CN117939632A - Four-electric engineering personnel positioning system and method in railway tunnel based on ultra-wideband - Google Patents
Four-electric engineering personnel positioning system and method in railway tunnel based on ultra-wideband Download PDFInfo
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Abstract
The invention belongs to the field of positioning of four-electric engineering personnel in a railway tunnel, and particularly relates to an ultra-wideband-based positioning system and method for four-electric engineering personnel in a railway tunnel. The method comprises the following steps: step one: obtaining the distance between the positioning tag and the base station through a TDOA algorithm, and obtaining a plurality of coordinates of the positioning tag through a TOF algorithm; step two: taking a plurality of coordinates of the positioning label obtained by the TOF algorithm as initial values of a particle swarm optimization algorithm, and optimizing the coordinates by the particle swarm optimization algorithm to obtain an optimal solution as optimized coordinates of the positioning label; step three: and taking the optimized coordinates of the positioning label as personnel coordinates to realize personnel positioning. The invention improves the positioning precision and speed, and can be widely applied to the field of tunnel positioning.
Description
Technical Field
The invention belongs to the field of positioning of four-electric engineering personnel in a railway tunnel, and particularly relates to an ultra-wideband-based positioning system and method for four-electric engineering personnel in a railway tunnel.
Background
At present, the railway traffic industry in China develops at a high speed, the opening mileage is increased increasingly, and more attention is paid to how to guarantee the safety of operators by adopting an intelligent means while railway traffic planning and construction develop at a high speed. The density of engineering operators in the railway tunnel is high, and the construction condition is complex. In the peak period of on-site construction production, a large number of constructors often work simultaneously in a small space range. The on-site operation is various, constructors are scattered in position, the constructors are relatively chaotic, and outdoor positioning technologies such as GPS (Global positioning System) cannot be used in the tunnel, and the conditions that workers construct in the tunnel but the positions of the constructors cannot be determined exist. The safety control measures mainly depend on the safety consciousness of constructors, and effective management is difficult to carry out, so that great potential safety hazards exist in the construction production process.
The existing positioning technology is mainly applied to the design of relatively fixed spaces of factories, storehouses and the like, and a person positioning system with strong applicability is lacking in the field of railway four-electricity construction. In order to enable the command part to grasp the positions of the personnel in real time and reasonably arrange construction tasks, the railway tunnel personnel positioning technology needs to be provided so as to realize accurate positioning of field operators, and therefore comprehensive safety monitoring can be carried out on the operators. In addition, once an emergency occurs, the safety of construction can be effectively improved by timely locking the position information of each person.
Disclosure of Invention
Aiming at the problems of dense construction personnel and high safety management difficulty of the four-electric engineering in the railway tunnel, the invention provides a positioning system and a positioning method of the four-electric engineering personnel in the railway tunnel based on ultra wideband, which are used for accurately positioning construction site personnel in the tunnel which cannot apply the outdoor positioning technology such as GPS and the like through UWB (ultra wideband) communication by improving a positioning algorithm and a positioning system so as to improve the safety management level of the construction site.
In order to solve the technical problems, the invention adopts the following technical scheme: the method for positioning the four-electrical engineering personnel in the railway tunnel based on the ultra wideband is realized by carrying a positioning tag based on UWB communication on a constructor, and comprises the following steps:
Step one: obtaining the distance between the positioning tag and the base station through a TDOA algorithm, and obtaining a plurality of coordinates of the positioning tag through a TOF algorithm;
step two: taking a plurality of coordinates of the positioning label obtained by the TOF algorithm as initial values of a particle swarm optimization algorithm, and optimizing the coordinates by the particle swarm optimization algorithm to obtain an optimal solution as optimized coordinates of the positioning label;
step three: and taking the optimized coordinates of the positioning label as personnel coordinates to realize personnel positioning.
In the second step, the objective function f of the particle swarm optimization algorithm is:
；
wherein, Representing the measured distance between the positioning tag and the ith base station, (X i,Yi) represents the base station coordinates, (X, y) represents the coordinates of the positioning tag, and n represents the number of base stations.
In the first step, a specific formula for obtaining the distance between the positioning tag and the base station through the TDOA algorithm is as follows:
d1= td1×c；
dm=terr-m×c+d1；
Wherein d 1 represents the distance from the positioning tag to the master base station, d m represents the distance from the positioning tag to the slave base station m, m=2, 3, … … n, n represents the number of base stations, t d1 represents the time difference between the master base station and the positioning tag, and t err-m represents the TDOA arrival time difference corresponding to the slave base station m.
