CN115589631A - UWB-based cable tunnel personnel positioning system - Google Patents
UWB-based cable tunnel personnel positioning system Download PDFInfo
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- CN115589631A CN115589631A CN202211154926.7A CN202211154926A CN115589631A CN 115589631 A CN115589631 A CN 115589631A CN 202211154926 A CN202211154926 A CN 202211154926A CN 115589631 A CN115589631 A CN 115589631A
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- 238000005457 optimization Methods 0.000 claims description 4
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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Abstract
A UWB-based cable tunnel personnel positioning system comprises a positioning label module, a positioning base station, a network module, a switch, a monitoring center server and a client. The positioning tag module is a UWB radio frequency transceiver, is arranged on equipment, is carried by an operator, and is responsible for carrying out real-time communication with the radio frequency transceiver module of the positioning base station to provide positioning data. The positioning base station is responsible for communicating with the positioning label, and completes the distance measurement work with the label by using a corresponding algorithm, acquires the positioning data and completes the forwarding and uploading of the positioning data. The network module and the switch complete the communication between the field device and the control center server, are mainly responsible for the collection and transmission of relevant data and the like, and play a role of a data channel. The monitoring center server can collect the collected data. The invention can realize high-precision positioning, simultaneously can uniformly inquire position information and issue tasks in the background, and improves the personnel allocation efficiency.
Description
Technical Field
The invention belongs to the technical field of UWB wireless positioning, and relates to a UWB-based cable tunnel personnel positioning system, which is mainly used for accurately positioning workers in a cable tunnel, detecting the running state of a cable and preventing and practicing emergency accidents.
Background
The cable construction unit pays more and more attention to the development of the tunnel construction monitoring technology, particularly monitors the field construction condition of the tunnel in real time, masters the construction progress of the project, and timely discovers and processes the sudden accident of the construction field. The existing tunnel construction management system generally adopts methods such as tunnel telephone tracking positioning, entrance electronic registration attendance checking and the like to determine the conditions of constructors in tunnels, and the methods have certain limitations and cannot ensure that external managers can accurately master the position information of the constructors in the tunnels in real time, so that the managers cannot make accurate decisions when accidents happen.
As a new wireless communication technology, the Ultra Wide Band (UWB) technology has strong immunity to channel fading, and has the characteristics of high time resolution, strong penetration capability, low power consumption, high ranging accuracy, low system cost and the like. Compared with other wireless positioning technologies, the UWB signal has stronger multipath weakening resistance and interference resistance in the transmission process, and has an accurate ranging function, so that the UWB signal can better adapt to complex environments. It is therefore more suitable for personnel location of cable tunnels.
Disclosure of Invention
The invention provides a cable tunnel personnel positioning system based on UWB, aiming at the problems in practical engineering in the background technology and combining with the emerging UWB wireless communication technology.
The technical scheme adopted by the invention is as follows:
a UWB-based cable tunnel personnel location system comprising:
the positioning tag module is a UWB radio frequency transceiver, is carried by a user, and is responsible for carrying out real-time communication with the radio frequency transceiver module of the positioning base station, providing positioning data and improving the safety of workers in a cable tunnel;
the positioning base station is an important component in a positioning system and is responsible for communicating with a positioning tag, combines a positioning base station selection algorithm based on information gain-region division with a Kalman filtering algorithm, provides a positioning base station selection Kalman filtering algorithm filtering combined optimization algorithm, optimizes various personnel positioning algorithms, and obviously improves two aspects of positioning precision and positioning stability.
A network module to provide a communication connection;
the switch and the network module are jointly responsible for the collection, the sending and other work of relevant data, and the like, and play a role of a data channel.
And the monitoring center server can collect the collected data and process and analyze the data according to the requirement of the control center.
The client is a man-machine interaction interface of the control center, can provide information including position management, alarm management and the like, and can present processed data information for a manager to check and control.
