CN1924604A - Underground operators ultrasonic location system and method thereof - Google Patents
Underground operators ultrasonic location system and method thereof Download PDFInfo
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- CN1924604A CN1924604A CN 200610086293 CN200610086293A CN1924604A CN 1924604 A CN1924604 A CN 1924604A CN 200610086293 CN200610086293 CN 200610086293 CN 200610086293 A CN200610086293 A CN 200610086293A CN 1924604 A CN1924604 A CN 1924604A
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Abstract
This invention relates to downhole operation hypersonic positioning system and its method, which comprises safety hat movable terminal, street base station and network connection management center, wherein, the management center sets base station parameter with certain distance to send one impulse trigger signal and one hypersonic impulse sequence; the movable terminal recording the trigger signal and receiving the hypersonic impulse signal time interval; getting the distance between the movable terminal and base station according the known time; sending the information of terminal, distance, direction and codes to the radio communication channel and to the management center to display operation person position.
Description
Technical field:
The present invention relates to the mine safety monitoring field, more particularly especially a kind of system and method for accurately locating for underground operators.
Technical background:
The underground work circumstance complication of mine, the continuous in length and breadth tens of kms of mine laneway, personnel in the pit's operation is mobile big, concrete number, particular location change constantly, ground maneuvers is difficult to know personnel in the pit's concrete distribution situation, be unfavorable for safety supervision and dynamic dispatching, to operating personnel's the also very difficult examination of the time of going into the well, whereabouts.In case accidents such as down-hole breaking out of fire, floods, gas, coal dust explosion, because accurately personnel's position and distribution before the accident of location, cause using heavy mechanical equipment to carry out rescue work, the normal Best Times of therefore incuring loss through delay rescue causes irreparable damage.If rescue speed then can be accelerated greatly in personnel in the pit's position before accurately the location accident took place, loss is reduced to bottom line.
At present, the method that adopt the location, down-hole mainly contains two kinds, a kind of is the mode of the employing electronic identity identification card (RFID) of patent documentation CN1570663A announcement, inquire the electronic identity identification card device that the operating personnel carries on one's body by rf wave the base station that is installed in the tunnel by keeping at a certain distance away, the emission of electronic identity identification card device has the answer signal of operating personnel's identity information and realizes the location, the bearing accuracy of this device is by the decision of base station spacing distance, and bearing accuracy can only reach tens meters magnitudes.
Another kind method is the radio-frequency (RF) signal strength account form that patent documentation CN1694569A announces, carry out the both-way communication of radiofrequency signal between movable contact and the base station, the base station is by calculating distance between staff and the base station to being carried on radio-frequency (RF) signal strength that staff's mobile node on one's body sends, and realize the location in conjunction with the positional information of base station itself, the bearing accuracy of this device is decided by the radio-frequency (RF) signal strength that the base station receives, because electromagnetic wave exists repeatedly situations such as reflection and diffraction to cause that thereby distance is non-linear between signal intensity that mobile node receives and base station brings very big error with statistical relationship in the tunnel, the bearing accuracy error of this mode reaches more than 15 meters, can only help within limits the practical a certain distance in addition of distance for rescue work.
Summary of the invention:
The present invention is for avoiding above-mentioned existing in prior technology weak point, providing a kind of and can be used for underground operators ultrasonic positioning system and localization methods thereof such as accident rescue, personnel in the pit's scheduling, monitoring, work attendance.Utilizing ultrasonic locating and wireless telecommunications, is serving as to place at interval to reach in the actual application environment of ultrasound emission base station to be better than ± 1 meter bearing accuracy with hundreds of rice.And reduce the base station spacing distance then bearing accuracy can also be further enhanced.
