label, and obtains the measurement results of the positioning base station and the positioning label through median filtering and/or standard deviation filtering. The third device obtains the fixed location information of the second pointing device through a user interface input of the management platform or through a database. And the third equipment acquires the dynamic position information of the positioning base station and the positioning label according to the measurement result of the positioning base station, the measurement result of the positioning label and the fixed position information of the second positioning equipment. The third equipment receives the measurement results of the mobile entity and the positioning base station, and can derive the measurement results of the mobile entity and the positioning tag according to the dynamic position information of the positioning base station, the dynamic position information of the positioning tag and the measurement results of the mobile entity and the positioning base station, so as to obtain the high-precision positioning result of the mobile entity.

In a specific implementation, the positioning method of the third device may be performed by the positioning base station. Specifically, the positioning base station obtains the measurement results of the positioning base station and the positioning tag through median filtering and/or standard deviation filtering. And the positioning base station acquires the fixed position information of the second positioning equipment through the message. And the positioning base station obtains the dynamic position information of the positioning base station and the positioning label according to the measurement result of the positioning base station, the measurement result of the positioning label and the fixed position information of the second positioning device. The positioning base station can derive and obtain the measurement results of the mobile entity and the positioning label according to the dynamic position information of the positioning base station, the dynamic position information of the positioning label and the measurement results of the mobile entity and the positioning base station, so as to obtain the high-precision positioning result of the mobile entity.

In the underground construction engineering environment such as tunnels, coal mines and the like, because blasting operation is not suitable for deploying positioning base stations on adjacent operation equipment, positioning labels can be deployed to assist positioning base stations on other operation equipment to perform positioning.

In this embodiment, a positioning method for assisting a positioning base station to perform positioning by using a positioning tag is described, which can be referred to as implementation of a positioning method flow of an underground construction project, and repeated details are not repeated.

Referring to fig. 5, a schematic diagram of a positioning method in a tunnel environment according to an embodiment of the present invention is shown in fig. 5, and includes at least one first positioning device, a second positioning device, and a mobile entity, where in the drawing, 3 positioning base stations (BS 0, BS1, BS 2), 3 positioning tags (Tag 1, tag2, tag 3), and 1 mobile entity (ME 1) are exemplified.

In the concrete implementation, BS0 is a positioning base station deployed on the wall of a main hole in a tunnel completion area; BS1 and Tag1 are a positioning base station and a positioning label which are deployed on a second liner trolley in a tunnel working area, the position information of Tag1 and BS1 is the same or the relative positions of Tag1 and BS1 are known, and Tag1 assists BS1 and BS0 to measure 1; BS2 and Tag2 are a positioning base station and a positioning Tag which are deployed on a second liner trolley in a tunnel working area, the position information of Tag2 and BS2 is the same or the relative positions of Tag2 and BS2 are known, and Tag2 assists BS2 and BS1 to measure 2; tag3 is a positioning label deployed on a trolley on the tunnel face of a tunnel operation area, tag3 and BS2 are used for measuring 3, and Tag3 is used for assisting BS2 in positioning; the mobile entity ME1 performs measurements 4 in the operating area, ME1 and BS 2.

The measurement results of the positioning tags Tag1, tag2 and Tag3 are obtained through measurement 1, measurement 2 and measurement 3, the fixed position information of the positioning base station BS0 is obtained, and the dynamic position information of the positioning tags Tag1, tag2 and Tag3 is obtained according to the measurement results of the positioning tags Tag1, tag2 and Tag3 and the fixed position information of the BS0, so that the dynamic position information of the positioning base stations BS1 and BS2 is obtained. The measurement results of the mobile entity ME1 and the positioning base station BS2 are obtained through the measurement 4, the measurement results of the mobile entity ME1 and the positioning Tag Tag3 can be deduced and obtained, and the high-precision positioning result of the ME1 is obtained according to the dynamic position information of the BS2, the dynamic position information of the Tag3, the measurement results of the ME1 and the BS2 and the measurement results of the ME1 and the Tag 3.