In the first step, the specific method for obtaining the distance between the positioning tag and the base station through the TDOA algorithm comprises the following steps:
(1) The positioning label transmits the broadcast positioning TDOA message frame at fixed time and records the transmitting time stamp of the positioning label as ; All base stations are in a receiving mode at this time, and their transmitting modes are turned on after a delay time; the broadcast positioning TDOA message frame only contains a unique identity ID;
(2) After receiving the broadcast positioning information sent by the positioning tag, the master base station and the slave base station record the time stamp of the received information of the master base station and the slave base station respectively ，/>，……/>；
(3) After receiving the broadcast positioning message sent by the positioning tag, the master base station immediately transmits a ranging RESP response to the positioning tag, and simultaneously, the master base station also transmits a clock synchronization message to the slave base station, so that clock synchronization of the master base station and the slave base station is realized, and the transmitting time stamp is recorded；
(4) Recording receiving time after positioning label receives RESP messageAcquiring signal frequency deviation/>, of positioning tag and main base station；
(5) After receiving the UWB wireless clock synchronous signal message of the main base station, the slave base station records the receiving time stampSimultaneously, the slave base stations respectively record the frequency offset with the master base station;
(6) Calculating the distance d 1 between the positioning tag and the master base station and the distance d m between the positioning tag and each slave base station; wherein:
；
；
tt m denotes a time stamp of a UWB wireless clock synchronization signal message received from the base station m to the master base station, t m and t 1 denote time stamps of broadcast positioning messages transmitted from the base station m and the master base station, Representing the time of flight between the slave base station m and the master base station,/>Time stamp representing primary base station transmitting ranging RESP response,/>Representing the frequency offset of the slave base station m from the master base station,/>And/>Indicating the time stamps of the broadcast positioning TDOA message frame and the received RESP message, respectively, transmitted by the positioning tag.
In the first step, the TOF algorithm solves a matrix by a least square method to obtain a positioning tag coordinate, where the matrix is:
；
Wherein:
；
；
，/>，/>…，/> Representing the respective base station coordinates, X representing the positioning tag coordinates, 。
In addition, the invention also provides a four-electric engineering personnel positioning system in the railway tunnel based on ultra-wideband, which is used for implementing the positioning method and comprises a positioning tag, a master base station, a plurality of slave base stations, a server and an upper computer, wherein the master base station, the positioning tag and the slave base stations are respectively provided with a master control chip and a UWB radio frequency communication module, the master base station and the slave base stations are in data interaction through UWB communication to form a positioning area, the positioning tag continuously transmits positioning information through UWB communication, self tag data are transmitted to the base stations, each base station transmits time data to the upper computer through the server, and the position information of each positioning tag is obtained through calculation of the upper computer.
Positioning software is arranged in the upper computer, and the positioning software is internally provided with:
An initial coordinate setting module: for setting initial coordinates of each base station;
An electronic fence alarm module: the method comprises the steps of setting an electronic fence area, judging whether the electronic fence area is entered according to personnel positioning information, and if yes, sending alarm information to a corresponding positioning label;
Personnel real-time positioning module: the method comprises the steps of obtaining a plurality of coordinates of each positioning label by utilizing a TOF algorithm according to the distance d 1 between each positioning label and a master base station and the distance d m between each positioning label and each slave base station, and optimizing the coordinates by utilizing a particle swarm optimization algorithm to obtain personnel coordinates;
front end display module: for displaying the actual position of each positioning tag.
The positioning software is also internally provided with:
The history track storage module: the historical track is used for storing each positioning label;
an alarm log recording module: and the alarm record is used for recording each positioning label.
The workflow of the positioning label is as follows:
S101: initializing;
s102: transmitting a broadcast positioning TDOA message frame;
S103: receiving RESP information;
S104: after the receiving is finished, transmitting a Final frame;
S105: resetting dormancy;
s106: judging whether positioning is completed, if yes, ending, otherwise returning to S102;
the working flow of the main base station is as follows:
s201: initializing;
S202: receiving a broadcast positioning TDOA message frame sent by a positioning tag;
S203: judging whether the signal strength meets the requirement, if so, sending Response (RESP) information and clock synchronization information;
S204: receiving a Final frame;
s205: uploading data to a server;
S206: and judging whether positioning is completed, if so, ending, and if not, returning to S202.
The positioning tag is arranged on a safety helmet of a constructor; the main control chip adopts an STM32F103C8T6 singlechip, and the UWB radio frequency communication module model is a DWM1000 module; the master control chip reads the DWM1000 module by SPI communication; the upper computer is connected with the base station through serial communication.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention provides a four-electrical engineering personnel positioning system and method in a railway tunnel based on ultra wideband, which adopt UWB communication to position personnel in the tunnel, and have the advantages of strong anti-interference performance, high transmission rate, strong multipath resolution, low energy consumption, strong safety and stability and the like compared with the traditional positioning technologies such as RFID, zigbee and the like.
2. The invention combines the advantages of TDOA and TOF algorithms by adopting a fusion positioning algorithm, and the positioning label can realize positioning by only transmitting radio frequency information twice and receiving base station mixed information once. The distance between the tag and one of the base stations can be obtained after the information interaction between the tag and the base station is completed, the distance between the tag and each base station can be obtained according to the distance between the tag and the main base station and the time difference between signals reaching the main base station and the main base station, and finally the tag coordinate can be obtained through TOF positioning calculation. The invention can realize the positioning process through 3 times of UWB communication, and the positioning time performance is stronger. The fusion positioning algorithm can greatly balance the relation between positioning accuracy and positioning time performance, contains a large number of labels, and can more effectively solve the practical problem for the railway tunnel construction site on the basis of combining a multi-target positioning scheme. In addition, the method utilizes the particle swarm algorithm to screen the solved coordinates of the fusion positioning algorithm through the objective function with the minimum distance error value, converts the process of solving the positioning label coordinates into the process of optimizing the label coordinates in the positioning area, obtains the optimal solving process, further improves the positioning precision, and finally provides proper algorithm support for personnel positioning in the railway tunnel.