Furthermore, the positioning label module further comprises an infrared thermal imaging technology, is installed on the positioning helmet, and is worn by workers during working in the cable tunnel. Through infrared thermal imager, the site personnel can monitor cable surface temperature in real time, observe the cable operation hotspot to feed back data to control center through the network, thereby need not to additionally carry temperature monitoring equipment again and can accomplish the detection to the cable running state, alleviate staff's burden, improve the operating efficiency. The infrared thermal imaging technology part of the positioning helmet comprises a camera, a processor, a display screen, a SIM card, a key, a battery, a wireless connection and the like. The camera comprises a 1080 high-definition optical camera and an infrared camera, is manually switched to collect thermal images of cables and the environment, sends the images to the processor, and can realize 10-meter night vision. The processor is an operation and control core of the system, processes the received image, and sends the processed image to the display, and the display displays the received image, and the displayed content comprises a thermal imaging picture, a highest temperature value and the like. And the SIM card realizes network access for the equipment. The button realizes the operation to the safety helmet, including talkback key, power key, SOS, video recording key, switching key etc.. The battery stores and provides electrical energy for the device. The wireless connection comprises a Wi-Fi network, a 3G/4G network, beidou positioning and Bluetooth, and positioning of personnel and transmission of information such as positions and temperatures are achieved.
Furthermore, the network module comprises a 3G/4G network unit, a Wi-Fi network unit, an optical fiber unit and the like, and realizes real-time communication between the cable tunnel field device and the control center device.
Furthermore, the human-computer interaction interface of the client comprises an emergency management drilling module besides modules for position management, alarm management and the like. The emergency management drilling module can automatically display relevant information of an accident point or an evacuation area on a map as an emergency command and resource allocation tool when an accident occurs; and a drilling report is automatically generated after the event, so that the drilling record of the evacuation process of people and the evacuation efficiency analysis can be checked, and data support is provided for drilling plan revision, drilling evaluation and drilling training.
Compared with the prior art, the invention has the beneficial effects that:
1. by using the positioning system, the cable tunnel worker can be positioned in real time, and the positioning precision can be improved to be within an error range of 1m or even lower. Under the condition of emergency accidents, accurate position information of field personnel can be provided, and the search and rescue efficiency is improved.
2. By using the infrared thermal imaging technology on the positioning helmet, a worker can measure the surface temperature of the cable in real time after entering the cable tunnel, observe the operation hot spot of the cable and feed data back to the control center in real time. Like this, need not additionally to carry temperature monitoring equipment again and can accomplish the detection to the cable running state, alleviate staff's burden, improve the operating efficiency.
3. The background system realizes intellectualization and function integration, and displays the site positioning data and the temperature measurement data on a human-computer interaction interface of the control center in real time after the site positioning data and the temperature measurement data are collected and processed. Besides the modules of position management, alarm management and the like, the interface also has an emergency management drilling module, so that a plurality of sets of emergency plans can be provided for emergency situations, and the response capability of a cable construction unit to emergency situations is improved.
Drawings
FIG. 1 is a block diagram of a system according to the present invention.
Fig. 2 is a schematic structural diagram of a portion of the infrared thermal imaging technique of the present invention.
Fig. 3 is a functional schematic diagram of the intelligent positioning management platform for cable tunnel personnel according to the present invention.
Detailed Description
The technical solution provided by the present invention is further explained with reference to fig. 1 to 3.
A UWB-based cable tunnel personnel location system, as shown in fig. 1, mainly comprising:
the positioning tag module is a UWB radio frequency transceiver, is arranged on equipment, is carried by a user, and is responsible for carrying out real-time communication with the radio frequency transceiver module of the positioning base station, providing positioning data and improving the safety of workers in a cable tunnel;
the positioning base station is an important component in a positioning system, is responsible for communicating with the positioning tag, finishes ranging work with the tag by using a corresponding algorithm, acquires positioning data and finishes forwarding and uploading the positioning data;
a network module to provide a communication connection for a device;
the switch and the network module are jointly responsible for the collection, the sending and other work of relevant data, and the like, and play a role of a data channel.
And the monitoring center server can collect the collected data and process and analyze the data according to the requirement of the control center.
And the client is a man-machine interaction interface of the control center and can present the processed data information for the checking and control of management personnel.
The positioning label module further comprises an infrared thermal imaging technology, is installed on the positioning helmet and is worn by workers during working in the cable tunnel. Through infrared thermal imager, the site personnel can monitor cable surface temperature in real time, observe cable operation focus to feed back data to control center through the network, thereby need not additionally to carry temperature monitoring equipment again and can accomplish the detection to cable running state, alleviate staff's burden, improve the operating efficiency.