The technical scheme that technical solution problem of the present invention is adopted is:
Underground operators ultrasonic positioning system of the present invention comprises the portable terminal (1) that embeds safety helmet, is arranged on base station (2) and the administrative center that is connected with cable network (3) in the tunnel, it is characterized in that:
The portable terminal of described embedding safety helmet (1) receives radio frequency trigger pip from base station (2) with radio-frequency communication module (13) and antenna (14), send multichannel ultrasonic reception of impulse module (12), digital signal processing module (19) and main control unit (17) respectively to, open with timer with the time window of described radio frequency trigger pip control multichannel ultrasonic reception of impulse module (12) and pick up counting; Receive sequence of ultrasound pulses signal with ultrasound wave receiving transducer (11) with the m sequence modulation that characterizes the respective base station numbering from base station (2), number as unique base station, each base station with different m sequences, the sequence of ultrasound pulses signal of described m sequence modulation send to multichannel ultrasonic reception of impulse module (12) handle with analog to digital conversion after send digital signal processing module (19) to digital signal, in described digital signal processing module (19), demodulate described m sequence and produce clocking value simultaneously, described main control unit (17) sends described m sequence and clocking value and ID card (16) sense data to radio-frequency communication module (13) jointly, and by antenna (14) emission;
Lead up to the exchange of network interface (21) and administrative center (3) parameter and locator data be set in described base station (2), another road connects master controller (23) by network interface (21), by described master controller (23) control radio-frequency communication module (22) and antenna (27) emission trigger pip, and control m sequence modulation module (28) output m sequence modulation signal simultaneously to ultrasonic pulse transmitter module (26);
Each base station (2) is positioned at the top in tunnel along the line settles in the tunnel, is connected to administrative center (3) by network, and base station (2) are along the sequence of ultrasound pulses of two kinds of different carrier frequencies of fore-and-aft direction emission in tunnel.
The design feature of system of the present invention is that also described ultrasound wave receiving transducer (11) has five groups, be embedded in respectively safety helmet all around and tip position, receive separately from ultrasonic signal on the different directions, and in multichannel ultrasonic reception of impulse module (12) subsequently, obtain respectively handling.
The characteristics of the localization method of underground ultrasonic ripple positioning system of the present invention are:
Administrative center (3) is by the network settings base station parameter, control each base station and launch a pulse triggering signal simultaneously by the wireless radiofrequency communication channel, and launch the sequence of ultrasound pulses that corresponding m sequence modulation is numbered in a base station with the base station, place simultaneously, portable terminal (1) writes down it and is receiving the radio frequency trigger pip and receiving time interval between the sequence of ultrasound pulses signal, calculates distance between portable terminal (1) and the respective base station (2) according to time interval of known ultrasonic propagation velocity and record; The base station (2) that is provided with along the front and back, tunnel is launched the different frequency carrier wave respectively on its fore-and-aft direction ultrasonic pulse sequence; Portable terminal (1) is judged signal source direction according to the carrier frequency of the ultrasonic pulse sequence that receives;
By portable terminal (1) the ID numbering identity information that adds portable terminal itself about the data message and the corresponding base station numbering of distance and direction is sent to base station (2) by the wireless radiofrequency communication channel, each base station (2) sends to administrative center (3) with the positional information of the portable terminal (1) received by the network that connects the base station, and administrative center (3) carries out statistic record according to positional information and dynamically demonstrate each operating personnel's position on the synoptic diagram of tunnel.
The characteristics of the inventive method also be described each base station simultaneously transponder pulse trigger pip and launch simultaneously sequence of ultrasound pulses be under the control of administrative center by cycle of setting automatically, repeatedly carry out.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention utilizes ultrasonic locating and wireless telecommunications, owing to adopted the ultrasonic pulse sequence of m sequence modulation and along the ultrasonic emitting mode of the sequence of ultrasound pulses of two kinds of different carrier frequencies of the fore-and-aft direction in tunnel emission, making portable terminal can access an accurate distance and the locality data between above different base station, is serving as to place at interval can reach in the actual application environment of ultrasound emission base station to be better than ± 1 meter bearing accuracy with hundreds of rice.