3. The positioning system has simple structure and convenient installation, and can provide good hardware support for positioning personnel in a railway.
Drawings
FIG. 1 is a communication flow chart of a four-electrical engineering personnel positioning method in a railway tunnel based on ultra wideband according to an embodiment of the invention;
FIG. 2 is a flowchart of the optimization of the particle swarm optimization algorithm according to the first embodiment of the present invention;
FIG. 3 is a block diagram of a four-electrical engineering personnel positioning system in a railway tunnel based on ultra wideband according to a second embodiment of the present invention;
FIG. 4 is a diagram illustrating a positioning system in a tunnel according to a second embodiment of the present invention;
fig. 5 is a block diagram of a hardware portion of a master (slave) base station according to a second embodiment of the present invention;
FIG. 6 is a schematic circuit diagram of a master control chip according to a second embodiment of the present invention;
FIG. 7 is a schematic circuit diagram of a UWB radio frequency communication module according to a second embodiment of the present invention;
FIG. 8 is a schematic diagram of a power conversion circuit according to a second embodiment of the present invention;
FIG. 9 is a front view of a smart helmet according to a second embodiment of the present invention;
FIG. 10 is a cross-sectional view of a second embodiment of the present invention;
FIG. 11 is a flowchart of a positioning tag software in a second embodiment of the present invention;
FIG. 12 is a flowchart of a positioning base station software in a second embodiment of the present invention;
FIG. 13 is a graph of the algorithm anti-interference performance of the present invention;
In the figure: 1 is a lighting lamp, 2 is an outer shell, 3 is an alarm module, 4 is an inner shell, 5 is a threaded hole, and 6 is a positioning tag.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The first embodiment of the invention provides a four-electrical engineering personnel positioning method in a railway tunnel based on ultra-wideband, which is realized by carrying a positioning tag based on UWB communication on a constructor, and comprises the following steps:
step one: the distance between the positioning label and the base station is obtained through a TDOA algorithm, and then a plurality of coordinates of the positioning label are obtained through a TOF algorithm.
As shown in fig. 1, in the first step, a specific method for obtaining the distance between the positioning tag and the base station through the TDOA algorithm is as follows:
(1) The positioning label transmits the broadcast positioning TDOA message frame at fixed time and records the transmitting time stamp of the positioning label as ; All base stations are in a receiving mode at this time, and their transmitting modes are turned on after a delay time; the broadcast positioning TDOA message frame contains only a unique identity ID.
(2) After receiving the broadcast positioning information sent by the positioning tag, the master base station and the slave base station record the time stamp of the received information of the master base station and the slave base station respectively，/>，……/>。
(3) After receiving the broadcast positioning message sent by the positioning tag, the master base station immediately transmits a ranging RESP response to the positioning tag, and simultaneously, the master base station also transmits a clock synchronization message to the slave base station, so that clock synchronization of the master base station and the slave base station is realized, and the transmitting time stamp is recorded。
(4) Recording receiving time after positioning label receives RESP messageAcquiring signal frequency deviation/>, of positioning tag and main base station。
(5) After receiving the UWB wireless clock synchronous signal message of the main base station, the slave base station records the receiving time stampWhile the slave base stations record the frequency offset with the master base station, respectively.
(6) The distance d 1 between the positioning tag and the master base station and the distance d m between the positioning tag and each slave base station are calculated. Wherein, the calculation formula is:
d1= td1×c； （1）
dm=terr-m×c+d1； （2）
Wherein d 1 represents the distance from the positioning tag to the master base station, d m represents the distance from the positioning tag to the slave base station m, m=2, 3, … … n, n represents the number of base stations, t d1 represents the time difference between the master base station and the positioning tag, and t err-m represents the TDOA arrival time difference corresponding to the slave base station m.
Specifically, there are:
；（3）
；（4）
tt m denotes a time stamp of a UWB wireless clock synchronization signal message received from the base station m to the master base station, t m and t 1 denote time stamps of broadcast positioning messages transmitted from the base station m and the master base station, Representing the time of flight between the slave base station m and the master base station,/>Time stamp representing primary base station transmitting ranging RESP response,/>Representing the frequency offset of the slave base station m from the master base station,/>And/>Indicating the time stamps of the broadcast positioning TDOA message frame and the received RESP message, respectively, transmitted by the positioning tag.
And solving the distance data by TOF, wherein the distance between the label and the base station can be obtained according to the TDOA process, and a least square method is adopted to solve a plurality of round coordinate equations to obtain label coordinates in the TOF solving process, so that data is provided for the optimization of a final particle swarm algorithm. When the coordinates of n base stations are known to be respectively，/>，/>…，/>The distance between the tag and the base station is/>The following equation sets are possible:
； （5）
Subtracting the nth equation set from the first (n-1) equation set of the equation set, yields the following linear equation:
； （6）
The system of equations can be expressed as:
； （7）
Wherein:
； （8）
； （9）
and finally solving to obtain:
； （10）
in the TOF solving process, according to the least squares principle, The round equation set is established by the base stations (more than three base stations) to be solved, and/>And (3) a group least squares solution, wherein the solutions are used as input values of a particle swarm algorithm for screening.