As shown in fig. 2, the infrared thermal imaging technology part of the positioning helmet comprises a camera, a processor, a display screen, a SIM card, keys, a battery, a wireless connection, a bracket, the helmet and the like. The camera comprises a 1080 high-definition optical camera and an infrared camera, is manually switched to collect thermal images of cables and the environment, sends the images to the processor, and can realize 10-meter night vision. The processor is an operation and control core of the system, processes the received image, and sends the processed image to the display, and the display displays the received image, and the displayed content comprises a thermal imaging picture, a highest temperature value and the like. And the SIM card realizes network access for the equipment. The key realizes the operation of the safety helmet, and comprises an intercom key, a power key, an SOS key, a video recording key, a switching key and the like. The battery stores and provides electrical energy for the device. The wireless connection comprises a Wi-Fi network, a 3G/4G network, beidou positioning and Bluetooth, and positioning of personnel and transmission of information such as positions and temperatures are achieved. The support realizes the support to the display screen, makes it be in personnel's eye. The helmet realizes the protection of the head and the fixation of the bracket.
In the aspect of the arrangement principle of the positioning base stations, aiming at the problems of low positioning accuracy and large calculation amount of the current cable tunnel personnel positioning algorithm, the positioning base station selection algorithm is improved based on the region division idea, the positioning base station selection algorithm based on the information gain-region division is provided, and the positioning base stations in the positioning region are selected, so that the positioning accuracy is improved, and the positioning system calculation amount is reduced.
Aiming at the problems of low positioning accuracy and poor positioning stability of a personnel positioning algorithm caused by environmental factors of a cable tunnel, a Kalman filtering algorithm is introduced, the Kalman filtering algorithm is used for filtering abnormal RSSI data with large fluctuation in an off-line positioning stage, an LQI filter is designed, LQI filtering processing is carried out on abnormal hopping RSSI data in an on-line positioning stage, the processed high-reliability RSSI data is used for positioning, and the positioning accuracy and the positioning stability are improved.
And finally, combining the positioning base station selection algorithm based on information gain-region division with the Kalman filtering algorithm to provide a positioning base station selection Kalman filtering algorithm filtering combined optimization algorithm, optimizing various personnel positioning algorithms, and showing that experimental results show that the positioning base station selection Kalman filtering combined optimization algorithm can obviously improve two aspects of positioning precision and positioning stability for different personnel positioning algorithms. Meanwhile, the number of base stations participating in positioning is reduced, and the calculation amount of a positioning system is correspondingly reduced.
The network module comprises a 3G/4G network unit, a Wi-Fi network unit, an optical fiber unit and the like and is mainly responsible for providing support for real-time communication between the cable tunnel field device and the control center device.
Referring to fig. 1, the positioning function of the system can be described in such a way that the monitoring center server can cooperate with the base stations to coordinate all the base stations to operate in a real-time state. When the system starts positioning, firstly, the tag card is set to be in a distance-measuring mode, the base station is always in a receiving and inquiring state, when distance measurement starts, the tag card broadcasts a beacon to the periphery, the base station analyzes the beacon after receiving the beacon to obtain an ID number carried in the beacon, distance measurement between the tag card and the base station is started, all distance measurement information is obtained by performing three-time handshake with the tag card, and then the distance is calculated by using an adaptive filtering algorithm to finish distance measurement. After the distance measurement between the base station and the tag card is completed, the base station can optimize original UWB measurement data by using an overall offset algorithm, then the data are sent to the switch through the network module, the switch collects distance data sent back by all the base stations and sends the data to the monitoring center server, the distance measurement data are analyzed by using a positioning algorithm in the monitoring center server to obtain estimated coordinates of the tag card, and finally the specific position of a person is displayed on an electronic map interface.
As shown in fig. 3, presented on the client-side human-computer interaction interface is a cable tunnel personnel intelligent positioning management platform, which includes the following modules:
1) Location management module
And the position management module displays the number and the positions of the personnel/articles in the monitoring area in real time.
2) Alarm management module
The alarm management module provides diversified alarm management, including electronic fence mode alarm, active trigger SOS alarm, low power alarm, anti-disassembly alarm, etc.
3) Data statistics module
The data statistics module is used for storing the electronic tag module and relevant information of each user and storing the motion track of the electronic tag module.
4) Operation recording module
The operation recording module can track the historical position of the personnel/equipment and record the action track in each time period.
5) Video linkage module
The video linkage module enables a manager to view the real-time position of the monitored target in real time in a grouping mode through a third-party monitoring system.
6) Attendance module
The attendance module is based on personnel scheduling no-perception positioning, and is used for perceiving the existence of monitored personnel in real time based on the position and carrying out attendance management.