2, the present invention can be after further reducing the base station spacing distance, except thereby the ultrasonic pulse signal to noise ratio (S/N ratio) that receives is improved the accuracy of timekeeping, also will make portable terminal receive the ultrasonic pulsative signal of more different base stations, bearing accuracy can also be further enhanced like this.
3, propagation has stronger directive property at ultrasonic signal, the present invention is by at a plurality of ultrasound wave receiving transducers that are provided with on the portable terminal on the diverse location, thereby can more effectively receive from the ultrasonic pulsative signal on the different directions, improve functional reliability.
4, the inventive method owing to adopt is measured automatically and is made the locator data that obtains have very high real-time and bearing accuracy by the high-frequency duplicate measurements mode of setting cycle repeated trigger, can be widely used in the localization by ultrasonic of underground operators such as accident rescue, personnel in the pit's scheduling, monitoring, work attendance.
Description of drawings:
Fig. 1 is a system architecture synoptic diagram of the present invention.
Fig. 2 arranges synoptic diagram for the ultrasound wave receiving transducer that embeds safety helmet in the system of the present invention.
Fig. 3 is mobile terminal structure signal of the present invention and each point output signal diagram.
Fig. 4 is an architecture of base station synoptic diagram of the present invention.
Fig. 5 is a base station ultrasonic pulse m sequence modulation synoptic diagram of the present invention.
Fig. 6 is a base station of the present invention workflow diagram.
Fig. 7 is portable terminal positioning flow figure of the present invention.
Below by embodiment the present invention is further described:
Embodiment:
Referring to Fig. 1, system is made up of the network management center 3 of the portable terminal 1, base station 2 and the wired connection that embed safety helmet in the present embodiment.Adopt the communication of less radio-frequency channel between base station and the portable terminal, the base station couples together by cable network, network management center by computing machine, the network equipment and run on this environment on management software constitute.Network management center can and the base station between exchange locating information data, can carry out parameter setting and timing aligning to the base station, trigger pulse is launched by radio-frequency channel at regular intervals simultaneously in every of all each base station on the setting network, and the frequency that launch by the m sequence modulation that characterizes the unique identity in base station along the fore-and-aft direction in tunnel by the ultrasonic emitting module base station in the emission trigger pulse is respectively f
RAnd f
FPulse train.Because the aerial velocity of propagation of radiofrequency signal (about 3 * 10
8M/s) be far longer than ultrasonic propagation velocity (about 340M/s) portable terminal and will receive trigger pip earlier, portable terminal receives that promptly starting a timer after the trigger pip picks up counting, after receiving ultrasonic pulse, stop this timer, by known ultrasonic propagation velocity and timing result, portable terminal can accurately calculate and the base station between distance, channel ultrasonic reception of impulse module 12 receives the positioning result that the ultrasonic pulsative signal of sending an above base station then can obtain portable terminal more accurately, portable terminal is issued base station from staff's personally identifiable information ID numbering that the ID card that inserts reads by the wireless radiofrequency communication channel with the additional portable terminal of the locator data that calculates, each base station is issued administrative center with the positional information of the portable terminal received by the cable network that connects the base station then, and the management software of administrative center carries out statistic record according to positional information and dynamically demonstrate each operating personnel's position on the synoptic diagram of tunnel.
Fig. 2 is that the ultrasound wave receiving transducer embeds scheme of installation on safety helmet.Because ultrasonic propagation has stronger directive property, in order effectively to receive ultrasonic pulsative signal, designed special receiving transducer arrangement: comprise top receiving transducer 11A, the place ahead receiving transducer 11D, rear receiving transducer 11B, left side receiving transducer 11E, with right side receiving transducer 11C, be used for effectively receiving from the ultrasonic signal on five directions in top and front, rear, left and right.The receive frequency range of each receiving transducer all covers f
RAnd f
FTwo frequencies.
Fig. 3 is mobile terminal structure signal and each point output signal diagram.Its internal circuit comprises: multichannel ultrasonic reception of impulse module 12, radio-frequency communication module 13, antenna 14, digital signal processing module 19, main control unit 17, ID card 16 and power supply 15.Behind the portable terminal electrifying startup, main control unit 17 reads the underground work personnel personal information in the plug-in type ID card 16, radio-frequency communication module 13 receives and separates the emission start pulse signal of being transferred to come from antenna 14 feedbacks 18, the analog switch time window that start pulse signal 18 is opened in the multichannel ultrasonic reception of impulse module 12 receives ultrasonic pulse signal, start the timer Ji beginning work of digital signal processing module 19 inside simultaneously, multichannel ultrasonic reception of impulse module 12 is carried out the ultrasonic pulse signal of receiving mould one number conversion and is sent image data to digital signal processing module 19, digital signal processing module 19 carries out a series of digital signal processing according to image data and calculates, demodulate the m sequence, whenever demodulate one group of m sequence and preserve a clocking value, before the analog switch time window finishes, receive the m sequence more than a group that different base station is sent and preserve clocking value, digital signal processing module 19 carries out matrix computations according to a plurality of clocking values in conjunction with ultrasonic propagation mathematical model in the tunnel and draws position location data between the base station, digital signal processing module 19 passes to main control unit 17 with position location data, and main control unit 17 sends to the base station with locator data and ID packing data by the radio-frequency communication link between radio-frequency communication module 13 and the base station.
Fig. 4 is the architecture of base station synoptic diagram.Arrangement of base stations is made up of network interface 21, radio-frequency communication module 27 and antenna 27, master controller 23, m sequence modulation module 28, ultrasonic pulse transmitter module 26 and power supply 24 on the tunnel is along the line.Network interface 21 is responsible for and the network management center communication, exchange locator data information and base station configuration information, according to the base station data are set, master controller 23 every interval certain hours are by radio-frequency communication module 22 and radio frequency trigger pulse of antenna 27 emissions, sequence of ultrasound pulses by ultrasonic pulse transmitter module 26 emission m sequence modulation simultaneously, ultrasonic waves transmitted pulse sequence frequency difference is respectively f on the both direction before and after the tunnel
RAnd f
F, the m sequence modulation goes out to represent the sequence of ultrasound pulses of base station unique number, f
RAnd f
FBe used for distinguishing the direction of propagation.Portable terminal judges that thus what receive is the sequence of ultrasound pulses that send which base station, and this base station is at oneself the place ahead or rear.
Fig. 5 is a base station ultrasonic pulse m sequence modulation synoptic diagram.Each base station is provided with a unique numbering on the network, this numbering and binary m sequence correspondence, each base station is by a unique m sequential coding, and during ultrasonic emitting, sequential coding is modulated according to m, in the present embodiment, when current sequence was high level " 1 ", the emission ultrasound wave was during for low level " 0 ", do not launch ultrasound wave, modulation sequence excitation ultrasound transmitting transducer is launched the sequence of ultrasound pulses of m sequence modulation as shown in FIG..This sequence of ultrasound pulses is moved terminal and receives, and is used for portable terminal identification transmitting base station.
Fig. 6 is the base station workflow diagram.Arrangement of base stations connects by cable network on the tunnel is along the line, and administrative center can be numbered and be provided with parameters such as Transmission Time Interval to the base station, and the locator data that the portable terminal that receives is sent in the base station is transmitted to administrative center.The job step of base station is as follows:
Step S6-1: the base station powers on and finishes self-starting and network configuration process, develop and manage the center communication link and and the radio-frequency communication link of portable terminal;
Step S6-2: base station parameter is set, comprises Transmission Time Interval and m sequence.
Step S6-3:, launch sequence of ultrasound pulses simultaneously by radio-frequency communication module emission trigger pip.
Step S6-4: receive the data of sending by the radio-frequency communication module from portable terminal, this packet content comprises distance between portable terminal and base station and directional information data, respective base station m sequence, and the ID data of portable terminal.
Step S6-5: the data forwarding that each portable terminal is sent in the base station is given Surveillance center.Installation site surveying and mapping data when Surveillance center constructs according to arrangement of base stations calculates the position of each portable terminal, realizes the location.
Fig. 7 portable terminal positioning flow figure.Portable terminal according to the radio frequency trigger pulse of successively receiving and the time interval between the sequence of ultrasound pulses calculates and corresponding transmitting base station between distance, with result of calculation and the id information data of self by and the base station between the radio-frequency communication channel issue the base station.The steps include:
Step S7-1: mobile terminal-opening, each module of portable terminal is carried out the initialization setting, the AGC control data of ultrasonic pulse receiver module is set, initialization radio-frequency communication module.
Step S7-2: the main control unit of portable terminal reads the ID card data of inserting portable terminal, and these ID data are underground work personnel's personally identifiable information.
Step S7-3: the radio-frequency communication module of portable terminal is received start pulse signal, and start timer and pick up counting this moment.
Step S7-4: the multichannel ultrasonic reception of impulse module of portable terminal receives the ultrasonic pulse sequence, and preserve clocking value this moment, stops this timer and preserve clocking value when receiving each ultrasonic pulse sequence after receiving more than one ultrasonic sequence.
Step S7-5:, demodulate corresponding m sequence corresponding to the clocking value of each ultrasonic pulse sequence of receiving.
Step S7-6: carry out matrix operation according to clocking value and mathematical model and draw distance between portable terminal and corresponding base station, further calculate locator data.
Step S7-7: the packet that the locator data that calculates is become certain format with the ID packing data.
Step S7-8: packet is launched by the radio-frequency communication module, and this packet will be received by the base station.
Step S7-9: judge whether that by shutdown request if then shutdown, power cut-off triggers wait otherwise circulation enters next time.
Claims (4)
1, underground operators ultrasonic positioning system comprises the portable terminal (1) that embeds safety helmet, is arranged on base station (2) and the administrative center that is connected with cable network (3) in the tunnel, it is characterized in that:
The portable terminal of described embedding safety helmet (1) receives radio frequency trigger pip from base station (2) with radio-frequency communication module (13) and antenna (14), send multichannel ultrasonic reception of impulse module (12), digital signal processing module (19) and main control unit (17) respectively to, open with timer with the time window of described radio frequency trigger pip control multichannel ultrasonic reception of impulse module (12) and pick up counting; Receive sequence of ultrasound pulses signal with ultrasound wave receiving transducer (11) with the m sequence modulation that characterizes the respective base station numbering from base station (2), described m sequence and base station numbering are corresponding one by one, the sequence of ultrasound pulses signal of described m sequence modulation send to multichannel ultrasonic reception of impulse module (12) handle with analog to digital conversion after send digital signal processing module (19) to digital signal, in described digital signal processing module (19), demodulate described m sequence and produce clocking value simultaneously, described main control unit (17) sends described m sequence and clocking value and ID card (16) sense data to radio-frequency communication module (13) jointly, and by antenna (14) emission;
Lead up to the exchange of network interface (21) and administrative center (3) parameter and locator data be set in described base station (2), another road connects master controller (23) by network interface (21), by described master controller (23) control radio-frequency communication module (22) and antenna (27) emission trigger pip, and control m sequence modulation module (28) output m sequence modulation signal simultaneously to ultrasonic pulse transmitter module (26);
Each base station (2) is positioned at the top in tunnel along the line settles in the tunnel, is connected to administrative center (3) by network, and base station (2) are along the sequence of ultrasound pulses of two kinds of different carrier frequencies of fore-and-aft direction emission in tunnel.
2, system according to claim 1, it is characterized in that: described ultrasound wave receiving transducer (11) has five groups, be embedded in respectively safety helmet all around with tip position on, receive separately from ultrasonic signal on the different directions, and in multichannel ultrasonic reception of impulse module (12) subsequently, obtain respectively handling.
3, a kind of localization method based on the described underground ultrasonic ripple of claim 2 positioning system is characterized in that:
Administrative center (3) is by the network settings base station parameter, control each base station and launch a pulse triggering signal simultaneously by the wireless radiofrequency communication channel, and launch the sequence of ultrasound pulses that corresponding m sequence modulation is numbered in a base station with the base station, place simultaneously, portable terminal (1) writes down it and is receiving the radio frequency trigger pip and receiving time interval between the sequence of ultrasound pulses signal, calculates distance between portable terminal (1) and the respective base station (2) according to time interval of known ultrasonic propagation velocity and record; The base station (2) that is provided with along the front and back, tunnel is launched the different frequency carrier wave respectively on its fore-and-aft direction ultrasonic pulse sequence; Portable terminal (1) is judged signal source direction according to the carrier frequency of the ultrasonic pulse sequence that receives;
By portable terminal (1) the ID numbering identity information that adds portable terminal itself about the data message and the corresponding base station numbering of distance and direction is sent to base station (2) by the wireless radiofrequency communication channel, each base station (2) sends to administrative center (3) with the positional information of the portable terminal (1) received by the network that connects the base station, and administrative center (3) carries out statistic record according to positional information and dynamically demonstrate each operating personnel's position on the synoptic diagram of tunnel.
4, method according to claim 3, it is characterized in that described each base station simultaneously transponder pulse trigger pip and launch simultaneously sequence of ultrasound pulses be under the control of administrative center by cycle of setting automatically, repeatedly carry out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200610086293 CN1924604A (en) | 2006-08-30 | 2006-08-30 | Underground operators ultrasonic location system and method thereof |
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| CN 200610086293 CN1924604A (en) | 2006-08-30 | 2006-08-30 | Underground operators ultrasonic location system and method thereof |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102347804A (en) * | 2011-09-26 | 2012-02-08 | 热土(上海)网络科技有限公司 | Mobile terminal ultrasonic communication system and method |
| CN102404846A (en) * | 2011-12-27 | 2012-04-04 | 苏州佰思迈信息咨询有限公司 | Mobile phone positioning system |
| CN102638763A (en) * | 2012-05-03 | 2012-08-15 | 中国矿业大学(北京) | Underground electromagnetic-wave ultrasound united positioning system and method |
| CN102665276A (en) * | 2012-04-25 | 2012-09-12 | 大唐移动通信设备有限公司 | Method, system and device for locating underground personnel |
| CN102768352A (en) * | 2012-07-09 | 2012-11-07 | 中国矿业大学(北京) | Underground ultra-wideband electromagnetic and ultrasonic combined positioning system and method based on pattern matching |
| CN103235285A (en) * | 2013-03-26 | 2013-08-07 | 黎城县综合科学技术研究中心 | Downhole positioning system based on ZigBee network and ultrasonic ranging |
| CN103399317A (en) * | 2013-08-23 | 2013-11-20 | 重庆大学 | Ultrasonic wave based underground personnel positioning and structure monitoring integrated method and system |
| CN104965192A (en) * | 2015-05-22 | 2015-10-07 | 南京邮电大学 | Distributed indoor positioning method based on decision-making tree |
| CN107831466A (en) * | 2017-11-28 | 2018-03-23 | 嘉兴易声电子科技有限公司 | Underwater wireless acoustic marker and its multi-address instruction code method |
| CN107829730A (en) * | 2017-10-26 | 2018-03-23 | 中石化石油工程技术服务有限公司 | A kind of cross-hole acoustic logging system |
| JP2018084506A (en) * | 2016-11-24 | 2018-05-31 | 株式会社リコー | Position information management system, information processing device, position information management method, and program |
| CN108415055A (en) * | 2018-01-29 | 2018-08-17 | 清华大学合肥公共安全研究院 | Mobile object telltale mark device in a kind of fluid pipeline |
| CN109741480A (en) * | 2019-01-25 | 2019-05-10 | 中国电建集团河南工程有限公司 | Staff attendance system based on wireless sensor network |
| CN110231612A (en) * | 2019-05-31 | 2019-09-13 | 浙江大华技术股份有限公司 | A kind of label ranging, radiofrequency signal sending method, equipment and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102347804A (en) * | 2011-09-26 | 2012-02-08 | 热土(上海)网络科技有限公司 | Mobile terminal ultrasonic communication system and method |
| CN102404846A (en) * | 2011-12-27 | 2012-04-04 | 苏州佰思迈信息咨询有限公司 | Mobile phone positioning system |
| CN102665276A (en) * | 2012-04-25 | 2012-09-12 | 大唐移动通信设备有限公司 | Method, system and device for locating underground personnel |
| CN102665276B (en) * | 2012-04-25 | 2014-12-10 | 大唐移动通信设备有限公司 | Method, system and device for locating underground personnel |
| CN102638763A (en) * | 2012-05-03 | 2012-08-15 | 中国矿业大学(北京) | Underground electromagnetic-wave ultrasound united positioning system and method |
| CN102638763B (en) * | 2012-05-03 | 2015-04-08 | 中国矿业大学(北京) | Underground electromagnetic-wave ultrasound united positioning system and method |
| CN102768352A (en) * | 2012-07-09 | 2012-11-07 | 中国矿业大学(北京) | Underground ultra-wideband electromagnetic and ultrasonic combined positioning system and method based on pattern matching |
| CN102768352B (en) * | 2012-07-09 | 2014-08-27 | 中国矿业大学(北京) | Underground ultra-wideband electromagnetic and ultrasonic combined positioning system and method based on pattern matching |
| CN103235285A (en) * | 2013-03-26 | 2013-08-07 | 黎城县综合科学技术研究中心 | Downhole positioning system based on ZigBee network and ultrasonic ranging |
| CN103399317A (en) * | 2013-08-23 | 2013-11-20 | 重庆大学 | Ultrasonic wave based underground personnel positioning and structure monitoring integrated method and system |
| CN104965192A (en) * | 2015-05-22 | 2015-10-07 | 南京邮电大学 | Distributed indoor positioning method based on decision-making tree |
| JP2018084506A (en) * | 2016-11-24 | 2018-05-31 | 株式会社リコー | Position information management system, information processing device, position information management method, and program |
| CN107829730A (en) * | 2017-10-26 | 2018-03-23 | 中石化石油工程技术服务有限公司 | A kind of cross-hole acoustic logging system |
| CN107829730B (en) * | 2017-10-26 | 2024-03-08 | 中国石油化工集团有限公司 | Inter-well acoustic logging system |
| CN107831466A (en) * | 2017-11-28 | 2018-03-23 | 嘉兴易声电子科技有限公司 | Underwater wireless acoustic marker and its multi-address instruction code method |
| CN108415055A (en) * | 2018-01-29 | 2018-08-17 | 清华大学合肥公共安全研究院 | Mobile object telltale mark device in a kind of fluid pipeline |
| CN108415055B (en) * | 2018-01-29 | 2024-03-12 | 清华大学合肥公共安全研究院 | Moving object positioning marker in liquid pipeline |
| US11874390B2 (en) | 2018-12-11 | 2024-01-16 | Zhejiang Dahua Technology Co., Ltd. | Systems and methods for determining position and distance of a terminal |
| CN109741480A (en) * | 2019-01-25 | 2019-05-10 | 中国电建集团河南工程有限公司 | Staff attendance system based on wireless sensor network |
| CN110231612A (en) * | 2019-05-31 | 2019-09-13 | 浙江大华技术股份有限公司 | A kind of label ranging, radiofrequency signal sending method, equipment and device |
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Application publication date: 20070307 |