Taking a master base station and three slave base stations as examples, the TDOA procedure of the present embodiment includes the following steps:
(1) The location tag transmits a broadcast location TDOA message frame at a timing when all base stations are in a receive mode, and the transmit mode is turned on after a delay time. For the location tag, it functions to transmit an information broadcasting location and wait for a response of the base station, and only a unique identity ID is included in the TDOA broadcasting message.
(2) After receiving the broadcast positioning information sent by the positioning label, the main base station and the slave base station respectively record，/>，/>，/>In order to effectively receive the TDOA message, the base station performs signal quality judgment when receiving, and discards the message when the signal strength is lower than the threshold A, wherein the value A is generally greater than/>。
(3) After receiving the message, the master base station immediately transmits a ranging Response (RESP) to the positioning tag, performs information interaction to realize ranging from the positioning tag to the base station, and simultaneously transmits a clock synchronization message to the slave base station to realize clock synchronization of the master base station and the slave base station, wherein the two messages are the same message frame, the master base station only needs to respond once in the air, and the transmitting time stamp is recorded as follows。
(4) After the positioning tag records the RESP message of the main base station, the signal frequency deviation between the positioning tag and the main base station needs to be obtainedRecording the receiving time/>, after the positioning tag receives the RESP messageThen the distance/>, between the positioning tag and the main base station is calculated through a formula。
； （11）
； （12）
After receiving the UWB wireless clock synchronous signal message of the main base station, the slave base station records the receiving time stamp，/>，Simultaneously, the slave base stations respectively record the frequency offset/>, with the master base station，/>，/>. The fixed distance between the master base station and the slave base station is expressed by using the flight time, namely/>,/>,/>。
The TDOA arrival time difference is, according to the case of the respective time stamps:
； （13）
The distance difference is:
； （14）
The distance from the positioning tag to each slave base station can be known through the TDOA algorithm settlement:
； （15）
(5) The related data are sent to the positioning labels, and the distance from the positioning labels to the main base station can be obtained through the positioning labels (11) - (12).
Step two: and taking a plurality of coordinates of the positioning label obtained by the TOF algorithm as initial values of a particle swarm optimization algorithm, and optimizing the coordinates by the particle swarm optimization algorithm to obtain an optimal solution as optimized coordinates of the positioning label.
In the second step, the objective function f of the particle swarm optimization algorithm is:
；（16）
wherein, Represents the measured distance between the positioning tag and the ith base station, (X i,Yi) represents the ith base station coordinate, (X, y) represents the positioning tag coordinate, and n represents the number of base stations.
As shown in FIG. 2, a flow chart of optimization of a particle swarm algorithm for the TDOA+TOF fusion positioning algorithm is shown in the embodiment of the inventionAnd (3) carrying out optimal screening on the group least square solution, and gradually approaching the optimal solution according to the limitation of the objective function in the screening process. In combination with the principle of a UWB positioning system, in the embodiment, the minimum distance measurement value error between a positioning tag and a base station is used as a position evaluation standard, the sum of absolute values of distance errors of the positioning tag to each base station is used as a particle swarm algorithm target function, the process of solving the tag coordinates is converted into optimizing the tag coordinates in a positioning area through optimization of the particle swarm algorithm, an optimal solution process is obtained, known solutions are screened according to the particle swarm target function, and the obtained solution is output as the optimal solution when the distance measurement value error of the tag position coordinates is minimum, so that the positioning accuracy is further improved.
Step three: and taking the optimized coordinates of the positioning label as personnel coordinates to realize personnel positioning.
The positioning method of the embodiment further optimizes the positioning position by combining the advantages of the TDOA algorithm and the TOF algorithm and further utilizes the particle swarm optimization algorithm, so that the positioning speed is greatly improved under the condition of ensuring the positioning accuracy.
In the implementation, the TDOA algorithm is mainly based on the measured distance of the hardware system, and the TOF algorithm is based on the distance data to establish an equation for coordinate calculation. The TDOA principle is to use the time difference of the signal reaching different base stations to locate, the tag only needs to transmit one signal record, and the time of receiving and waiting is not needed to be opened, so that the time performance is good. Because the number of required communication times is small, the TDOA positioning can accommodate a large number of positioning labels, and the multi-target positioning requirement can be met. The TOF positioning is to obtain the distance between the tag and the base station by adopting a single-side or double-side ranging mode through communication ranging with the base station and then to obtain the tag coordinate through calculation by a circumference algorithm. According to different ranging modes, the required communication times are different, 9 times of UWB communication are needed for single-side ranging to achieve positioning, and 12 times of UWB communication are needed for double-side ranging to achieve positioning. The TOF positioning accuracy is higher, but the positioning time performance is poorer and the label capacity is lower due to the higher number of required communication times.
The fused positioning algorithm adopted by the embodiment combines the advantages of the TDOA algorithm and the TOF algorithm, and the positioning label can realize positioning only by transmitting the radio frequency information twice and receiving the base station mixed information once. The distance between the tag and one of the base stations can be obtained after the information interaction between the tag and the base station is completed, the distance between the tag and each base station can be obtained according to the distance between the tag and the main base station and the time difference between signals reaching the main base station and the main base station, and finally the tag coordinate can be obtained through TOF positioning calculation. The invention can realize the positioning process through 3 times of UWB communication, and the positioning time performance is stronger. The fusion positioning algorithm can greatly balance the relation between positioning accuracy and positioning time performance, contains a large number of labels, and can more effectively solve the practical problem for the railway tunnel construction site on the basis of combining a multi-target positioning scheme. In addition, the method utilizes the particle swarm algorithm to screen the solved coordinates of the fusion positioning algorithm through the objective function with the minimum distance error value, converts the process of solving the positioning label coordinates into the process of optimizing the label coordinates in the positioning area, obtains the optimal solving process, further improves the positioning precision, and finally provides proper algorithm support for personnel positioning in the railway tunnel.
Example two
The second embodiment of the invention provides a four-electric engineering personnel positioning system in a railway tunnel based on ultra-wideband, which is used for implementing the positioning method in the first embodiment, and as shown in fig. 3, the positioning system comprises a positioning tag, a master base station, a plurality of slave base stations, a server and an upper computer.
The main base station and the auxiliary base station interact data to form a positioning area, the positioning label continuously transmits positioning information, self-label data are sent to the base station part, and the distance between each base station and the label is obtained through time difference calculation. The intelligent safety helmet part is used as a positioning label carrier, and the use functions of the safety helmet with good portability and rich heat dissipation of labels are met while personnel safety can be protected through detail design. The upper computer part is used as a terminal part for realizing the function of the personnel positioning system, personnel position information is finally displayed at the upper computer end through understanding and calculating the data of the main base station, and dangerous areas can be defined on site through the functional design of electronic fence and historical track storage, so that comprehensive monitoring of personnel on a construction site is realized.
As shown in fig. 4, the positioning system is arranged in the tunnel, and the base station part is installed on the wall of the duct piece at the tunnel construction site.
As shown in fig. 5, the master base station and the slave base station are both provided with a master control chip, a UWB radio frequency communication module and a power conversion circuit, and the master base station and the slave base station perform data interaction through UWB communication to form a positioning area, the positioning tag continuously transmits positioning information through UWB communication, sends self tag data to the base station, and each base station sends time data to an upper computer through a server, and calculates the position information of each positioning tag through the upper computer.
In this embodiment, the UWB radio frequency communication module is used as a communication transmission module of the entire positioning system, so as to implement information interaction between each base station and data transmission between tags, and after receiving the entire data, the UWB radio frequency communication module sends the received entire data to the main control chip for processing through the SPI communication protocol, and the obtained distance information is transmitted to the upper computer for analysis through the interface module.
In this embodiment, the positioning tag is used as a terminal carrier carried by a constructor, and mainly comprises a UWB radio frequency communication module and a main control chip, and is different from the host in that the circuit portion of the positioning tag is not provided with an external interface module, and is also smaller in size. In operation, the positioning tag generates self positioning data through the main control chip module, and continuously transmits information to the periphery through the UWB radio frequency communication module at a certain frequency, so that the positioning base station can acquire tag information through a data packet.
Specifically, as shown in fig. 6-7, in the base station and the positioning tag, a master control chip adopts an STM32F103C8T6 singlechip, and the model of a UWB radio frequency communication module is a DWM1000 module; the master control chip reads the DWM1000 module by SPI communication; the upper computer is connected with the base station through serial communication.
STM32F103C8T6 singlechip is widely used in various daily and industrial electrical appliances as a control device, can well complete tasks, and is very suitable for being used in design after being continuously optimized. The performance of the singlechip meets the design requirement, and the cost performance is high. The single chip microcomputer can enable the positioning system to be more convenient and higher in operability. Because the requirements on clock synchronization are higher in communication positioning, the STM32F103C8T6 single-chip microcomputer needs to be additionally provided with a crystal oscillator circuit, the crystal oscillator is called as a crystal oscillator for short, and is a basic electronic element which is required to be used by all single-chip microcomputers, different crystal oscillators have different frequencies, so that the operation speed of the single-chip microcomputer can be accelerated by selecting a crystal oscillator with higher frequency, but once the crystal oscillator frequency is changed, a program which needs specific time delay or needs baud rate for communication is rewritten according to the crystal oscillator frequency, and meanwhile, the single-chip microcomputer also has the highest crystal oscillator frequency, namely the fastest operation speed, and the crystal oscillator exceeding the frequency can not be used by the single-chip microcomputer. In the whole system, each module can work normally only if the clock signals are consistent, so that the crystal oscillator unifies clock information for the whole system, and the system can run stably. In the system, the crystal oscillator frequency used by an external crystal oscillator circuit of the main control chip is 8 MHz. In the embodiment, the power-on reset is selected as a reset mode, so that the welding trouble is reduced, the use area of the circuit board is reduced, the layout of the circuit board is more free, the manual reset trouble is reduced, and the method is more convenient.
The DWM1000 module is an integrated low-power-consumption radio frequency transceiver module developed on the basis of a DecaWave DW1000 chip. The DW1000 chip is a CMOS-based low-power consumption wireless transceiver integrated circuit, is compatible with IEEE802.15.4-2011 standard protocol, consists of a digital transceiver front end and a digital rear end connected with a host, and an analog transceiver shares an antenna and can adjust the switching of a transceiver mode through a switch. The DW1000 module performs data transmission with the main control chip through SPI communication, and the main control chip writes the register into the register through an SPI interface to control the DW1000 module. The DWM1000 module is applied to the UWB positioning and ranging process, and the precision can reach +/-10 cm. The positioning frequency bands use 6 frequency bands from 3.5GHz to 6.5GHz, the highest data transmission rate can reach 6.8Mb/s, the farthest communication distance can reach 290 meters, the positioning frequency band has good multipath resistance, and the positioning frequency band can be well applied to complex positioning environments on construction sites.
In addition, in this embodiment, the master base station and the slave base station further include a power conversion circuit, as shown in fig. 8, which is a schematic circuit diagram of the power conversion circuit, and converts an external power supply into a system with a required direct current voltage of 3.3V, and adopts the SGM2028 as a voltage stabilizing chip, where the input voltage range is 2.5-5.5V, and the output voltage is 3.3V, so that the power supply requirements of the master control chip and the DWM1000 module can be well satisfied.
As shown in fig. 9 to 10, in this embodiment, the positioning tag is disposed on an intelligent helmet of a constructor. Consider the suitability of location label installation and intelligent safety helmet, design intelligent safety helmet whole. The side of intelligent safety helmet carries out location label 6 installation, considers the travelling comfort of intelligent safety helmet, is equipped with a plurality of screw holes 5 at intelligent safety helmet inner shell 4 to design ventilation module in intelligent safety helmet side, make the moist hot air between wearer's head and the inner shell 4 exchange with the external world, both solved intelligent safety helmet function singleness problem, also made intelligent safety helmet have stronger ventilation heat dissipation function. The intelligent safety helmet is provided with the installation interface of the positioning tag 6, the tag and the intelligent safety helmet are assembled through the installation screw in the threaded hole 5, and the installation is firm and the disassembly and the maintenance are convenient. In addition, the intelligent safety helmet is also provided with an alarm module 3, so that an alarm prompt can be sent out when personnel enter the electronic fence area. In addition, the shell 2 of the intelligent safety helmet is provided with an illuminating lamp 1.
In this embodiment, the base station and the tag both include DWM1000 modules, which play different roles in the two parts, and in the tag operation, the DWM1000 modules are mainly information transmission carriers, and continuously transmit positioning tag data information to the base station, so that the base station can determine the position of the tag and the represented personnel information by receiving the data. The DWM1000 module in the base station is used as a communication module, so that communication between the base station and the tag is guaranteed, mutual communication between the base stations is guaranteed, positioning data are continuously updated through feedback of tag information, and stable coverage of the whole positioning area is guaranteed through data interaction between the base stations.
Specifically, in this embodiment, positioning software is provided in the upper computer, and positioning software is provided with:
An initial coordinate setting module: for setting initial coordinates of each base station;
An electronic fence alarm module: the method comprises the steps of setting an electronic fence area, judging whether the electronic fence area is entered according to personnel positioning information, and if yes, sending alarm information to a corresponding positioning label;
Personnel real-time positioning module: the method comprises the steps of obtaining a plurality of coordinates of each positioning label by utilizing a TOF algorithm according to the distance d 1 between each positioning label and a master base station and the distance d m between each positioning label and each slave base station, and optimizing the coordinates by utilizing a particle swarm optimization algorithm to obtain personnel coordinates;
front end display module: for displaying the actual position of each positioning tag.
Further, the positioning software is also provided with:
The history track storage module: the historical track is used for storing each positioning label;
an alarm log recording module: and the alarm record is used for recording each positioning label.
11-12, In this embodiment, the workflow of the positioning tag is as follows:
S101: initializing;
s102: transmitting a broadcast positioning TDOA message frame;
S103: receiving RESP information;
S104: after the receiving is finished, transmitting a Final frame;
S105: resetting dormancy;
s106: judging whether positioning is completed, if yes, ending, otherwise returning to S102;
the working flow of the main base station is as follows:
s201: initializing;
S202: receiving a broadcast positioning TDOA message frame sent by a positioning tag;
S203: judging whether the signal strength meets the requirement, if so, sending Response (RESP) information and clock synchronization information;
S204: receiving a Final frame;
s205: uploading data to a server;
S206: and judging whether positioning is completed, if so, ending, and if not, returning to S202.
Specifically, in this embodiment, once the positioning tag and the main base station are powered on and started, the positioning tag and the main base station are always in the process of cyclic positioning, and a stop command can be input to the positioning software of the upper computer, and after the positioning software of the upper computer receives the stop command, a positioning completion command is sent to each base station and the positioning tag, so that the base station and the positioning tag stop working.
In the positioning system of the embodiment, all parts are mutually matched, a TDOA+TOF fusion positioning algorithm based on particle swarm optimization is used for accurately positioning the positioning label on the basis of the TDOA and TOF algorithm by the particle swarm optimization algorithm, and the positioning accuracy and the positioning speed are improved. According to the invention, a particle swarm algorithm is introduced to optimally screen the TOF solved coordinates according to the objective function, positioning can be realized only by three UWB communication, positioning precision is further improved, and the relationship between the positioning precision and time performance is balanced.
Fig. 13 is a diagram of an anti-interference test of a positioning algorithm. And an STM32F103C8T6 singlechip is used as a main control chip, and SPI communication is adopted to read the DWM1000 module, so that ranging between each base station and the tag is realized. And the programming upper computer software is in serial communication with the base station, and the acquired distance data is resolved to obtain the label coordinates and displayed on the front end interface in real time. The intelligent safety helmet is designed according to the actual situation on site and is used as a carrier for personnel to carry the positioning tag, so that the problem of single function of the safety helmet is solved, and a good mode is provided for simple and convenient carrying of the tag. The system monitors site constructors in an omnibearing manner through the functions of setting initial coordinates of a base station, positioning personnel in real time, alarming by an electronic fence, recording an alarm log and the like, provides a good personnel positioning method for the four-electric engineering construction of the modern railway tunnel, and can effectively improve the site safety management level and protect the safety of the constructors.
The working principle of the invention is as follows: the positioning base stations are alternately arranged at intervals of about 50 meters in the tunnel section, and the installation height is set to be 1.8 meters, so that the positioning base stations are convenient for personnel to operate and avoid accidental damage. The positioning label is worn on the side face of the intelligent safety helmet of constructors, and positioning information is continuously sent to the base station in the construction work engineering of the constructors. The distance between the base station and the tag is acquired through information interaction between the base station and the positioning tag in the positioning process, the main base station transmits data to the upper computer end in a wired mode, finally, coordinate data are calculated through a TDOA+TOF fusion positioning algorithm based on particle swarm optimization, and the positioning system carries out safety management on site construction according to the position information of personnel.
The positioning system of the embodiment can realize that personnel can monitor the position of constructors in real time, any emergency occurs and the positions of the personnel can be locked in time, the positioning precision is controlled within 20 cm, and the positioning of the accurate personnel is realized. The monitoring platform interface logs in through a user name and a password, and specific operations are divided into two cases of manager login and user login, and after the manager logs in, relevant parameters such as a base station, a tag and the like can be set, a positioning area is modified and the like. The user login can query the tag position information, query the historical motion trail of the personnel, and the like. According to the construction site conditions, the electronic fence can be defined, dangerous zones where personnel are prohibited to enter are limited, and dangerous activities of the personnel are avoided. The system data query function has a periodic storage function for managing personnel position data, and the personnel history position data can be reviewed on an upper computer interface, so that construction safety management is summarized and promoted conveniently, and situation investigation is facilitated when a safety accident occurs. The equipment shell is installed by adopting an IP65 waterproof and dustproof shell aiming at the severe environment of a construction site, and a special installation bayonet and a special radiating opening are designed for the shell, so that the service life is prolonged while the working performance of a base station and a label is ensured, and good hardware support is provided for personnel positioning in a railway.
The base station is arranged at intervals of 50 meters in the tunnel to form area coverage for the tunnel interval, the tunnel interval at the two ends of the station is positioned according to the characteristics of four-electric construction, the positioning area can be updated in time along with the pushing of the construction working face, the construction rhythm of the four-electric engineering construction can be well met, the huge cost caused by arrangement of full-tunnel positioning equipment is avoided, the real field requirement and cost clamping control of the four-electric engineering construction are very met, and the safety management level is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. The method for positioning the four-electric engineering personnel in the railway tunnel based on the ultra-wideband is characterized by being realized by carrying a positioning tag based on UWB communication on a constructor, and comprises the following steps:
Step one: obtaining the distance between the positioning tag and the base station through a TDOA algorithm, and obtaining a plurality of coordinates of the positioning tag through a TOF algorithm;
step two: taking a plurality of coordinates of the positioning label obtained by the TOF algorithm as initial values of a particle swarm optimization algorithm, and optimizing the coordinates by the particle swarm optimization algorithm to obtain an optimal solution as optimized coordinates of the positioning label;
step three: and taking the optimized coordinates of the positioning label as personnel coordinates to realize personnel positioning.
2. The method for positioning four-electrical engineering personnel in a railway tunnel based on ultra-wideband according to claim 1, wherein in the second step, the objective function f of the particle swarm optimization algorithm is:
；
wherein, Representing the measured distance between the positioning tag and the i-th base station,/>Representing the base station coordinates, (x, y) representing the coordinates of the positioning tag, and n representing the number of base stations.
3. The method for positioning four-electric engineering personnel in a railway tunnel based on ultra-wideband according to claim 1, wherein in the first step, a specific formula for obtaining the distance between a positioning tag and a base station through a TDOA algorithm is as follows:
wherein, Representing the distance of the positioning tag from the master base station,/>Represents the distance of the positioning tag from base station m, m=2, 3, … … n, n represents the number of base stations,/>Representing the time difference between the master base station and the positioning tag,/>Indicating the TDOA arrival time difference corresponding from base station m.
4. The method for positioning four-electric engineering personnel in a railway tunnel based on ultra wideband according to claim 3, wherein in the first step, the specific method for obtaining the distance between the positioning tag and the base station through the TDOA algorithm is as follows:
(1) The positioning label transmits the broadcast positioning TDOA message frame at fixed time and records the transmitting time stamp of the positioning label as ; All base stations are in a receiving mode at this time, and their transmitting modes are turned on after a delay time; the broadcast positioning TDOA message frame only comprises a unique identity ID;
(2) After receiving the broadcast positioning information sent by the positioning tag, the master base station and the slave base station record the time stamp of the received information of the master base station and the slave base station respectively ，/>，……/>；
(3) After receiving the broadcast positioning message sent by the positioning tag, the master base station immediately transmits a ranging RESP response to the positioning tag, and simultaneously, the master base station also transmits a clock synchronization message to the slave base station, so that clock synchronization of the master base station and the slave base station is realized, and the transmitting time stamp is recorded；
(4) Recording receiving time after positioning label receives RESP messageAcquiring signal frequency deviation/>, of positioning tag and main base station；
(5) After receiving the UWB wireless clock synchronous signal message of the main base station, the slave base station records the receiving time stampSimultaneously, the slave base stations respectively record the frequency offset with the master base station;
(6) Calculating the distance d 1 between the positioning tag and the master base station and the distance d m between the positioning tag and each slave base station; wherein:
；
；
tt m denotes a time stamp of a UWB wireless clock synchronization signal message received from the base station m to the master base station, t m and t 1 denote time stamps of broadcast positioning messages transmitted from the base station m and the master base station, Representing the time of flight between the slave base station m and the master base station,/>Time stamp representing primary base station transmitting ranging RESP response,/>Representing the frequency offset of the slave base station m from the master base station,/>And/>Indicating the time stamps of the broadcast positioning TDOA message frame and the received RESP message, respectively, transmitted by the positioning tag.
5. The method for positioning four-electrical engineering personnel in a railway tunnel based on ultra-wideband according to claim 3, wherein in the first step, a TOF algorithm solves a matrix by a least square method to obtain positioning tag coordinates, and the matrix is:
；
Wherein:
；
；
，/>，/>…，/> Representing the coordinates of each base station, X representing the coordinates of a positioning tag,/> 。
6. The four-electric engineering personnel positioning system in the railway tunnel based on the ultra-wideband is characterized by comprising positioning labels, a master base station, a plurality of slave base stations, a server and an upper computer, wherein the master base station, the positioning labels and the slave base stations are all provided with a master control chip and a UWB radio frequency communication module, the master base station and the slave base stations are in data interaction through UWB communication to form a positioning area, the positioning labels continuously transmit positioning information through UWB communication, self label data are sent to the base stations, each base station sends time data to the upper computer through the server, and the position information of each positioning label is obtained through calculation of the upper computer.
7. The four-electric engineering personnel positioning system in a railway tunnel based on ultra-wideband according to claim 6, wherein positioning software is arranged in the upper computer, and the positioning software is internally provided with:
An initial coordinate setting module: for setting initial coordinates of each base station;
An electronic fence alarm module: the method comprises the steps of setting an electronic fence area, judging whether the electronic fence area is entered according to personnel positioning information, and if yes, sending alarm information to a corresponding positioning label;
Personnel real-time positioning module: the method comprises the steps of obtaining a plurality of coordinates of each positioning label by utilizing a TOF algorithm according to the distance d 1 between each positioning label and a master base station and the distance d m between each positioning label and each slave base station, and optimizing the coordinates by utilizing a particle swarm optimization algorithm to obtain personnel coordinates;
front end display module: for displaying the actual position of each positioning tag.
8. The four-electrical engineering personnel positioning system in a railway tunnel based on ultra-wideband according to claim 7, wherein the positioning software is further provided with:
The history track storage module: the historical track is used for storing each positioning label;
an alarm log recording module: and the alarm record is used for recording each positioning label.
9. The ultra-wideband-based four-electrical engineering personnel positioning system in a railway tunnel of claim 6, wherein the workflow of the positioning tag is:
S101: initializing;
s102: transmitting a broadcast positioning TDOA message frame;
S103: receiving RESP information;
S104: after the receiving is finished, transmitting a Final frame;
S105: resetting dormancy;
s106: judging whether positioning is completed, if yes, ending, otherwise returning to S102;
the working flow of the main base station is as follows:
s201: initializing;
S202: receiving a broadcast positioning TDOA message frame sent by a positioning tag;
S203: judging whether the signal strength meets the requirement, if so, sending Response (RESP) information and clock synchronization information;
S204: receiving a Final frame;
s205: uploading data to a server;
S206: and judging whether positioning is completed, if so, ending, and if not, returning to S202.
10. The four-electrical engineering personnel positioning system in a railway tunnel based on ultra-wideband according to claim 6, wherein the positioning tag is arranged on a safety helmet of constructors; the main control chip adopts an STM32F103C8T6 singlechip, and the UWB radio frequency communication module model is a DWM1000 module; the master control chip reads the DWM1000 module by SPI communication; the upper computer is connected with the base station through serial communication.
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