In this embodiment, the positioning method in the tunnel environment is described, which may refer to implementation of a method flow of an underground construction engineering, and repeated details are not described herein.

Referring to fig. 6, a schematic diagram of a positioning method in a coal mine environment according to an embodiment of the present invention is shown in fig. 6, and includes at least one first positioning device, a second positioning device, and a mobile entity, where in the drawing, 3 positioning base stations (BS 3, BS4, BS 5), 1 positioning Tag (Tag 4), and 1 mobile entity (ME 2) are exemplified.

In specific implementation, the BS3 is a positioning base station deployed on the wall of a roadway of a coal mine completion area; BS4 is a positioning base station deployed on a mine car in a coal mine working area, and BS4 and BS3 perform measurement 5; BS5 is a positioning base station deployed on a mine car in a coal mine working area, and the BS5 and the BS4 perform measurement 6; tag4 is a positioning label deployed on a tunneling drill carriage in a coal mine operation area, tag4 and BS5 measure 7, and Tag4 assists BS5 in positioning; the mobile entity ME2 makes measurements 8 in the operating area, ME2 and BS 5.

Measuring results of the positioning base stations BS4 and BS5 are obtained through measuring 5 and measuring 6, measuring results of the positioning Tag4 are obtained through measuring 7, fixed position information of the positioning base station BS3 is obtained, and dynamic position information of the positioning base stations BS4 and BS5 and dynamic position information of the positioning Tag4 are obtained according to the measuring results of the positioning base stations BS4 and BS5, the measuring results of the positioning Tag4 and the fixed position information of the BS 3. The measurement results of the mobile entity ME2 and the positioning base station BS5 are obtained through the measurement 8, the measurement results of the mobile entity ME2 and the positioning Tag4 can be deduced and obtained, and the high-precision positioning result of the ME2 is obtained according to the dynamic position information of the BS5, the dynamic position information of the Tag4, the measurement results of the ME2 and the BS5 and the measurement results of the ME2 and the Tag 4.

In the embodiment, the positioning method in the coal mine environment is described, and reference may be made to implementation of a method flow of an underground construction engineering, and repeated details are not described again.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An underground construction engineering positioning method is characterized by comprising the following steps:

obtaining a measurement result of at least one first positioning device, wherein the measurement result is a distance measurement result and/or an angle measurement result;

2. The method of claim 1, wherein obtaining measurements of at least one first positioning device, the measurements being ranging and/or angle measurements, comprises:

obtaining a measuring result of at least one first positioning device through median filtering, namely performing median filtering on the ranging result and/or the angle measuring result, and filtering a small number of singular ranging results and/or angle measuring results; and/or the presence of a gas in the atmosphere,

3. The method of claim 1, wherein obtaining dynamic location information of the at least one first positioning device based on the measurement of the at least one first positioning device and the fixed location information of the second positioning device comprises:

calculating relative position information of the at least one first positioning device and the second positioning device when the measurement result of the at least one first positioning device is a valid value;

4. The method of claim 1, wherein obtaining a high accuracy positioning result of the mobile entity based on the dynamic position information of the at least one first positioning device comprises:

5. The method of claim 4, wherein the method further comprises:

6. The method of claims 1-5, further comprising:

the third device receives a measurement result message of the at least one first positioning device, the measurement result message comprising one or more of the following information: measuring the mark of the reference positioning equipment, the mark of the object positioning equipment and the measuring result corresponding to the measuring quantity of the object positioning equipment;

7. The method of claim 6, wherein the method further comprises:

8. The method of claims 1-7, further comprising:

the second positioning device is a positioning base station;

when the at least one first positioning device is used by combining a positioning base station and a positioning tag, the positioning tag assists the positioning base station to measure; or,

when the at least one first positioning device is a positioning base station and a positioning tag is jointly used, the positioning tag assists the positioning base station in positioning.

9. The method of claim 8, wherein the method further comprises: