CN202025078U - Underground ultra-wideband positioning system for coal mine - Google Patents
Underground ultra-wideband positioning system for coal mine Download PDFInfo
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- CN202025078U CN202025078U CN2011200945718U CN201120094571U CN202025078U CN 202025078 U CN202025078 U CN 202025078U CN 2011200945718 U CN2011200945718 U CN 2011200945718U CN 201120094571 U CN201120094571 U CN 201120094571U CN 202025078 U CN202025078 U CN 202025078U
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Abstract
The utility model discloses an underground ultra-wideband positioning system for a coal mine, which comprises an upper-layer terminal, a positioning data server, a ground monitoring terminal, a switchboard, an intrinsically safe gateway, an intrinsically safe radio-relay, an intrinsically safe reference point terminal and an intrinsically safe positioning terminal. The underground ultra-wideband positioning system adopts a belt-type area two-step positioning scheme as follows: firstly, the system utilizes continuous and superposed positioning service area to measure and calculate the located region of a target, then utilizes a hybrid positioning scheme based on accumulation weighted mean to get the precise position of the target. By adopting the scheme, the system not only has strong anti-interference capability, high accuracy, simple structures of devices of the system and low power consumption, but also is suitable for a tunnel working environment, and meets the requirements of a specific using environment and safety, and further overcomes practical application defects, such as small coverage area of the mine shaft positioning system, poor anti-interference capability, positioning accuracy limited by quantity and density of positioning reference points, large positioning device, serious multipath effect during the transmission of ultra wide band in the mine laneway, etc.
Description
Technical field
The utility model belongs to field of locating technology, specifically relates to ultra broadband Precise Position System under a kind of coal mine.
Background technology
Coal is the main energy sources of China, but because the coal field geology complicated condition of China, working condition is abominable, the production technique level is backward relatively, producers' quality is lower, and the accident that causes China's coal-mine to be produced takes place frequently, and the mine safety problem has seriously restricted the sound development of coal in China industry.The China's coal-mine down-hole is a special constrained environment, it is made up of various tunnels crisscross, that shape is different, different in size, its length can reach tens to kilometers up to a hundred, and the length in tunnel, workplace place changes, therefore the mine laneway target localization with in the general buildings, the target localization of restriceted envelopes such as highway, railway tunnel compares, its service radius is bigger.Have inflammable gas and coal dusts such as methane under the coal mine, positioning equipment must be an electric apparatus for explosive gas, and should take the good inbeing safe explosion prevention measure of security performance.Wireless signal transmits phenomenons such as existing a large amount of reflections, scattering, diffraction and transmission in the tunnel.The mine laneway space is narrow and small, and the volume of positioning equipment, particularly antenna volume can not be very big.The peak power output of inbeing safe explosion prevention electrical equipment is about 25W, and for the mine positioning equipment is made the inbeing safe explosion prevention electrical equipment, the emissive power of equipment is generally less.Because the tunnel is airtight relatively, can not come location under the slab hole by the existing satnav in ground such as GPS.This shows that the location technology of ground maturation can't directly apply to the down-hole.
At present, personnel in the pit's wireless location system of China mainly realizes with radio frequency discrimination RFID or PHS technology, and it is that a kind of monitoring system of secondary collecting and distributing type realizes the down-hole personnel position monitoring is shown information such as personnel identity.Also have both at home and abroad: WiFi, ZigBee, and infrared, ultrasound wave, bluetooth etc. at the positioning system under the coal mine.But all there are this following problem in said method and system: RFID method jitter, skip itself have determined bearing accuracy to depend on the density of base station, and this has just limited the raising of bearing accuracy; Infrared penetration is poor, only suitable short-distance transmission, and disturbed by fluorescent light or direct light easily; Ultrasound wave is weak effect under multi-path environment; The object that wireless local area network technology requires to be positioned must be supported WLAN (wireless local area network), and bearing accuracy is low; Bluetooth technology cost height, less stable in the complex environment; Positioning system based on the calculating electromagnetic wave energy of technology such as Zigbee, WiFi, at present domestic existing Related product occurs, as KJ361 etc., because the characteristics of these technology self decision, this type systematic is difficult to reach excellent precision when being used for position probing, and is also undesirable in the applicable cases of ground indoor environment based on the positioning system of technology such as Zigbee, WiFi.
Super-broadband tech adopts extremely wide frequency spectrum or ultra-narrow pulse to transmit information, has very strong time resolution, especially when the localization method that uses based on time of arrival, can reach very high precision, methods such as infrared relatively, ultrasound wave, bluetooth, do not need to produce sinusoidal carrier, simple in structure, realize that cost is low; What ultra-broadband radio was launched is that extremely short monocycle impulse and dutycycle of duration is extremely low, and multipath signal is separable in time, and antijamming capability is strong; Generally between 0.20ns～2ns, there is very low dutycycle the duration of radio ultra wide band system use pulse, and the power consumption of system only is hundreds of uW to tens mW when high-speed communication, and is low in energy consumption.And the down-hole enclosed environment is not subjected to the restriction of frequency use.Therefore, also should be highly suitable under the coal mine based on the location technology of ultra broadband and use.
Existing ultra broadband positioning system mostly adopts single based on the time localization method, perhaps in conjunction with based on the time with based on the localization method of angle.But have a large amount of steam, dust etc. in the tunnel, phenomenons such as each pulse that emitting antenna sends all can be reflected, scattering, diffraction arrive receiving end along different path, this just to positioning time parameter measuring and calculating bring very big difficulty.Moreover, because the restriction of the constraint of the geometric configuration in tunnel and location cost, the position reference node can not deployment at random, intensive in a plane space, can only dispose along roadway direction, and the degree of accuracy of single time-based localization method requires the reference point more than at least three to guarantee.In addition, need be by array antenna based on arriving the angle localization method, system equipment is relatively more expensive, complicated, and equipment volume is huger, is not suitable for mine laneway and uses.So the existing ultra broadband positioning system in ground can not directly apply to mine laneway.
The utility model content
The purpose of this utility model is exactly in order to solve above-mentioned weak point, present mine positioning system coverage is little in particular for solving, poor anti jamming capability, setting accuracy are low, in the tunnel location reference point layout quantity and arrange that density is limited, mine positioning equipment volume is limited, problem such as multipath effect was serious when ultra-broadband signal transmitted in mine laneway.The utility model provides ultra broadband positioning system under a kind of accurately real-time coal mine.This system makes full use of characteristics such as the super-broadband tech antijamming capability is strong, the location is accurate, system equipment is simple in structure, low in energy consumption, and in conjunction with the mine laneway actual working environment, utilize limited reference point, realize in real time accurately target localization, satisfied after mine production scheduling and the calamity needs of rescue in time.
To achieve these goals, the utility model is by the following technical solutions:
The ultra broadband positioning system is made up of upper strata terminal, locator data server, ground monitoring terminal, switch, essential safe type gateway, intrinsically safe wireless relaying, essential safe type reference point terminal and essential safe type locating terminal under a kind of coal mine; Locator data server and ground monitoring terminal constitute spider lines by switch and essential safe type gateway, and send the real-time positioning data to the upper strata terminal by the Internet network; The essential safe type gateway is articulated on the switch by bus in the tunnel; The essential safe type locating terminal is carried by underground operators or mechanical hook-up; The essential safe type locating terminal, essential safe type reference point terminal, intrinsically safe wireless relaying and essential safe type gateway constitute pulse ultra-broad band wireless location network.
Described ground monitoring terminal comprises: processor unit, reference point sign storage unit, power interface, probability of error distributed store unit, reference point locations storage unit and wireline interface.
Described essential safe type gateway comprises CAN bus interface, PROFIBUS bus interface, LONWORKS bus interface, FF bus interface, interface conversion unit, power interface, radio interface unit, ultra-wideband antenna and on-off circuit.
Described intrinsic safety reference point terminal comprises processor, identification code storage unit, battery, the interval storage unit of nominal, delayer, ultra-broadband signal generation unit, ultra broadband receiving element, ultra-wideband antenna and on-off circuit.
Described essential safe type locating terminal comprises: processor, identification code storage unit, battery, user interface section, signal intensity filtering circuit, ultra-broadband signal generation unit, ultra broadband receiving element, signal characteristic storage unit, signal characteristic collector, ultra-wideband antenna and on-off circuit.
Described essential safe type locating terminal along the tunnel in sustained height upper edge, the same side certain distance lay.
Described essential safe type gateway, intrinsically safe wireless relaying, essential safe type reference point terminal and essential safe type locating terminal are arranged in the down-hole, adopt inbeing safe explosion prevention equipment.
As the further of technique scheme improved and replenish, each equipment has following function in the utility model: the locator data server receives also storage target position data.The ground monitoring terminal, record essential safe type reference point location information of terminals; Move towards to divide overlapping banded sub-district continuously along the tunnel, as the positioning service zone of center essential safe type reference point terminal; According to each cell range, calculate the intensity measurements interval that receives when the essential safe type locating terminal enters the sub-district from the positioning signal of center essential safe type reference point terminal, as the nominal interval of center essential safe type reference point terminal, and send to essential safe type reference point terminal; Calculate received signal intensity localization method and time of arrival localization method probable error distribution f
RSSAnd f
TOAReceive the essential safe type locating terminal that send with two groups of range information d selected each essential safe type reference point terminal
RSSjAnd d
TOAj, wherein j represents selected j reference point terminal, according to received signal intensity localization method and localization method probability of error distribution time of arrival, utilizes formula
To two groups of distance value weighted calculation, and according to selected reference point terminal positional information compute location terminal location, and send it to locator data server and upper strata terminal.Switch and intrinsically safe wireless relaying are transmitted nominal block information and real-time range information.The essential safe type gateway receives the super wideband wireless data that the intrinsically safe wireless relaying sends, and converts thereof into cable data and send to switch; The cable data that desampler sends converts thereof into ultra wide band radio signal and sends to the intrinsically safe wireless relaying.Essential safe type reference point terminal distribution unique identification code; Obtain its nominal block information from the ground monitoring terminal; Receive the location token information that the essential safe type locating terminal sends, and delay time T
1, its identification code, its nominal interval, time delay and described information are sent it back the essential safe type locating terminal.The essential safe type locating terminal distributes unique identification code; The locating information that the reference point of broadcasting location token information, and reception at set intervals terminal sends is extracted the received signal intensity data, resolves identification code and nominal interval; According to interval each the received signal intensity data that filters of each nominal, determine to participate in the pinpoint reference point of target; To selected each reference point terminal N continuous time transmission location token information, record transmitting time t
0And write down the received signal sequence of intensity P of selected each reference point terminal return information
Ij(i=0,1 ..., N; J represents j reference point), and the time t of the last item location token information of selected each essential safe type reference point terminal answer
1jAccording to time of arrival localization method and received signal intensity localization method respectively two groups of distance values of compute location terminal and selected each reference point terminal be
With
And send it to the ground monitoring terminal, and wherein c is ultra-broadband signal transmission speed in the tunnel, and k is a channel parameter, and j represents selected j reference point, and i represents cumulative frequency.
The beneficial effects of the utility model are:
1. by adopting the ultra-broadband signal of strong time resolution, because signal dutyfactor is extremely low, multipath signal is separable in time, has improved the antijamming capability of localization method and system greatly.The use of super-broadband tech significantly reduces power consumption of terminal equipment simultaneously.And because do not need to adopt complicated modulation-demodulation technique, make system equipment simple in structure, volume is little, is fit to the use of down-hole particular surroundings.
2. the positioning service zone of each reference point during the scope of first step measuring and calculating target region, is divided by adopting continuously overlapping banded structure in the accurate location of realizing target by two step localization methods, makes localization method meet the long and narrow characteristics in tunnel more.Utilize simultaneously the received signal intensity method with target lock-on in the positioning service zone of the reference point of close together, greatly reduce the influence of the multipath effect that produces because of signal long-distance transmission to bearing accuracy, thereby weakened to the dependence of reference point locations precision, not high to the layout density requirements of reference point.
3. when second step, target was accurately located, obtain the data and received signal intensity data time of arrival of selected each reference point by N average disposal route in accumulation back, reduce nonideal channel circumstance and caused deviation of measuring value, make that two groups of distance values that calculate are more accurate, wherein the numerical value of N is chosen flexibly according to positioning accuracy request.
4. by analyzing the source of error of localization method time of arrival, and the path loss model of ultra-broadband signal in the tunnel, determine received signal intensity localization method and time of arrival localization method the probability of error distribute, and to two groups of distance value weighted, reduced the error of single distance-finding method in computation process, made that final positioning result is more accurate.
5. be main network structure by adopting, when a certain end-equipment of system breaks down, can not influence the normal operation of other parts of system, improved the change ability of combating a natural disaster of system in conjunction with bus-type with tree-like.Simultaneously, different with branches at different mine laneway layouts, this system architecture provides more convenient expansion means.
Description of drawings
Fig. 1 is a positioning system composition frame chart of the present utility model;
Fig. 2 is a ground monitoring terminating circuit block diagram of the present utility model;
Fig. 3 is an essential safe type gateway circuit block diagram of the present utility model;
Fig. 4 is an essential safe type reference point terminating circuit block diagram of the present utility model;
Fig. 5 is an essential safe type locating terminal circuit block diagram of the present utility model;
Among the figure, 1, the locator data server; 2, ground monitoring terminal; 3, switch; 4, upper strata terminal; 5, essential safe type gateway; 6, intrinsically safe wireless relaying; 7, essential safe type reference point terminal; 8, essential safe type locating terminal.
Embodiment
For making the technical solution of the utility model, characteristics and advantage clearer, the utility model is further specified below in conjunction with the drawings and specific embodiments.
Fig. 1 is a ultra broadband positioning system composition frame chart under the coal mine.As shown in Figure 1, radio ultra wide band system comprises uphole equipment and underground equipment two parts under the utility model coal mine.Uphole equipment comprises upper strata terminal 4, locator data server 1, ground monitoring terminal 2, switch 3; Underground equipment comprises essential safe type gateway 5, intrinsically safe wireless relaying 6, essential safe type reference point terminal 7, and essential safe type locating terminal 8.Locator data server and ground monitoring terminal constitute spider lines by switch and essential safe type gateway, and send the real-time positioning data to the upper strata terminal by the Internet network; The essential safe type gateway is articulated on the switch by bus in the tunnel; The essential safe type locating terminal is carried by underground operators or mechanical hook-up; The essential safe type locating terminal, essential safe type reference point terminal, intrinsically safe wireless relaying and essential safe type gateway constitute pulse ultra-broad band wireless location network.
Describe ultra broadband positioning system workflow under the coal mine in detail below in conjunction with Fig. 1:
A. distribute and working environment according to the tunnel, lay essential safe type reference point terminal, the ground monitoring terminal is determined each essential safe type reference point terminal location, divide the positioning service sub-district of each essential safe type reference point terminal as shown in Figure 1, and calculate each reference point nominal interval, and send it to each essential safe type reference point terminal; Calculate received signal intensity localization method and localization method probability of error distribution time of arrival according to ultra broadband propagation data in the actual measurement tunnel;
B. the essential safe type locating terminal is collected the received signal intensity data of the positioning signal of each essential safe type reference point terminal emission, according to described each nominal interval to received signal intensity data carry out filtering;
C. according to the filtering result, determine to participate in the pinpoint essential safe type reference point of target terminal, and according to measuring and calculating target region, selected reference point terminal positioning coverage scope;
D. the essential safe type locating terminal is collected the data and received signal intensity data time of arrival of the positioning signal of selected essential safe type reference point terminal emission, utilizes hybrid locating method to calculate the exact position of described target.
Steps A comprises the following steps:
A1. on the sustained height of the same side in tunnel, along certain distance, arrange essential safe type reference point terminal, and will arrange a bend reference point that the ground monitoring terminal is demarcated each reference point terminal location in the corner, tunnel;
A2. be the center with each essential safe type reference point terminal, the ground monitoring terminal is divided overlapping banded sub-district continuously along the tunnel, thinks that described sub-district is the positioning service zone of each center reference point terminal;
A3. the ground monitoring terminal is according to described positioning service regional extent, calculates in each sub-district the essential safe type locating terminal to the ultimate range and the minor increment of center essential safe type reference point terminal, promptly target to center reference point apart from interval;
A4. the intensity that transmits according to each reference point terminal of ground monitoring terminal and each is apart from interval, calculate the received signal intensity data interval of the positioning signal of locating terminal reception reference point terminal emission in each sub-district, and with the nominal interval of each received signal intensity data interval as each reference point terminal.Simultaneously, calculate received signal intensity localization method and localization method probability of error distribution time of arrival according to ultra broadband propagation data in the actual measurement tunnel.
Among the step B, essential safe type reference point terminal is at first obtained its nominal interval from the ground monitoring terminal, after the essential safe type locating terminal enters the tunnel, every interval certain hour is broadcasted the location token signal towards periphery, after essential safe type reference point terminal receives described signal, with its identification code, nominal location token signal packing interval and that receive sends to locating terminal, after locating terminal receives return information, the exceptional value in the described received signal intensity data of filtering is filtered in nominal interval according to each reference point terminal of extracting to each received signal intensity data.Described exceptional value is the caused received signal intensity data that will cause positioning error of signal reflex, and because the reference point terminal far may cause received signal to comprise the received signal intensity data of multipath signal apart from locating terminal.
Step C comprises the following steps:
C1. according to the filtering result, the essential safe type locating terminal extracts the identification code of each essential safe type reference point terminal in the remaining received signal, thinks that then these essential safe type reference point terminals are the pinpoint reference point terminal of participation target;
C2. according to the positioning service zone of selected essential safe type reference point terminal, measuring and calculating target region scope is thought the overlapping region of target in the positioning service sub-district of selected reference point terminal.
Hybrid locating method comprises the following steps: among the step D
D1. the essential safe type locating terminal sends the location token information to selected each essential safe type reference point terminal, and record transmitting time t
0
D2. after selected each essential safe type reference point terminal receives the location token information, delay time T
1, with described location token information together with its identification code, nominal interval and send to the essential safe type locating terminal time delay;
D3. after the essential safe type locating terminal is received return information, extract the essential safe type reference point host ID and the received signal intensity data that respectively receive information, repeating step D2 and D3, and N time and so forth, corresponding selected each essential safe type reference point terminal obtains a received signal intensity data sequence P
Ij(i=0,1 ..., N), and record essential safe type locating terminal receives the time t of the return information of selected each essential safe type reference point terminal emission for the last time
1j, wherein j represents selected j reference point, and i represents cumulative frequency, and the numerical value of N is chosen flexibly according to positioning accuracy request;
D4. when the corresponding same essential safe type reference point terminals of many received signals, think that then the bigger signal of received signal intensity data is as positioning signal;
D5. according to t writing time
0, t
1j, calculate data time of arrival of selected each essential safe type reference point terminal:
Wherein j represents selected j reference point;
D6. according to each received signal intensity data sequence P
Ij(i=0,1 ..., N), calculate the received signal intensity data of selected each essential safe type reference point terminal:
Wherein j represents selected j reference point, and i represents cumulative frequency;
D7. according to the data and received signal intensity data time of arrival of selected each essential safe type reference point terminal, obtain the distance value d of two groups of essential safe type locating terminals and selected each essential safe type reference point terminal respectively
TOAj=c* τ
jWith
And send to the ground monitoring terminal, and wherein c is ultra-broadband signal transmission speed in the tunnel, and k is a channel parameter, and wherein j represents selected j reference point;
D8. the ground monitoring terminal according to received signal intensity localization method and time of arrival localization method probability of error distribution f
RSS' f
TOA, utilize
Obtain the distance value of essential safe type locating terminal and selected each essential safe type reference point terminal, and list system of equations according to selected each essential safe type reference point terminal location
Calculate the exact position of essential safe type locating terminal, wherein j represents selected j reference point, and (x y) is the target location, (x
j, y
j) be the position of selected j reference point.
Fig. 2 is a ground monitoring terminating circuit block diagram.As shown in Figure 2, ground monitoring terminal 2 comprises processor unit 20, probability of error distributed store unit 21, power interface 22, reference point sign storage unit 23, reference point locations storage unit 24 and wireline interface 25.Probability of error distributed store unit 21, power interface 22, reference point sign storage unit 23, reference point locations storage unit 24 all link to each other with processor unit 20 with wireline interface 25.Ground monitoring end error probability distribution storage unit 21, reference point sign storage unit 23 and reference point locations storage unit 24 comprise SDRAM and FLASH.Ground monitoring terminal wireline interface links to each other with locator data server and switch, and links to each other with the upper strata terminal by Internet, constitutes spider lines.The ground monitoring terminal distributes according to the installation site and the tunnel of each essential safe type reference point terminal, determine the position data of each essential safe type reference point terminal, and deposit it in reference point locations storage unit, and deposit each reference point identification code of correspondence in reference point sign storage unit.Divide the positioning service sub-district of each essential safe type reference point terminal along the tunnel, and calculate each nominal interval, and in the reference point sign storage unit of depositing by processor unit.According to time of arrival the localization method principle as can be known, its error comprises the error that measuring error and non line of sight situation produce, measuring error is generally obeyed the zero-mean gaussian random and is distributed.According to received signal intensity localization method principle, its error is by the path loss model decision of ultra-broadband signal, and promptly received signal power can be expressed as by emissive power, large scale decline, shadow fading and small scale decline decision:
Wherein, P
RBe received signal power; P
TBe transmit signal power;
Be large scale decline value, and
K is a channel parameter, d
RSSBe the distance value that calculates according to received signal intensity locator data;
Be the shadow fading value;
Be small scale decline value.Therefore, before location work begins, the essential safe type locating terminal receives the data and received signal power value time of arrival of the ultra-broadband signal of essential safe type reference point terminal emission in the actual measurement tunnel, and determine non line of sight error profile, shadow fading and small scale decline error profile according to measured data and essential safe type reference point terminal transmit power, finally calculate time of arrival localization method and the probability of error of received signal intensity localization method distribute, and deposit probability of error distributed store unit in.The ground monitoring terminal receives the information that essential safe type reference point terminal sends by wireline interface, identification code in the processor unit information extraction, and with reference point sign storage unit in the comparison of reference point host ID, inquire corresponding nominal interval in the reference point sign storage unit, it is sent it back the reference point terminal by wireline interface; During the location, from wireline interface obtain each essential safe type locating terminal of down-hole that send with two groups of range informations selected each essential safe type reference point terminal, processor unit is according to two kinds of localization method probabilities of error distributed intelligence of probability of error distributed store unit storage, to two groups of range information weightings, and finally obtain the distance value of each essential safe type locating terminal and selected each essential safe type reference point terminal; According to the identification code of reference point terminal in the described information, inquire about the reference point locations storage unit simultaneously, the compute location terminal location, and send it to the locator data server, and target position data is sent to the upper strata terminal by the Internet network.
Fig. 3 is an essential safe type gateway circuit block diagram.Down-hole essential safe type gateway is articulated on the switch by bus.The essential safe type gateway is finished data-switching between cable network and the wireless network, and it receives the super wideband wireless data that the intrinsically safe wireless relaying sends, and sends the data to switch; The cable data that desampler sends converts thereof into ultra wide band radio signal and sends to the intrinsically safe wireless relaying.As shown in Figure 3, essential safe type gateway 5 comprises interface conversion unit 50, wired interface unit 51, power interface 52, radio interface unit 53, ultra-wideband antenna 54A and on-off circuit 54B.Wherein, wired interface unit 51 comprises FF bus interface 51A, LONWORKS bus interface 51B, PROFIBUS bus interface 51C, CAN bus interface 51D, and it links to each other with interface conversion unit 50 respectively; Radio interface unit 53 comprises ultra-broadband signal generation unit 53A, ultra broadband receiving element 53B, and it links to each other with interface conversion unit 50 respectively.On-off circuit is the antenna mode switch, is used for the conversion of ultra-broadband signal between transmitting and receiving.Ultra-broadband signal generation unit 53A comprises that DS-UWB coding circuit and burst pulse produce circuit, are used for data-switching to be launched is become the direct sequence impulse ultra-wideband signal; Ultra broadband receiving element 53B comprises correlator and DS-UWB decoding circuit, is used for extracting data from the direct sequence impulse ultra-wideband signal that receives.Ultra-wideband antenna 54A links to each other with radio interface unit 53 with on-off circuit 54B, finishes the wireless transmit and the reception of data.Interface conversion unit is mainly finished protocol conversion, realizes the exchanges data between cable network and the wireless network.
Fig. 4 is an essential safe type reference point terminating circuit block diagram.As shown in Figure 4, essential safe type reference point terminal 7 comprises processor 70, identification code storage unit 71, battery 72, the interval storage unit 73 of nominal, delayer 74, ultra-broadband signal generation unit 75, ultra broadband receiving element 76, ultra-wideband antenna 77A and on-off circuit 77B.Identification code storage unit 71, battery 72, the interval storage unit 73 of nominal, delayer 74, ultra-broadband signal generation unit 75, ultra broadband receiving element 76 all link to each other with processor unit 70.The interval storage unit 73 of essential safe type reference point terminal iidentification code memory unit 71 and nominal and comprise SDRAM and FLASH.On-off circuit is the antenna mode switch, is used for the conversion of ultra-broadband signal between transmitting and receiving.Ultra-broadband signal generation unit 75 comprises that DS-UWB coding circuit and burst pulse produce circuit, are used for data-switching to be launched is become the direct sequence impulse ultra-wideband signal; Ultra broadband receiving element 76 comprises correlator and DS-UWB decoding circuit, is used for extracting data from the direct sequence impulse ultra-wideband signal that receives.Ultra-wideband antenna 77A links to each other with processor 70 with on-off circuit 77B, finishes the wireless transmit and the reception of data.Delayer 74 is used to produce the emission delay of essential safe type reference point terminal.Essential safe type reference point terminal obtains unique identification code by the identification code storage unit, and by ultra-broadband signal generation unit, on-off circuit and ultra-wideband antenna earthward monitor terminal send its identification code, and obtain its nominal block information from the ground monitoring terminal by ultra-wideband antenna, on-off circuit and ultra broadband receiving element, deposit it in nominal interval storer.Essential safe type reference point terminal is set up super wideband wireless with on-off circuit with the essential safe type locating terminal by ultra-wideband antenna and is connected, receive the location token information of its transmission by ultra-wideband antenna and ultra broadband receiving element, and postpone certain hour by delayer, with described information, time delay with and identification code and nominal interval send to the essential safe type locating terminal by ultra-broadband signal generation unit and ultra-wideband antenna.Simultaneously, essential safe type reference point terminal also is equipped with explosion-resistant enclosure, and battery.
Fig. 5 is an essential safe type locating terminal circuit block diagram.As shown in Figure 5, essential safe type locating terminal 8 comprises processor 80, identification code storage unit 81, battery 82, user interface section 83, signal intensity filtering circuit 84, ultra-broadband signal generation unit 85, ultra broadband receiving element 86, signal characteristic storage unit 87, signal characteristic collector 88, ultra-wideband antenna 89A and on-off circuit 89B.Identification code storage unit 81, battery 82, user interface section 83, signal intensity filtering circuit 84, ultra-broadband signal generation unit 85, ultra broadband receiving element 86 all link to each other with processor 80.Signal intensity filtering circuit 84 links to each other with signal characteristic storage unit 87, and obtains the nominal interval by processor 80, is used for the received signal intensity data of gathering is carried out filtering.Signal characteristic collector 88 links to each other with on-off circuit 89B, be used to extract reception the reference point emission positioning signal the received signal intensity data and time of arrival data; Link to each other with signal characteristic storage unit 87, deposit the signal characteristic data of gathering in the signal characteristic storage unit.Essential safe type locating terminal identification code storage unit 81 and signal characteristic storage unit 87 comprise SDRAM and FLASH.The identification code that essential safe type locating terminal identification code storage unit is used to store the identification code of target and participates in the pinpoint essential safe type reference point of second step target terminal.Ultra-broadband signal generation unit 85 comprises that DS-UWB coding circuit and burst pulse produce circuit, are used for data-switching to be launched is become the direct sequence impulse ultra-wideband signal; Ultra broadband receiving element 86 comprises correlator and DS-UWB decoding circuit, is used for extracting data from the direct sequence impulse ultra-wideband signal that receives.Ultra-wideband antenna 89A links to each other with processor 80 with on-off circuit 89B, finishes the wireless transmit and the reception of data.On-off circuit 89B is the antenna mode switch, is used for the conversion of ultra-broadband signal between transmitting and receiving.Essential safe type locating end-user interface unit 83 comprises transfer table LCD display and keyboard.The essential safe type locating terminal obtains unique identification code by the identification code storer; Locate token information by the broadcasting towards periphery at set intervals of ultra-broadband signal generation unit, on-off circuit and ultra-wideband antenna; Receive the locator data that essential safe type reference point terminal sends by ultra-wideband antenna, on-off circuit and ultra broadband receiving element; Obtain the received signal intensity data of each received signal by the signal characteristic collector, deposit the signal characteristic storage unit in; Utilize processor to extract the interval and corresponding reference point host ID of nominal in each received signal; By signal strength data filtering circuit and each nominal interval each received signal intensity data is carried out filtering, determine to participate in the pinpoint reference point of target, and deposit corresponding reference point host ID in the identification code storage unit; Ultra-broadband signal generation unit and ultra-wideband antenna N continuous time transmission location token information, the record transmitting time; Receive the locator data that essential safe type reference point terminal sends by ultra-wideband antenna, on-off circuit and ultra broadband receiving element, and extract reference point host ID in each data, compare with reference point host ID in the identification code storage unit, choose the locator data of selected reference point terminal emission; Obtain the received signal intensity data of selected each locator data by the signal characteristic collector, and data time of arrival that receive selected each essential safe type reference point terminal the last item location token information; Calculate the distance value of two groups of essential safe type locating terminals and selected each essential safe type reference point terminal by processor, it is sent to the ground monitoring terminal by ultra-broadband signal generation unit and ultra-wideband antenna.Simultaneously, the essential safe type locating terminal also is equipped with explosion-resistant enclosure, and battery.
By above in conjunction with the accompanying drawings to the description of the utility model specific embodiment, ultra broadband localization method and system under a kind of coal mine that the utility model provides, with the ultra-broadband signal is media, according to the mine laneway actual working environment, by the accurate real-time positioning of two steps localization methods realization to target.The utility model at first utilizes simple in structure, low in energy consumption, the ultra broadband location technology that ability of anti-multipath is strong and resolving power is high, move towards according to the tunnel, one side is laid reference point at a certain distance in the tunnel, by the demarcation in advance to reference point positioning service sub-district, estimates the nominal interval of each reference point, each received signal intensity data is filtered measuring and calculating zone, target position; Again according to the average disposal route in accumulation back obtain each reference point the received signal intensity data and time of arrival data, thereby reduce measuring error, at last by received signal intensity localization method and time of arrival localization method the probability of error distribute two groups of distance values be weighted, reduce the error of computation process, finally utilize less reference point to realize the accurate location of target.
Although the utility model is had been described in detail with reference to the foregoing description, those of ordinary skill in the field are to be understood that, still can make amendment or be equal to replacement embodiment of the present utility model, and do not break away from any modification of the utility model spirit and scope or be equal to replacement, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (7)
1. ultra broadband positioning system under the coal mine, it is characterized in that system is made up of upper strata terminal, locator data server, ground monitoring terminal, switch, essential safe type gateway, intrinsically safe wireless relaying, essential safe type reference point terminal and essential safe type locating terminal; Locator data server and ground monitoring terminal constitute spider lines by switch and essential safe type gateway, and send the real-time positioning data to the upper strata terminal by the Internet network; The essential safe type gateway is articulated on the switch by bus in the tunnel; The essential safe type locating terminal is carried by underground operators or mechanical hook-up; The essential safe type locating terminal, essential safe type reference point terminal, intrinsically safe wireless relaying and essential safe type gateway constitute pulse ultra-broad band wireless location network.
2. system according to claim 1 is characterized in that, described ground monitoring terminal comprises: processor unit, reference point sign storage unit, power interface, probability of error distributed store unit, reference point locations storage unit and wireline interface.
3. system according to claim 1, it is characterized in that described essential safe type gateway comprises CAN bus interface, PROFIBUS bus interface, LONWORKS bus interface, FF bus interface, interface conversion unit, power interface, radio interface unit, ultra-wideband antenna and on-off circuit.
4. system according to claim 1, it is characterized in that described intrinsic safety reference point terminal comprises processor, identification code storage unit, battery, the interval storage unit of nominal, delayer, ultra-broadband signal generation unit, ultra broadband receiving element, ultra-wideband antenna and on-off circuit.
5. system according to claim 1, it is characterized in that described essential safe type locating terminal comprises: processor, identification code storage unit, battery, user interface section, signal intensity filtering circuit, ultra-broadband signal generation unit, ultra broadband receiving element, signal characteristic storage unit, signal characteristic collector, ultra-wideband antenna and on-off circuit.
6. system according to claim 5 is characterized in that, described essential safe type locating terminal along the tunnel in sustained height upper edge, the same side certain distance lay.
7. system according to claim 1 is characterized in that, described essential safe type gateway, intrinsically safe wireless relaying, essential safe type reference point terminal and essential safe type locating terminal are arranged in the down-hole, adopts inbeing safe explosion prevention equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200945718U CN202025078U (en) | 2011-04-02 | 2011-04-02 | Underground ultra-wideband positioning system for coal mine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200945718U CN202025078U (en) | 2011-04-02 | 2011-04-02 | Underground ultra-wideband positioning system for coal mine |
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| CN202025078U true CN202025078U (en) | 2011-11-02 |
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| CN2011200945718U Expired - Fee Related CN202025078U (en) | 2011-04-02 | 2011-04-02 | Underground ultra-wideband positioning system for coal mine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109756843A (en) * | 2019-03-07 | 2019-05-14 | 北京矿冶科技集团有限公司 | A kind of mine underground vehicle station acquisition system based on bluetooth |
| CN109975753A (en) * | 2019-04-19 | 2019-07-05 | 中国矿业大学(北京) | A kind of mine ranging movable target error determines and accurate positioning method |
| CN112269170A (en) * | 2020-10-21 | 2021-01-26 | 重庆梅安森科技股份有限公司 | Coal face detection system and detection method thereof |
| CN117098142A (en) * | 2023-10-18 | 2023-11-21 | 济南华科电气设备有限公司 | Underground coal mine personnel positioning method and system based on UWB technology |
| CN112269170B (en) * | 2020-10-21 | 2024-04-26 | 重庆梅安森科技股份有限公司 | Coal face detection system and detection method thereof |
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2011
- 2011-04-02 CN CN2011200945718U patent/CN202025078U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109756843A (en) * | 2019-03-07 | 2019-05-14 | 北京矿冶科技集团有限公司 | A kind of mine underground vehicle station acquisition system based on bluetooth |
| CN109975753A (en) * | 2019-04-19 | 2019-07-05 | 中国矿业大学(北京) | A kind of mine ranging movable target error determines and accurate positioning method |
| CN109975753B (en) * | 2019-04-19 | 2021-08-03 | 中国矿业大学(北京) | Method for determining and accurately positioning distance measurement error of mine moving target |
| CN112269170A (en) * | 2020-10-21 | 2021-01-26 | 重庆梅安森科技股份有限公司 | Coal face detection system and detection method thereof |
| CN112269170B (en) * | 2020-10-21 | 2024-04-26 | 重庆梅安森科技股份有限公司 | Coal face detection system and detection method thereof |
| CN117098142A (en) * | 2023-10-18 | 2023-11-21 | 济南华科电气设备有限公司 | Underground coal mine personnel positioning method and system based on UWB technology |
| CN117098142B (en) * | 2023-10-18 | 2023-12-26 | 济南华科电气设备有限公司 | Underground coal mine personnel positioning method and system based on UWB technology |
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Granted publication date: 20111102 Termination date: 20140402 |