7) Patrol module
The patrol module can provide patrol service management under the condition that a user does not sense
8) Emergency management drilling module
The emergency management drilling module utilizes a real whole-plant electronic map, real-time personnel positioning information and a real-time video monitoring picture, and drilling commanders can comprehensively control the whole drilling condition through a large screen; counting the number of people based on positioning: the number and the list of the people in the evacuation area, the evacuation road and the safety island are displayed, the number of people is counted in real time, and the automatic roll call of the safety island is realized; key information such as time, content, tasks, evacuation areas, safety islands and the like can be formulated to form a drilling plan; according to the setting, displaying the influence range of the accident point on the large screen of the emergency drilling; after the drill is started, the emergency broadcast can be quickly sent to the selected intelligent bracelet; the emergency drilling is linked with the videos of the accident area, the evacuation area and the safety island, and the condition of the current area in the evacuation process can be known in real time through a video monitoring picture; any risk point or key point information can be conveniently marked on the map according to the requirements of emergency drilling and rescue processes, and intelligent recording and clear display are realized on the map; emergency drilling can be scheduled and commanded according to information such as evacuation areas, positioning, emergency materials and the like in the map; after the drilling is finished, a drilling report is automatically generated, people evacuation results can be checked, the evacuation duration of each person is counted and analyzed, and the evacuation efficiency is analyzed.
Claims (4)
1. A cable tunnel personnel positioning system based on UWB, its characterized in that includes: positioning a label module; positioning a base station; a network module; a switch; a monitoring center server; a client;
the positioning tag module is a UWB radio frequency transceiver, is carried by a user and is responsible for carrying out real-time communication with the radio frequency transceiver module of the positioning base station to provide positioning data;
the positioning base station is an important component in a positioning system and is responsible for communicating with a positioning tag, a positioning base station selection algorithm based on information gain-region division is combined with a Kalman filtering algorithm to provide a positioning base station selection Kalman filtering algorithm combined optimization algorithm, and various personnel positioning algorithms are optimized;
the network module is used for providing communication connection;
the switch and the network module are jointly responsible for the collection, the sending and other work of related data, and play a role of a data channel;
the monitoring center server can collect the collected data and process and analyze the data according to the requirement of the control center;
and the client is a man-machine interaction interface of the control center, can provide position management and alarm management, and presents processed data information for the checking and control of management personnel.
2. The UWB-based cable tunneler locating system as set forth in claim 1, wherein the locating tag module further includes infrared thermal imaging technology mounted on a locating helmet to be worn by workers working in the cable tunnel.
3. The UWB-based cable tunneler personnel location system as claimed in claim 2, wherein the infrared thermal imaging technology part of the location helmet comprises a camera, a processor, a display screen, a SIM card, a key, a battery, a wireless connection; the camera comprises a 1080 high-definition optical camera and an infrared camera, is manually switched for use, is used for collecting thermal images of cables and the environment and sending the images to the processor, can realize 10-meter night vision, the processor is an operation and control core of the system, processes the received images and sends the processed images to the display, and the display displays the received images, wherein the displayed contents comprise thermal imaging pictures and the highest temperature value; the SIM card realizes networking for equipment, the operation to the safety helmet is realized to the button, including talkbacking key, power key, SOS, record a video key, switch key etc, the battery stores and provides the electric energy for equipment, wireless connection includes Wi-Fi network, 3G/4G network, big dipper location and bluetooth, realizes personnel's location and the transmission of information such as position, temperature.
4. A UWB-based cable tunnel personnel location system as in any one of claims 1-3 wherein the network modules include 3G/4G network elements, wi-Fi network elements or fiber optic elements enabling real time communication between the cable tunnel field devices and the control center devices.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211154926.7A CN115589631A (en) | 2022-09-21 | 2022-09-21 | UWB-based cable tunnel personnel positioning system |
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| CN202211154926.7A CN115589631A (en) | 2022-09-21 | 2022-09-21 | UWB-based cable tunnel personnel positioning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117615304A (en) * | 2023-11-30 | 2024-02-27 | 北京中科医信科技有限公司 | Patrol management method and device applied to hospital security and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117615304A (en) * | 2023-11-30 | 2024-02-27 | 北京中科医信科技有限公司 | Patrol management method and device applied to hospital security and electronic equipment |
| CN117615304B (en) * | 2023-11-30 | 2024-05-24 | 北京中科医信科技有限公司 | Patrol management method and device applied to hospital security and electronic equipment |
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